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add reportHitNumber to allow reporting a specific ray intersection hit

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(by default, pybullet.rayTestBatch reports the closest hit, so you can report 2nd closest or 3rd closest hit etc)
Fix pybullet.createCollisionShape, in some cases (concave trimesh, convex mesh) two instances were created.
This commit is contained in:
Erwin Coumans
2020-05-07 23:23:24 -07:00
parent 5fd11fe90b
commit daa0a27403
6 changed files with 54 additions and 35 deletions
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11
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -3650,6 +3650,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3CreateRaycastCommandInit(b3PhysicsCl
command->m_requestRaycastIntersections.m_fromToRays[0].m_rayToPosition[0] = rayToWorldX;
command->m_requestRaycastIntersections.m_fromToRays[0].m_rayToPosition[1] = rayToWorldY;
command->m_requestRaycastIntersections.m_fromToRays[0].m_rayToPosition[2] = rayToWorldZ;
command->m_requestRaycastIntersections.m_reportHitNumber = -1;
return (b3SharedMemoryCommandHandle)command;
}
@@ -3668,6 +3669,8 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3CreateRaycastBatchCommandInit(b3Phys
command->m_requestRaycastIntersections.m_numThreads = 1;
command->m_requestRaycastIntersections.m_parentObjectUniqueId = -1;
command->m_requestRaycastIntersections.m_parentLinkIndex=-1;
command->m_requestRaycastIntersections.m_reportHitNumber = -1;
return (b3SharedMemoryCommandHandle)command;
}
@@ -3726,6 +3729,14 @@ B3_SHARED_API void b3RaycastBatchSetParentObject(b3SharedMemoryCommandHandle com
command->m_requestRaycastIntersections.m_parentLinkIndex = parentLinkIndex;
}
B3_SHARED_API void b3RaycastBatchSetReportHitNumber(b3SharedMemoryCommandHandle commandHandle, int reportHitNumber)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_RAY_CAST_INTERSECTIONS);
command->m_requestRaycastIntersections.m_reportHitNumber= reportHitNumber;
}
B3_SHARED_API void b3GetRaycastInformation(b3PhysicsClientHandle physClient, struct b3RaycastInformation* raycastInfo)
{