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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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23
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -274,7 +274,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
case CMD_CREATE_BOX_COLLISION_SHAPE:
{
b3SharedMemoryCommandHandle commandHandle = b3CreateBoxShapeCommandInit(m_physicsClientHandle);
b3CreateBoxCommandSetStartPosition(commandHandle,0,0,-3);
b3CreateBoxCommandSetStartPosition(commandHandle,0,0,-1.5);
b3CreateBoxCommandSetColorRGBA(commandHandle,0,0,1,1);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
@@ -415,6 +415,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
case CMD_CALCULATE_INVERSE_DYNAMICS:
{
if (m_selectedBody >= 0)
@@ -442,6 +443,14 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
}
break;
}
case CMD_REQUEST_CONTACT_POINT_INFORMATION:
{
b3SharedMemoryCommandHandle commandHandle = b3InitRequestContactPointInformation(m_physicsClientHandle);
b3SetContactFilterBodyA(commandHandle,0);
b3SetContactFilterBodyB(commandHandle,1);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
default:
{
b3Error("Unknown buttonId");
@@ -530,6 +539,7 @@ void PhysicsClientExample::createButtons()
createButton("Initialize Pose",CMD_INIT_POSE, isTrigger);
createButton("Set gravity", CMD_SEND_PHYSICS_SIMULATION_PARAMETERS, isTrigger);
createButton("Compute Inverse Dynamics", CMD_CALCULATE_INVERSE_DYNAMICS, isTrigger);
createButton("Get Contact Point Info", CMD_REQUEST_CONTACT_POINT_INFORMATION, isTrigger);
if (m_bodyUniqueIds.size())
{
@@ -946,6 +956,17 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
}
}
if (statusType == CMD_CONTACT_POINT_INFORMATION_FAILED)
{
b3Warning("Cannot get contact information");
}
if (statusType == CMD_CONTACT_POINT_INFORMATION_COMPLETED)
{
b3ContactInformation contactPointData;
b3GetContactPointInformation(m_physicsClientHandle, &contactPointData);
b3Printf("Num Contacts: %d\n", contactPointData.m_numContactPoints);
}
}
}
if (b3CanSubmitCommand(m_physicsClientHandle))