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allow to provide rayCastBatch in local 'from'/'to' with a parent/link index, b3RaycastBatchSetParentObject

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If parentObjectUniqueId provided, convert local from/to into world space coordinates
AddUserDebugLins: don't block when replacing an item
Fix examples/pybullet/examples/inverse_kinematics.py
This commit is contained in:
erwincoumans
2018-10-10 23:31:50 -07:00
parent 32b5c88d4b
commit bb305c6ebc
7 changed files with 104 additions and 9 deletions
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12
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2898,6 +2898,8 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3CreateRaycastBatchCommandInit(b3Phys
command->m_requestRaycastIntersections.m_numCommandRays = 0;
command->m_requestRaycastIntersections.m_numStreamingRays = 0;
command->m_requestRaycastIntersections.m_numThreads = 1;
command->m_requestRaycastIntersections.m_parentObjectUniqueId = -1;
command->m_requestRaycastIntersections.m_parentLinkIndex=-1;
return (b3SharedMemoryCommandHandle)command;
}
@@ -2947,6 +2949,16 @@ B3_SHARED_API void b3RaycastBatchAddRays(b3PhysicsClientHandle physClient, b3Sha
}
}
B3_SHARED_API void b3RaycastBatchSetParentObject(b3SharedMemoryCommandHandle commandHandle, int parentObjectUniqueId, int parentLinkIndex)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_RAY_CAST_INTERSECTIONS);
command->m_requestRaycastIntersections.m_parentObjectUniqueId = parentObjectUniqueId;
command->m_requestRaycastIntersections.m_parentLinkIndex = parentLinkIndex;
}
B3_SHARED_API void b3GetRaycastInformation(b3PhysicsClientHandle physClient, struct b3RaycastInformation* raycastInfo)
{
PhysicsClient* cl = (PhysicsClient*)physClient;