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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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38
examples/SharedMemory/SharedMemoryPublic.h
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@@ -29,8 +29,11 @@ enum EnumSharedMemoryClientCommand
CMD_APPLY_EXTERNAL_FORCE,
CMD_CALCULATE_INVERSE_DYNAMICS,
CMD_CALCULATE_INVERSE_KINEMATICS,
CMD_CREATE_JOINT,
CMD_REQUEST_CONTACT_POINT_INFORMATION,
//don't go beyond this command!
CMD_MAX_CLIENT_COMMANDS,
CMD_CREATE_JOINT
};
enum EnumSharedMemoryServerStatus
@@ -64,6 +67,8 @@ enum EnumSharedMemoryServerStatus
CMD_INVALID_STATUS,
CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED,
CMD_CALCULATED_INVERSE_DYNAMICS_FAILED,
CMD_CONTACT_POINT_INFORMATION_COMPLETED,
CMD_CONTACT_POINT_INFORMATION_FAILED,
CMD_MAX_SERVER_COMMANDS
};
@@ -131,6 +136,37 @@ struct b3CameraImageData
const int* m_segmentationMaskValues;//m_pixelWidth*m_pixelHeight ints
};
struct b3ContactPointData
{
int m_contactFlags;//flag wether certain fields below are valid
int m_bodyUniqueIdA;
int m_bodyUniqueIdB;
int m_linkIndexA;
int m_linkIndexB;
double m_positionOnAInWS[3];//contact point location on object A, in world space coordinates
double m_positionOnBInWS[3];//contact point location on object A, in world space coordinates
double m_contactNormalOnBInWS[3];//the separating contact normal, pointing from object B towards object A
double m_contactDistance;//negative number is penetration, positive is distance.
int m_contactPointDynamicsIndex;
};
struct b3ContactPointDynamicsData
{
double m_normalForce;
double m_linearFrictionDirection[3];
double m_linearFrictionForce;
double m_angularFrictionDirection[3];
double m_angularFrictionForce;
};
struct b3ContactInformation
{
int m_numContactPoints;
struct b3ContactPointData* m_contactPointData;
struct b3ContactPointDynamicsData* m_contactDynamicsData;
};
///b3LinkState provides extra information such as the Cartesian world coordinates
///center of mass (COM) of the link, relative to the world reference frame.
///Orientation is a quaternion x,y,z,w