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regular OR wireframe rendering, not both

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add option to perform filtering of 'getClosestPoints' using linkA/linkB.
don't use 'realtimesimulation' as default
add/remove debug items within same thread
pybullet, report contact points and normal as [x,y,z] triplet/vector, not 3 scalars
separate 'getClosestPointsAlgorithm': box-box doesn't report closest points with positive distance, and the query shouldn't impact regular 'closesst points'
This commit is contained in:
erwincoumans
2016-11-19 17:13:56 -08:00
parent 936a104fb2
commit 9ee1c4ec24
19 changed files with 417 additions and 222 deletions
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4
examples/SharedMemory/SharedMemoryCommands.h
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@@ -154,6 +154,8 @@ enum EnumRequestContactDataUpdateFlags
{
CMD_REQUEST_CONTACT_POINT_HAS_QUERY_MODE=1,
CMD_REQUEST_CONTACT_POINT_HAS_CLOSEST_DISTANCE_THRESHOLD=2,
CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER = 4,
CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER = 8,
};
struct RequestContactDataArgs
@@ -161,6 +163,8 @@ struct RequestContactDataArgs
int m_startingContactPointIndex;
int m_objectAIndexFilter;
int m_objectBIndexFilter;
int m_linkIndexAIndexFilter;
int m_linkIndexBIndexFilter;
double m_closestDistanceThreshold;
int m_mode;
};