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add first draft of contact point query in shared memory API

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b3SharedMemoryCommandHandle b3InitRequestContactPointInformation(b3PhysicsClientHandle physClient);
void b3SetContactFilterBodyA(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdA);
void b3SetContactFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB);
void b3GetContactPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointData);
Implemented for PhysicsClientSharedMemory, not for PhysicsDirect yet.
Add btCollisionObject::setUserIndex2
This commit is contained in:
erwincoumans
2016-09-01 13:30:07 -07:00
parent 7790ee2f02
commit 85fd7f560c
18 changed files with 395 additions and 9 deletions
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45
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1103,6 +1103,51 @@ void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImage
}
}
///request an contact point information
b3SharedMemoryCommandHandle b3InitRequestContactPointInformation(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type =CMD_REQUEST_CONTACT_POINT_INFORMATION;
command->m_requestContactPointArguments.m_startingContactPointIndex = 0;
command->m_requestContactPointArguments.m_objectAIndexFilter = -1;
command->m_requestContactPointArguments.m_objectBIndexFilter = -1;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle) command;
}
void b3SetContactFilterBodyA(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdA)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CONTACT_POINT_INFORMATION);
command->m_requestContactPointArguments.m_objectAIndexFilter = bodyUniqueIdA;
}
void b3SetContactFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CONTACT_POINT_INFORMATION);
command->m_requestContactPointArguments.m_objectBIndexFilter = bodyUniqueIdB;
}
void b3SetContactFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB);
void b3GetContactPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointData)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
if (cl)
{
cl->getCachedContactPointInformation(contactPointData);
}
}
b3SharedMemoryCommandHandle b3ApplyExternalForceCommandInit(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;