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implement b3RobotSimulatorClientAPI_NoDirect::createVisualShape

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This commit is contained in:
Erwin Coumans
2020-02-04 20:58:15 -08:00
parent 6428ed5e5f
commit 401abd9ebc
2 changed files with 102 additions and 6 deletions
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40
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
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@@ -492,6 +492,38 @@ struct b3RobotSimulatorCreateCollisionShapeArgs
}
};
struct b3RobotSimulatorCreateVisualShapeArgs
{
int m_shapeType;
double m_radius;
btVector3 m_halfExtents;
double m_height;
char* m_fileName;
btVector3 m_meshScale;
btVector3 m_planeNormal;
int m_flags;
b3RobotSimulatorCreateVisualShapeArgs()
: m_shapeType(-1),
m_radius(0.5),
m_height(1),
m_fileName(NULL),
m_flags(0)
{
m_halfExtents.m_floats[0] = 1;
m_halfExtents.m_floats[1] = 1;
m_halfExtents.m_floats[2] = 1;
m_meshScale.m_floats[0] = 1;
m_meshScale.m_floats[1] = 1;
m_meshScale.m_floats[2] = 1;
m_planeNormal.m_floats[0] = 0;
m_planeNormal.m_floats[1] = 0;
m_planeNormal.m_floats[2] = 1;
}
};
struct b3RobotSimulatorCreateMultiBodyArgs
{
double m_baseMass;
@@ -707,7 +739,7 @@ public:
bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo *bodyInfo);
bool getBasePositionAndOrientation(int bodyUniqueId, btVector3 &basePosition, btQuaternion &baseOrientation) const;
bool resetBasePositionAndOrientation(int bodyUniqueId, btVector3 &basePosition, btQuaternion &baseOrientation);
bool resetBasePositionAndOrientation(int bodyUniqueId, const btVector3 &basePosition, const btQuaternion &baseOrientation);
bool getBaseVelocity(int bodyUniqueId, btVector3 &baseLinearVelocity, btVector3 &baseAngularVelocity) const;
bool resetBaseVelocity(int bodyUniqueId, const btVector3 &linearVelocity, const btVector3 &angularVelocity) const;
@@ -792,9 +824,9 @@ public:
bool removeUserDebugItem(int itemUniqueId);
int addUserDebugText(char *text, double *textPosition, struct b3RobotSimulatorAddUserDebugTextArgs &args);
int addUserDebugText(const char *text, double *textPosition, struct b3RobotSimulatorAddUserDebugTextArgs &args);
int addUserDebugText(char *text, btVector3 &textPosition, struct b3RobotSimulatorAddUserDebugTextArgs &args);
int addUserDebugText(const char *text, btVector3 &textPosition, struct b3RobotSimulatorAddUserDebugTextArgs &args);
int addUserDebugLine(double *fromXYZ, double *toXYZ, struct b3RobotSimulatorAddUserDebugLineArgs &args);
@@ -830,6 +862,8 @@ public:
bool getAABB(int bodyUniqueId, int linkIndex, btVector3 &aabbMin, btVector3 &aabbMax);
int createVisualShape(int shapeType, struct b3RobotSimulatorCreateVisualShapeArgs& args);
int createCollisionShape(int shapeType, struct b3RobotSimulatorCreateCollisionShapeArgs &args);
int createMultiBody(struct b3RobotSimulatorCreateMultiBodyArgs &args);