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add python binding to allow loading deformable objects

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This commit is contained in:
Xuchen Han
2019-11-15 21:25:11 -08:00
parent 28039903b1
commit a86710c5b6
6 changed files with 59 additions and 9 deletions
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13
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -386,12 +386,12 @@ B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle
return 0;
}
B3_SHARED_API int b3LoadSoftBodySetSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision)
B3_SHARED_API int b3LoadSoftBodyUseSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
command->m_loadSoftBodyArguments.m_useSelfCollision = useSelfCollision;
command->m_updateFlags |= LOAD_SOFT_BODY_SET_SELF_COLLISION;
command->m_updateFlags |= LOAD_SOFT_BODY_USE_SELF_COLLISION;
return 0;
}
@@ -413,6 +413,15 @@ B3_SHARED_API int b3LoadSoftBodyUseBendingSprings(b3SharedMemoryCommandHandle co
return 0;
}
B3_SHARED_API int b3LoadSoftBodyUseFaceContact(b3SharedMemoryCommandHandle commandHandle, int useFaceContact)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
command->m_loadSoftBodyArguments.m_useFaceContact = useFaceContact;
command->m_updateFlags |= LOAD_SOFT_BODY_USE_FACE_CONTACT;
return 0;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName)
{
PhysicsClient* cl = (PhysicsClient*)physClient;