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implement pybullet.getContactPointData(), two optional object unique ids as filter

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returns a pylist of contact points. Each point has the following data:

	0     int m_contactFlags;//unused for now
         1     int m_bodyUniqueIdA;
         2     int m_bodyUniqueIdB;
         3     int m_linkIndexA;
         4     int m_linkIndexB;
         5-6-7     double m_positionOnAInWS[3];//contact point location on object A, in world space coordinates
         8-9-10     double m_positionOnBInWS[3];//contact point location on object A, in world space coordinates
         11-12-13     double m_contactNormalOnBInWS[3];//the separating contact normal, pointing from object B towards object A
         14     double m_contactDistance;//negative number is penetration, positive is distance.

         15    double m_normalForce;
This commit is contained in:
Erwin Coumans
2016-09-01 18:28:39 -07:00
parent a370c3bbac
commit e98fca1e5e
8 changed files with 205 additions and 41 deletions
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23
examples/SharedMemory/SharedMemoryPublic.h
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@@ -139,7 +139,8 @@ struct b3CameraImageData
struct b3ContactPointData
{
int m_contactFlags;//flag wether certain fields below are valid
//todo: expose some contact flags, such as telling which fields below are valid
int m_contactFlags;
int m_bodyUniqueIdA;
int m_bodyUniqueIdB;
int m_linkIndexA;
@@ -148,23 +149,23 @@ struct b3ContactPointData
double m_positionOnBInWS[3];//contact point location on object A, in world space coordinates
double m_contactNormalOnBInWS[3];//the separating contact normal, pointing from object B towards object A
double m_contactDistance;//negative number is penetration, positive is distance.
int m_contactPointDynamicsIndex;
double m_normalForce;
//todo: expose the friction forces as well
// double m_linearFrictionDirection0[3];
// double m_linearFrictionForce0;
// double m_linearFrictionDirection1[3];
// double m_linearFrictionForce1;
// double m_angularFrictionDirection[3];
// double m_angularFrictionForce;
};
struct b3ContactPointDynamicsData
{
double m_normalForce;
double m_linearFrictionDirection[3];
double m_linearFrictionForce;
double m_angularFrictionDirection[3];
double m_angularFrictionForce;
};
struct b3ContactInformation
{
int m_numContactPoints;
struct b3ContactPointData* m_contactPointData;
struct b3ContactPointDynamicsData* m_contactDynamicsData;
};
///b3LinkState provides extra information such as the Cartesian world coordinates