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Add share memory commands for user to change object dynamic types

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This commit is contained in:
WenlongLu
2020-11-11 22:41:33 -08:00
parent 56b42925d8
commit 21836afb97
5 changed files with 65 additions and 1 deletions
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examples/SharedMemory/PhysicsClientC_API.cpp
+11
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@@ -3219,6 +3219,17 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetJointLimitForce(b3SharedMemoryCommandHa
return 0;
}
B3_SHARED_API int b3ChangeDynamicsInfoSetDynamicType(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, int dynamicType)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
b3Assert(dynamicType == eDynamic || dynamicType == eStatic || dynamicType == eKinematic);
command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_changeDynamicsInfoArgs.m_linkIndex = linkIndex;
command->m_changeDynamicsInfoArgs.m_dynamicType = dynamicType;
command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_DYNAMIC_TYPE;
return 0;
}