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add getClosestPoints.py example.

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allow to perform a getClosestPoints query with a collisionShape and world transform (position, orientation) that isn't part of the world.
(use createCollisionShape to create it)
add optional removeCollisionShape, for collision shapes only used in a query (and not used to create a body)
This commit is contained in:
erwincoumans
2018-09-22 14:18:21 -07:00
parent cdf8c908ad
commit b73b05e9fb
6 changed files with 139 additions and 11 deletions
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16
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2858,6 +2858,22 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitRemoveBodyCommand(b3PhysicsClien
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRemoveCollisionShapeCommand(b3PhysicsClientHandle physClient, int collisionShapeId)
{
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 = 0;
command->m_removeObjectArgs.m_numBodies = 0;
command->m_removeObjectArgs.m_numUserConstraints = 0;
command->m_removeObjectArgs.m_numUserCollisionShapes = 1;
command->m_removeObjectArgs.m_userCollisionShapes[0] = collisionShapeId;
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API int b3GetStatusUserConstraintUniqueId(b3SharedMemoryStatusHandle statusHandle)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;