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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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examples/SharedMemory/PhysicsClientC_API.h
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@@ -496,6 +496,8 @@ B3_SHARED_API void b3CreateCollisionSetFlag(b3SharedMemoryCommandHandle commandH
B3_SHARED_API void b3CreateCollisionShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle,int shapeIndex, double childPosition[/*3*/], double childOrientation[/*4*/]);
B3_SHARED_API int b3GetStatusCollisionShapeUniqueId(b3SharedMemoryStatusHandle statusHandle);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRemoveCollisionShapeCommand(b3PhysicsClientHandle physClient, int collisionShapeId);
B3_SHARED_API b3SharedMemoryCommandHandle b3CreateVisualShapeCommandInit(b3PhysicsClientHandle physClient);
B3_SHARED_API int b3CreateVisualShapeAddSphere(b3SharedMemoryCommandHandle commandHandle,double radius);
B3_SHARED_API int b3CreateVisualShapeAddBox(b3SharedMemoryCommandHandle commandHandle,double halfExtents[/*3*/]);