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Turn off self-collision for FixJointBoxes example

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This commit is contained in:
Chuyuan Fu
2019-03-11 13:12:49 -07:00
parent 81ab8cd1c6
commit bea2f6e65a
3 changed files with 25 additions and 0 deletions
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22
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
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@@ -2417,3 +2417,25 @@ void b3RobotSimulatorClientAPI_NoDirect::setAdditionalSearchPath(const std::stri
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
}
}
void b3RobotSimulatorClientAPI_NoDirect::setCollisionFilterGroupMask(int bodyUniqueIdA, int linkIndexA, int collisionFilterGroup, int collisionFilterMask)
{
int physicsClientId = 0;
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0)
{
b3Warning("Not connected");
return;
}
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
commandHandle = b3CollisionFilterCommandInit(sm);
b3SetCollisionFilterGroupMask(commandHandle, bodyUniqueIdA, linkIndexA, collisionFilterGroup, collisionFilterMask);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
}