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

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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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2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -510,6 +510,8 @@ extern "C"
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRemoveCollisionShapeCommand(b3PhysicsClientHandle physClient, int collisionShapeId);
B3_SHARED_API b3SharedMemoryCommandHandle b3GetMeshDataCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex);
B3_SHARED_API void b3GetMeshDataSetCollisionShapeIndex(b3SharedMemoryCommandHandle commandHandle, int shapeIndex);
B3_SHARED_API void b3GetMeshData(b3PhysicsClientHandle physClient, struct b3MeshData* meshData);