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PyBullet: expose flags to createMultiBody

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This commit is contained in:
erwincoumans
2018-06-02 11:37:14 -07:00
parent 39c9ffa4c3
commit cb6b7a7c38
5 changed files with 43 additions and 14 deletions
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14
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1414,6 +1414,20 @@ B3_SHARED_API void b3CreateMultiBodyUseMaximalCoordinates(b3SharedMemoryCommandH
}
}
B3_SHARED_API void b3CreateMultiBodySetFlags(b3SharedMemoryCommandHandle commandHandle, int flags)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CREATE_MULTI_BODY);
if (command->m_type==CMD_CREATE_MULTI_BODY)
{
command->m_updateFlags |= MULT_BODY_HAS_FLAGS;
command->m_createMultiBodyArgs.m_flags = flags;
}
}
B3_SHARED_API int b3GetStatusMultiBodyUniqueId(b3SharedMemoryStatusHandle statusHandle)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;

2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -466,6 +466,8 @@ B3_SHARED_API int b3CreateMultiBodyLink(b3SharedMemoryCommandHandle commandHandl
//useMaximalCoordinates are disabled by default, enabling them is experimental and not fully supported yet
B3_SHARED_API void b3CreateMultiBodyUseMaximalCoordinates(b3SharedMemoryCommandHandle commandHandle);
B3_SHARED_API void b3CreateMultiBodySetFlags(b3SharedMemoryCommandHandle commandHandle, int flags);
//int b3CreateMultiBodyAddLink(b3SharedMemoryCommandHandle commandHandle, int jointType, int parentLinkIndex, double linkMass, int linkCollisionShapeUnique, int linkVisualShapeUniqueId);

6
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -5804,6 +5804,12 @@ bool PhysicsServerCommandProcessor::processCreateMultiBodyCommand(const struct S
}
int flags = 0;
if (clientCmd.m_updateFlags & MULT_BODY_HAS_FLAGS)
{
flags = clientCmd.m_createMultiBodyArgs.m_flags;
}
bool ok = processImportedObjects("memory", bufferServerToClient, bufferSizeInBytes, useMultiBody, flags, u2b);
if (ok)

3
examples/SharedMemory/SharedMemoryCommands.h
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@@ -926,6 +926,7 @@ enum eCreateMultiBodyEnum
{
MULTI_BODY_HAS_BASE=1,
MULT_BODY_USE_MAXIMAL_COORDINATES=2,
MULT_BODY_HAS_FLAGS=4,
};
struct b3CreateMultiBodyArgs
{
@@ -947,7 +948,7 @@ struct b3CreateMultiBodyArgs
int m_linkParentIndices[MAX_CREATE_MULTI_BODY_LINKS];
int m_linkJointTypes[MAX_CREATE_MULTI_BODY_LINKS];
double m_linkJointAxis[3*MAX_CREATE_MULTI_BODY_LINKS];
int m_flags;
#if 0
std::string m_name;
std::string m_sourceFile;