add getClosestPoints.py example.

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)

examples/pybullet/examples/getClosestPoints.py

@@ -0,0 +1,38 @@
+import pybullet as p
+import time
+p.connect(p.GUI)
+useCollisionShapeQuery = False
+
+geom = p.createCollisionShape(p.GEOM_SPHERE, radius=0.1)
+geomBox = p.createCollisionShape(p.GEOM_BOX, halfExtents=[0.2,0.2,0.2])
+obA = p.createMultiBody(baseMass=0, baseCollisionShapeIndex=geom,basePosition=[0.5,0,1])
+baseOrientationB = p.getQuaternionFromEuler([0,0.3,0])#[0,0.5,0.5,0]
+basePositionB = [1.5,0,1]
+obB = p.createMultiBody(baseMass=0, baseCollisionShapeIndex=geomBox,basePosition=basePositionB,baseOrientation=baseOrientationB )
+
+lineWidth=3
+colorRGB=[1,0,0]
+lineId=p.addUserDebugLine(lineFromXYZ=[0,0,0],lineToXYZ=[0,0,0],lineColorRGB=colorRGB,lineWidth=lineWidth,lifeTime=0)
+pitch=0
+while (p.isConnected()):
+	pitch += 0.01
+	if (pitch>=3.1415*2.):
+		pitch=0
+		
+	baseOrientationB = p.getQuaternionFromEuler([0,pitch,0])#[0,0.5,0.5,0]
+	p.resetBasePositionAndOrientation(obB, basePositionB, baseOrientationB)
+
+	if (useCollisionShapeQuery):
+		pts = p.getClosestPoints(bodyA=-1, bodyB=-1, distance=100, collisionShapeA=geom,collisionShapeB=geomBox, collisionShapePositionA=[0.5,0,1],collisionShapePositionB=basePositionB, collisionShapeOrientationB=baseOrientationB)
+	else:
+		pts = p.getClosestPoints(bodyA=obA, bodyB=obB, distance=100)
+
+	if len(pts)>0:
+		#print(pts)	
+		distance = pts[0][8]
+		#print("distance=",distance)
+		ptA = pts[0][5]
+		ptB = pts[0][6]
+		p.addUserDebugLine(lineFromXYZ=ptA,lineToXYZ=ptB,lineColorRGB=colorRGB,lineWidth=lineWidth,lifeTime=0,replaceItemUniqueId=lineId); 
+	time.sleep(1./240.)
+