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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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9
examples/SharedMemory/PhysicsClientC_API.h
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@@ -290,6 +290,15 @@ B3_SHARED_API void b3SetClosestDistanceFilterLinkA(b3SharedMemoryCommandHandle c
B3_SHARED_API void b3SetClosestDistanceFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB);
B3_SHARED_API void b3SetClosestDistanceFilterLinkB(b3SharedMemoryCommandHandle commandHandle, int linkIndexB);
B3_SHARED_API void b3SetClosestDistanceThreshold(b3SharedMemoryCommandHandle commandHandle, double distance);
B3_SHARED_API void b3SetClosestDistanceFilterCollisionShapeA(b3SharedMemoryCommandHandle commandHandle, int collisionShapeA);
B3_SHARED_API void b3SetClosestDistanceFilterCollisionShapeB(b3SharedMemoryCommandHandle commandHandle, int collisionShapeB);
B3_SHARED_API void b3SetClosestDistanceFilterCollisionShapePositionA(b3SharedMemoryCommandHandle commandHandle, double collisionShapePositionA[/*3*/]);
B3_SHARED_API void b3SetClosestDistanceFilterCollisionShapePositionB(b3SharedMemoryCommandHandle commandHandle, double collisionShapePositionB[/*3*/]);
B3_SHARED_API void b3SetClosestDistanceFilterCollisionShapeOrientationA(b3SharedMemoryCommandHandle commandHandle, double collisionShapeOrientationA[/*4*/]);
B3_SHARED_API void b3SetClosestDistanceFilterCollisionShapeOrientationB(b3SharedMemoryCommandHandle commandHandle, double collisionShapeOrientationB[/*4*/]);
B3_SHARED_API void b3GetClosestPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointInfo);
///get all the bodies that touch a given axis aligned bounding box specified in world space (min and max coordinates)