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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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37
examples/pybullet/pybullet.c
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@@ -3099,6 +3099,40 @@ static PyObject* pybullet_getBodyUniqueId(PyObject* self, PyObject* args, PyObje
}
}
static PyObject* pybullet_removeCollisionShape(PyObject* self, PyObject* args, PyObject* keywds)
{
{
int collisionShapeId= -1;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"collisionShapeId", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|i", kwlist, &collisionShapeId, &physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
if (collisionShapeId>=0)
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;
if (b3CanSubmitCommand(sm))
{
statusHandle = b3SubmitClientCommandAndWaitStatus( sm, b3InitRemoveCollisionShapeCommand(sm,collisionShapeId));
statusType = b3GetStatusType(statusHandle);
}
}
}
Py_INCREF(Py_None);
return Py_None;
}
static PyObject* pybullet_removeBody(PyObject* self, PyObject* args, PyObject* keywds)
{
{
@@ -9293,6 +9327,9 @@ static PyMethodDef SpamMethods[] = {
{ "createCollisionShapeArray", (PyCFunction)pybullet_createCollisionShapeArray, METH_VARARGS | METH_KEYWORDS,
"Create collision shapes. Returns a non-negative (int) unique id, if successfull, negative otherwise." },
{"removeCollisionShape", (PyCFunction)pybullet_removeCollisionShape, METH_VARARGS | METH_KEYWORDS,
"Remove a collision shape. Only useful when the collision shape is not used in a body (to perform a getClosestPoint query)."},
{"createVisualShape", (PyCFunction)pybullet_createVisualShape, METH_VARARGS | METH_KEYWORDS,
"Create a visual shape. Returns a non-negative (int) unique id, if successfull, negative otherwise."},