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add getClosestPoints.py example.

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allow to perform a getClosestPoints query with a collisionShape and world transform (position, orientation) that isn't part of the world.
(use createCollisionShape to create it)
This commit is contained in:
erwincoumans
2018-09-22 13:17:09 -07:00
parent 64a7a3d82f
commit cdf8c908ad
6 changed files with 270 additions and 14 deletions
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68
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -3883,10 +3883,76 @@ B3_SHARED_API void b3SetClosestDistanceThreshold(b3SharedMemoryCommandHandle com
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CONTACT_POINT_INFORMATION);
command->m_updateFlags += CMD_REQUEST_CONTACT_POINT_HAS_CLOSEST_DISTANCE_THRESHOLD;
command->m_updateFlags |= CMD_REQUEST_CONTACT_POINT_HAS_CLOSEST_DISTANCE_THRESHOLD;
command->m_requestContactPointArguments.m_closestDistanceThreshold = distance;
}
B3_SHARED_API void b3SetClosestDistanceFilterCollisionShapeA(b3SharedMemoryCommandHandle commandHandle, int collisionShapeA)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CONTACT_POINT_INFORMATION);
command->m_updateFlags |= CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_A;
command->m_requestContactPointArguments.m_collisionShapeA = collisionShapeA;
}
B3_SHARED_API void b3SetClosestDistanceFilterCollisionShapeB(b3SharedMemoryCommandHandle commandHandle, int collisionShapeB)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CONTACT_POINT_INFORMATION);
command->m_updateFlags |= CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_B;
command->m_requestContactPointArguments.m_collisionShapeB = collisionShapeB;
}
B3_SHARED_API void b3SetClosestDistanceFilterCollisionShapePositionA(b3SharedMemoryCommandHandle commandHandle, double collisionShapePositionA[/*3*/])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CONTACT_POINT_INFORMATION);
command->m_updateFlags |= CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_POSITION_A;
command->m_requestContactPointArguments.m_collisionShapePositionA[0] = collisionShapePositionA[0];
command->m_requestContactPointArguments.m_collisionShapePositionA[1] = collisionShapePositionA[1];
command->m_requestContactPointArguments.m_collisionShapePositionA[2] = collisionShapePositionA[2];
}
B3_SHARED_API void b3SetClosestDistanceFilterCollisionShapePositionB(b3SharedMemoryCommandHandle commandHandle, double collisionShapePositionB[/*3*/])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CONTACT_POINT_INFORMATION);
command->m_updateFlags |= CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_POSITION_B;
command->m_requestContactPointArguments.m_collisionShapePositionB[0] = collisionShapePositionB[0];
command->m_requestContactPointArguments.m_collisionShapePositionB[1] = collisionShapePositionB[1];
command->m_requestContactPointArguments.m_collisionShapePositionB[2] = collisionShapePositionB[2];
}
B3_SHARED_API void b3SetClosestDistanceFilterCollisionShapeOrientationA(b3SharedMemoryCommandHandle commandHandle, double collisionShapeOrientationA[/*4*/])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CONTACT_POINT_INFORMATION);
command->m_updateFlags |= CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_ORIENTATION_A;
command->m_requestContactPointArguments.m_collisionShapeOrientationA[0] = collisionShapeOrientationA[0];
command->m_requestContactPointArguments.m_collisionShapeOrientationA[1] = collisionShapeOrientationA[1];
command->m_requestContactPointArguments.m_collisionShapeOrientationA[2] = collisionShapeOrientationA[2];
command->m_requestContactPointArguments.m_collisionShapeOrientationA[3] = collisionShapeOrientationA[3];
}
B3_SHARED_API void b3SetClosestDistanceFilterCollisionShapeOrientationB(b3SharedMemoryCommandHandle commandHandle, double collisionShapeOrientationB[/*4*/])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CONTACT_POINT_INFORMATION);
command->m_updateFlags |= CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_ORIENTATION_B;
command->m_requestContactPointArguments.m_collisionShapeOrientationB[0] = collisionShapeOrientationB[0];
command->m_requestContactPointArguments.m_collisionShapeOrientationB[1] = collisionShapeOrientationB[1];
command->m_requestContactPointArguments.m_collisionShapeOrientationB[2] = collisionShapeOrientationB[2];
command->m_requestContactPointArguments.m_collisionShapeOrientationB[3] = collisionShapeOrientationB[3];
}
///get all the bodies that touch a given axis aligned bounding box specified in world space (min and max coordinates)
B3_SHARED_API b3SharedMemoryCommandHandle b3InitAABBOverlapQuery(b3PhysicsClientHandle physClient, const double aabbMin[3], const double aabbMax[3])