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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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15
examples/SharedMemory/SharedMemoryPublic.h
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@@ -34,6 +34,7 @@ enum EnumSharedMemoryClientCommand
CMD_CALCULATE_JACOBIAN,
CMD_CREATE_JOINT,
CMD_REQUEST_CONTACT_POINT_INFORMATION,
CMD_REQUEST_AABB_OVERLAP,
CMD_SAVE_WORLD,
CMD_REQUEST_VISUAL_SHAPE_INFO,
CMD_UPDATE_VISUAL_SHAPE,
@@ -80,8 +81,8 @@ enum EnumSharedMemoryServerStatus
CMD_CALCULATED_JACOBIAN_FAILED,
CMD_CONTACT_POINT_INFORMATION_COMPLETED,
CMD_CONTACT_POINT_INFORMATION_FAILED,
CMD_AABB_OVERLAP_COMPLETED,
CMD_AABB_OVERLAP_FAILED,
CMD_REQUEST_AABB_OVERLAP_COMPLETED,
CMD_REQUEST_AABB_OVERLAP_FAILED,
CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED,
CMD_CALCULATE_INVERSE_KINEMATICS_FAILED,
CMD_SAVE_WORLD_COMPLETED,
@@ -160,11 +161,16 @@ struct b3DebugLines
const float* m_linesColor;//float red,green,blue times 'm_numDebugLines'.
};
struct b3OverlappingObject
{
int m_objectUniqueId;
int m_linkIndex;
};
struct b3AABBOverlapData
{
int m_numOverlappingObjects;
int* m_objectUniqueIds;
int* m_links;
struct b3OverlappingObject* m_overlappingObjects;
};
struct b3CameraImageData
@@ -205,7 +211,6 @@ enum
{
CONTACT_QUERY_MODE_REPORT_EXISTING_CONTACT_POINTS = 0,
CONTACT_QUERY_MODE_COMPUTE_CLOSEST_POINTS = 1,
CONTACT_QUERY_MODE_AABB_OVERLAP = 2,
};