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more work towards removeBody for C-API/pybullet, work-in-progress.

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This commit is contained in:
Erwin Coumans
2017-05-03 21:53:29 -07:00
parent 152e3da3e4
commit a86f584824
13 changed files with 278 additions and 23 deletions
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18
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1308,6 +1308,24 @@ b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand(b3PhysicsClientHa
command->m_userConstraintArguments.m_userConstraintUniqueId = userConstraintUniqueId;
return (b3SharedMemoryCommandHandle)command;
}
b3SharedMemoryCommandHandle b3InitRemoveBodyCommand(b3PhysicsClientHandle physClient, int bodyUniqueId)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_REMOVE_BODY;
command->m_updateFlags = BODY_DELETE_FLAG;
command->m_removeObjectArgs.m_numBodies = 1;
command->m_removeObjectArgs.m_bodyUniqueIds[0] = bodyUniqueId;
command->m_removeObjectArgs.m_numUserConstraints = 0;
return (b3SharedMemoryCommandHandle)command;
}
int b3GetStatusUserConstraintUniqueId(b3SharedMemoryStatusHandle statusHandle)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;