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pybullet.createSoftBodyAnchor

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This commit is contained in:
Erwin Coumans
2019-11-19 19:20:08 -08:00
parent 431a71ebad
commit 96deb42aa5
12 changed files with 370 additions and 45 deletions
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24
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -3248,6 +3248,30 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetActivationState(b3SharedMemoryCommandHa
return 0;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateSoftBodyAnchorConstraintCommand(b3PhysicsClientHandle physClient, int softBodyUniqueId, int nodeIndex, int bodyUniqueId, int linkIndex, const double bodyFramePosition[3])
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_USER_CONSTRAINT;
command->m_updateFlags = USER_CONSTRAINT_ADD_SOFT_BODY_ANCHOR;
command->m_userConstraintArguments.m_parentBodyIndex = softBodyUniqueId;
command->m_userConstraintArguments.m_parentJointIndex = nodeIndex;
command->m_userConstraintArguments.m_childBodyIndex = bodyUniqueId;
command->m_userConstraintArguments.m_childJointIndex = linkIndex;
command->m_userConstraintArguments.m_childFrame[0] = bodyFramePosition[0];
command->m_userConstraintArguments.m_childFrame[1] = bodyFramePosition[1];
command->m_userConstraintArguments.m_childFrame[2] = bodyFramePosition[2];
command->m_userConstraintArguments.m_childFrame[3] = 0.;
command->m_userConstraintArguments.m_childFrame[4] = 0.;
command->m_userConstraintArguments.m_childFrame[5] = 0.;
command->m_userConstraintArguments.m_childFrame[6] = 1.;
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyUniqueId, int parentJointIndex, int childBodyUniqueId, int childJointIndex, struct b3JointInfo* info)
{
PhysicsClient* cl = (PhysicsClient*)physClient;