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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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15
examples/SharedMemory/SharedMemoryCommands.h
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@@ -144,6 +144,12 @@ enum EnumRequestPixelDataUpdateFlags
};
struct RequestContactDataArgs
{
int m_startingContactPointIndex;
int m_objectAIndexFilter;
int m_objectBIndexFilter;
};
struct SendDebugLinesArgs
@@ -406,6 +412,7 @@ struct SharedMemoryCommand
struct ExternalForceArgs m_externalForceArguments;
struct CalculateInverseDynamicsArgs m_calculateInverseDynamicsArguments;
struct CreateJointArgs m_createJointArguments;
struct RequestContactDataArgs m_requestContactPointArguments;
};
};
@@ -414,6 +421,13 @@ struct RigidBodyCreateArgs
int m_bodyUniqueId;
};
struct SendContactDataArgs
{
int m_startingContactPointIndex;
int m_numContactPointsCopied;
int m_numRemainingContactPoints;
};
struct SharedMemoryStatus
{
int m_type;
@@ -430,6 +444,7 @@ struct SharedMemoryStatus
struct SendPixelDataArgs m_sendPixelDataArguments;
struct RigidBodyCreateArgs m_rigidBodyCreateArgs;
struct CalculateInverseDynamicsResultArgs m_inverseDynamicsResultArgs;
struct SendContactDataArgs m_sendContactPointArgs;
};
};