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pybullet getOverlappingObjects added: report all object unique ids within a world space bounding box (aabb)

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This commit is contained in:
erwincoumans
2016-11-10 11:22:22 -08:00
parent b16d9abddd
commit 9b5aa9a723
12 changed files with 299 additions and 99 deletions
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35
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1310,28 +1310,31 @@ void b3SetClosestDistanceThreshold(b3SharedMemoryCommandHandle commandHandle, do
///get all the bodies that touch a given axis aligned bounding box specified in world space (min and max coordinates)
b3SharedMemoryCommandHandle b3InitAABBOverlapQuery(b3PhysicsClientHandle physClient, const double aabbMin[3], const double aabbMax[3])
{
b3SharedMemoryCommandHandle commandHandle = b3InitRequestContactPointInformation(physClient);
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CONTACT_POINT_INFORMATION);
command->m_updateFlags = CMD_REQUEST_CONTACT_POINT_HAS_QUERY_MODE;
command->m_requestContactPointArguments.m_mode = CONTACT_QUERY_MODE_AABB_OVERLAP;
command->m_type = CMD_REQUEST_AABB_OVERLAP;
command->m_updateFlags = 0;
command->m_requestOverlappingObjectsArgs.m_startingOverlappingObjectIndex = 0;
command->m_requestOverlappingObjectsArgs.m_aabbQueryMin[0] = aabbMin[0];
command->m_requestOverlappingObjectsArgs.m_aabbQueryMin[1] = aabbMin[1];
command->m_requestOverlappingObjectsArgs.m_aabbQueryMin[2] = aabbMin[2];
command->m_requestContactPointArguments.m_aabbQueryMin[0] = aabbMin[0];
command->m_requestContactPointArguments.m_aabbQueryMin[1] = aabbMin[1];
command->m_requestContactPointArguments.m_aabbQueryMin[2] = aabbMin[2];
command->m_requestContactPointArguments.m_aabbQueryMax[0] = aabbMax[0];
command->m_requestContactPointArguments.m_aabbQueryMax[1] = aabbMax[1];
command->m_requestContactPointArguments.m_aabbQueryMax[2] = aabbMax[2];
return commandHandle;
command->m_requestOverlappingObjectsArgs.m_aabbQueryMax[0] = aabbMax[0];
command->m_requestOverlappingObjectsArgs.m_aabbQueryMax[1] = aabbMax[1];
command->m_requestOverlappingObjectsArgs.m_aabbQueryMax[2] = aabbMax[2];
return (b3SharedMemoryCommandHandle)command;
}
void b3GetAABBOverlapResults(b3PhysicsClientHandle physClient, struct b3AABBOverlapData* data)
{
data->m_numOverlappingObjects = 0;
// data->m_objectUniqueIds
PhysicsClient* cl = (PhysicsClient*)physClient;
if (cl)
{
cl->getCachedOverlappingObjects(data);
}
}