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pybullet.getAABB and getAPIVersion

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fix btMultiBody::getLinkCollider
bump up Bullet C-API version
This commit is contained in:
Erwin Coumans
2017-06-15 19:46:27 -07:00
parent c903bd8a49
commit bb8cfe3c9a
7 changed files with 200 additions and 4 deletions
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34
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1308,6 +1308,40 @@ int b3GetStatusBodyIndex(b3SharedMemoryStatusHandle statusHandle)
return bodyId;
}
int b3GetStatusAABB(b3SharedMemoryStatusHandle statusHandle, int linkIndex, double aabbMin[3], double aabbMax[3])
{
const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
const SendActualStateArgs &args = status->m_sendActualStateArgs;
btAssert(status->m_type == CMD_ACTUAL_STATE_UPDATE_COMPLETED);
if (status->m_type != CMD_ACTUAL_STATE_UPDATE_COMPLETED)
return 0;
if (linkIndex==-1)
{
aabbMin[0] = args.m_rootWorldAABBMin[0];
aabbMin[1] = args.m_rootWorldAABBMin[1];
aabbMin[2] = args.m_rootWorldAABBMin[2];
aabbMax[0] = args.m_rootWorldAABBMax[0];
aabbMax[1] = args.m_rootWorldAABBMax[1];
aabbMax[2] = args.m_rootWorldAABBMax[2];
return 1;
}
if (linkIndex >= 0 && linkIndex < args.m_numLinks)
{
aabbMin[0] = args.m_linkWorldAABBsMin[0];
aabbMin[1] = args.m_linkWorldAABBsMin[1];
aabbMin[2] = args.m_linkWorldAABBsMin[2];
aabbMax[0] = args.m_linkWorldAABBsMax[0];
aabbMax[1] = args.m_linkWorldAABBsMax[1];
aabbMax[2] = args.m_linkWorldAABBsMax[2];
return 1;
}
return 0;
}
int b3GetStatusActualState(b3SharedMemoryStatusHandle statusHandle,
int* bodyUniqueId,