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pybullet: enable getMeshData for multibody/rigid body (and filter on collisionShapeIndex for compound shapes)

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This commit is contained in:
Erwin Coumans
2020-03-17 00:38:12 -07:00
parent 7991012f9d
commit 1640eef937
6 changed files with 119 additions and 18 deletions
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12
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1390,6 +1390,18 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3GetMeshDataCommandInit(b3PhysicsClie
return 0;
}
B3_SHARED_API void b3GetMeshDataSetCollisionShapeIndex(b3SharedMemoryCommandHandle commandHandle, int shapeIndex)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_MESH_DATA);
if (command->m_type == CMD_REQUEST_MESH_DATA)
{
command->m_updateFlags = B3_MESH_DATA_COLLISIONSHAPEINDEX;
command->m_requestMeshDataArgs.m_collisionShapeIndex = shapeIndex;
}
}
B3_SHARED_API void b3GetMeshData(b3PhysicsClientHandle physClient, struct b3MeshData* meshData)
{
PhysicsClient* cl = (PhysicsClient*)physClient;