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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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16
examples/SharedMemory/SharedMemoryCommands.h
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@@ -278,6 +278,14 @@ enum EnumRequestContactDataUpdateFlags
CMD_REQUEST_CONTACT_POINT_HAS_CLOSEST_DISTANCE_THRESHOLD=2,
CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER = 4,
CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER = 8,
CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_A = 16,
CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_B = 32,
CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_POSITION_A = 64,
CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_POSITION_B = 128,
CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_ORIENTATION_A= 256,
CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_ORIENTATION_B= 512,
};
struct RequestRaycastIntersections
@@ -309,6 +317,14 @@ struct RequestContactDataArgs
int m_linkIndexAIndexFilter;
int m_linkIndexBIndexFilter;
double m_closestDistanceThreshold;
int m_collisionShapeA;
int m_collisionShapeB;
double m_collisionShapePositionA[3];
double m_collisionShapePositionB[3];
double m_collisionShapeOrientationA[4];
double m_collisionShapeOrientationB[4];
int m_mode;
};