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add collisionFilterMask to rayTestBatch and rayTest

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This will allow to exclude (filter) certain bodies.
By default, static bodies have collision group 2, and dynamic (mass=1) bodies have collision group 1.
As long as mask & group != 0, a raytest will be performed.
This commit is contained in:
Erwin Coumans
2020-05-08 11:57:25 -07:00
parent 8f380b3fd2
commit f0cccf0faa
5 changed files with 87 additions and 12 deletions
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11
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -3651,6 +3651,8 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3CreateRaycastCommandInit(b3PhysicsCl
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;
command->m_requestRaycastIntersections.m_collisionFilterMask = -1;
return (b3SharedMemoryCommandHandle)command;
}
@@ -3670,6 +3672,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3CreateRaycastBatchCommandInit(b3Phys
command->m_requestRaycastIntersections.m_parentObjectUniqueId = -1;
command->m_requestRaycastIntersections.m_parentLinkIndex=-1;
command->m_requestRaycastIntersections.m_reportHitNumber = -1;
command->m_requestRaycastIntersections.m_collisionFilterMask = -1;
return (b3SharedMemoryCommandHandle)command;
}
@@ -3736,7 +3739,13 @@ B3_SHARED_API void b3RaycastBatchSetReportHitNumber(b3SharedMemoryCommandHandle
b3Assert(command->m_type == CMD_REQUEST_RAY_CAST_INTERSECTIONS);
command->m_requestRaycastIntersections.m_reportHitNumber= reportHitNumber;
}
B3_SHARED_API void b3RaycastBatchSetCollisionFilterMask(b3SharedMemoryCommandHandle commandHandle, int collisionFilterMask)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_RAY_CAST_INTERSECTIONS);
command->m_requestRaycastIntersections.m_collisionFilterMask = collisionFilterMask;
}
B3_SHARED_API void b3GetRaycastInformation(b3PhysicsClientHandle physClient, struct b3RaycastInformation* raycastInfo)
{