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add performCollisionDetection (stepSimulation also calls this, but does more, including solving constraints and integration)

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This commit is contained in:
erwin coumans
2021-03-26 10:31:13 -07:00
parent 0196edd4d2
commit d1c4c41b9a
8 changed files with 95 additions and 1 deletions
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13
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -977,6 +977,19 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitStepSimulationCommand2(b3SharedM
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitPerformCollisionDetectionCommand(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_PERFORM_COLLISION_DETECTION;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient*)physClient;