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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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36
src/BulletDynamics/Featherstone/btMultiBody.h
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@@ -577,6 +577,38 @@ void addJointTorque(int i, btScalar Q);
m_baseName = name;
}
///users can point to their objects, userPointer is not used by Bullet
void* getUserPointer() const
{
return m_userObjectPointer;
}
int getUserIndex() const
{
return m_userIndex;
}
int getUserIndex2() const
{
return m_userIndex2;
}
///users can point to their objects, userPointer is not used by Bullet
void setUserPointer(void* userPointer)
{
m_userObjectPointer = userPointer;
}
///users can point to their objects, userPointer is not used by Bullet
void setUserIndex(int index)
{
m_userIndex = index;
}
void setUserIndex2(int index)
{
m_userIndex2 = index;
}
private:
btMultiBody(const btMultiBody &); // not implemented
void operator=(const btMultiBody &); // not implemented
@@ -653,6 +685,10 @@ private:
bool m_canSleep;
btScalar m_sleepTimer;
void* m_userObjectPointer;
int m_userIndex2;
int m_userIndex;
int m_companionId;
btScalar m_linearDamping;
btScalar m_angularDamping;