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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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1
examples/BulletRobotics/FixJointBoxes.cpp
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@@ -75,6 +75,7 @@ public:
if (i > 0) if (i > 0)
{ {
m_robotSim.createConstraint(cubeIds[i], -1, cubeIds[i - 1], -1, &jointInfo); m_robotSim.createConstraint(cubeIds[i], -1, cubeIds[i - 1], -1, &jointInfo);
m_robotSim.setCollisionFilterGroupMask(cubeIds[i], -1, 0, 0);
} }
m_robotSim.loadURDF("plane.urdf"); m_robotSim.loadURDF("plane.urdf");

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); 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);
}

2
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
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@@ -664,6 +664,8 @@ public:
return SHARED_MEMORY_MAGIC_NUMBER; return SHARED_MEMORY_MAGIC_NUMBER;
} }
void setAdditionalSearchPath(const std::string &path); void setAdditionalSearchPath(const std::string &path);
void setCollisionFilterGroupMask(int bodyUniqueIdA, int linkIndexA, int collisionFilterGroup, int collisionFilterMask);
}; };
#endif //B3_ROBOT_SIMULATOR_CLIENT_API_NO_DIRECT_H #endif //B3_ROBOT_SIMULATOR_CLIENT_API_NO_DIRECT_H