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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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33
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -1239,10 +1239,35 @@ public:
m_tmpLine.m_debugLineColorRGB[2] = debugLineColorRGB[2];
m_tmpLine.m_trackingVisualShapeIndex = trackingVisualShapeIndex;
m_tmpLine.m_replaceItemUid = replaceItemUid;
m_cs->lock();
m_cs->setSharedParam(1, eGUIUserDebugAddLine);
m_resultDebugLineUid = -1;
workerThreadWait();
//don't block when replacing an item
if (replaceItemUid>=0 && replaceItemUid<m_userDebugLines.size())
{
//find the right slot
int slot=-1;
for (int i=0;i<m_userDebugLines.size();i++)
{
if (replaceItemUid == m_userDebugLines[i].m_itemUniqueId)
{
slot = i;
}
}
if (slot>=0)
{
m_userDebugLines[slot] = m_tmpLine;
}
m_resultDebugLineUid = replaceItemUid;
}
else
{
m_cs->lock();
m_cs->setSharedParam(1, eGUIUserDebugAddLine);
m_resultDebugLineUid = -1;
workerThreadWait();
}
return m_resultDebugLineUid;
}