mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 22:00:05 +00:00
add const qualifiers to all double* inputs in PhysicsClientC_API
This commit is contained in:
Wenlong Lu
parent
3c0e57e025
commit
2681f5cd9f
@ -1061,7 +1061,7 @@ B3_SHARED_API int b3CreateVisualShapeAddSphere(b3SharedMemoryCommandHandle comma
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return b3CreateCollisionShapeAddSphere(commandHandle, radius);
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}
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B3_SHARED_API int b3CreateCollisionShapeAddBox(b3SharedMemoryCommandHandle commandHandle, double halfExtents[3])
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B3_SHARED_API int b3CreateCollisionShapeAddBox(b3SharedMemoryCommandHandle commandHandle, const double halfExtents[3])
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
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b3Assert(command);
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@ -1085,7 +1085,7 @@ B3_SHARED_API int b3CreateCollisionShapeAddBox(b3SharedMemoryCommandHandle comma
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return -1;
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}
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B3_SHARED_API int b3CreateVisualShapeAddBox(b3SharedMemoryCommandHandle commandHandle, double halfExtents[/*3*/])
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B3_SHARED_API int b3CreateVisualShapeAddBox(b3SharedMemoryCommandHandle commandHandle, const double halfExtents[/*3*/])
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{
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return b3CreateCollisionShapeAddBox(commandHandle, halfExtents);
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}
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@ -1145,7 +1145,7 @@ B3_SHARED_API int b3CreateVisualShapeAddCylinder(b3SharedMemoryCommandHandle com
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return b3CreateCollisionShapeAddCylinder(commandHandle, radius, height);
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}
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B3_SHARED_API int b3CreateCollisionShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, double planeNormal[3], double planeConstant)
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B3_SHARED_API int b3CreateCollisionShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, const double planeNormal[3], double planeConstant)
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
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b3Assert(command);
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@ -1169,11 +1169,11 @@ B3_SHARED_API int b3CreateCollisionShapeAddPlane(b3SharedMemoryCommandHandle com
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}
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return -1;
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}
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B3_SHARED_API int b3CreateVisualShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, double planeNormal[/*3*/], double planeConstant)
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B3_SHARED_API int b3CreateVisualShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, const double planeNormal[/*3*/], double planeConstant)
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{
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return b3CreateCollisionShapeAddPlane(commandHandle, planeNormal, planeConstant);
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}
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B3_SHARED_API int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle commandHandle, const char* fileName, double meshScale[3])
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B3_SHARED_API int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle commandHandle, const char* fileName, const double meshScale[3])
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
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b3Assert(command);
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@ -1199,7 +1199,7 @@ B3_SHARED_API int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle comm
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return -1;
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}
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B3_SHARED_API int b3CreateVisualShapeAddMesh(b3SharedMemoryCommandHandle commandHandle, const char* fileName, double meshScale[/*3*/])
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B3_SHARED_API int b3CreateVisualShapeAddMesh(b3SharedMemoryCommandHandle commandHandle, const char* fileName, const double meshScale[/*3*/])
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{
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return b3CreateCollisionShapeAddMesh(commandHandle, fileName, meshScale);
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}
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@ -1222,7 +1222,7 @@ B3_SHARED_API void b3CreateVisualSetFlag(b3SharedMemoryCommandHandle commandHand
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b3CreateCollisionSetFlag(commandHandle, shapeIndex, flags);
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}
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B3_SHARED_API void b3CreateCollisionShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, double childPosition[3], double childOrientation[4])
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B3_SHARED_API void b3CreateCollisionShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, const double childPosition[3], const double childOrientation[4])
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
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b3Assert(command);
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@ -1243,12 +1243,12 @@ B3_SHARED_API void b3CreateCollisionShapeSetChildTransform(b3SharedMemoryCommand
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}
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}
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B3_SHARED_API void b3CreateVisualShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, double childPosition[/*3*/], double childOrientation[/*4*/])
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B3_SHARED_API void b3CreateVisualShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, const double childPosition[/*3*/], const double childOrientation[/*4*/])
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{
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b3CreateCollisionShapeSetChildTransform(commandHandle, shapeIndex, childPosition, childOrientation);
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}
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B3_SHARED_API void b3CreateVisualShapeSetRGBAColor(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, double rgbaColor[/*4*/])
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B3_SHARED_API void b3CreateVisualShapeSetRGBAColor(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, const double rgbaColor[/*4*/])
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
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b3Assert(command);
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@ -1266,7 +1266,7 @@ B3_SHARED_API void b3CreateVisualShapeSetRGBAColor(b3SharedMemoryCommandHandle c
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}
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}
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B3_SHARED_API void b3CreateVisualShapeSetSpecularColor(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, double specularColor[/*3*/])
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B3_SHARED_API void b3CreateVisualShapeSetSpecularColor(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, const double specularColor[/*3*/])
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
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b3Assert(command);
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@ -1343,7 +1343,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3CreateMultiBodyCommandInit(b3Physics
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return 0;
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}
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B3_SHARED_API int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandle, double mass, int collisionShapeUnique, int visualShapeUniqueId, double basePosition[3], double baseOrientation[4], double baseInertialFramePosition[3], double baseInertialFrameOrientation[4])
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B3_SHARED_API int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandle, double mass, int collisionShapeUnique, int visualShapeUniqueId, const double basePosition[3], const double baseOrientation[4], const double baseInertialFramePosition[3], const double baseInertialFrameOrientation[4])
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
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b3Assert(command);
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@ -1398,13 +1398,13 @@ B3_SHARED_API int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandl
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B3_SHARED_API int b3CreateMultiBodyLink(b3SharedMemoryCommandHandle commandHandle, double linkMass, double linkCollisionShapeIndex,
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double linkVisualShapeIndex,
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double linkPosition[3],
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double linkOrientation[4],
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double linkInertialFramePosition[3],
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double linkInertialFrameOrientation[4],
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const double linkPosition[3],
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const double linkOrientation[4],
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const double linkInertialFramePosition[3],
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const double linkInertialFrameOrientation[4],
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int linkParentIndex,
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int linkJointType,
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double linkJointAxis[3])
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const double linkJointAxis[3])
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
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b3Assert(command);
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@ -1641,7 +1641,7 @@ B3_SHARED_API int b3CreatePoseCommandSetBaseOrientation(b3SharedMemoryCommandHan
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return 0;
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}
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B3_SHARED_API int b3CreatePoseCommandSetBaseLinearVelocity(b3SharedMemoryCommandHandle commandHandle, double linVel[3])
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B3_SHARED_API int b3CreatePoseCommandSetBaseLinearVelocity(b3SharedMemoryCommandHandle commandHandle, const double linVel[3])
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
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b3Assert(command);
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@ -1658,7 +1658,7 @@ B3_SHARED_API int b3CreatePoseCommandSetBaseLinearVelocity(b3SharedMemoryCommand
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return 0;
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}
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B3_SHARED_API int b3CreatePoseCommandSetBaseAngularVelocity(b3SharedMemoryCommandHandle commandHandle, double angVel[3])
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B3_SHARED_API int b3CreatePoseCommandSetBaseAngularVelocity(b3SharedMemoryCommandHandle commandHandle, const double angVel[3])
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
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b3Assert(command);
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@ -2438,7 +2438,7 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetMass(b3SharedMemoryCommandHandle comman
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return 0;
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}
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B3_SHARED_API int b3ChangeDynamicsInfoSetLocalInertiaDiagonal(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double localInertiaDiagonal[])
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B3_SHARED_API int b3ChangeDynamicsInfoSetLocalInertiaDiagonal(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, const double localInertiaDiagonal[])
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
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b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
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@ -2616,7 +2616,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitChangeUserConstraintCommand(b3Ph
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return (b3SharedMemoryCommandHandle)command;
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}
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B3_SHARED_API int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHandle commandHandle, double jointChildPivot[])
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B3_SHARED_API int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHandle commandHandle, const double jointChildPivot[])
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
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b3Assert(command);
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@ -2631,7 +2631,7 @@ B3_SHARED_API int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHan
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command->m_userConstraintArguments.m_childFrame[2] = jointChildPivot[2];
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return 0;
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}
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B3_SHARED_API int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle commandHandle, double jointChildFrameOrn[])
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B3_SHARED_API int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle commandHandle, const double jointChildFrameOrn[])
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
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b3Assert(command);
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@ -3094,7 +3094,7 @@ B3_SHARED_API void b3GetDebugLines(b3PhysicsClientHandle physClient, struct b3De
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}
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/// Add/remove user-specific debug lines and debug text messages
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B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3PhysicsClientHandle physClient, double fromXYZ[3], double toXYZ[3], double colorRGB[3], double lineWidth, double lifeTime)
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B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3PhysicsClientHandle physClient, const double fromXYZ[3], const double toXYZ[3], const double colorRGB[3], const double lineWidth, const double lifeTime)
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{
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PhysicsClient* cl = (PhysicsClient*)physClient;
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b3Assert(cl);
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@ -3125,7 +3125,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3Physics
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return (b3SharedMemoryCommandHandle)command;
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}
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B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle physClient, const char* txt, double positionXYZ[3], double colorRGB[3], double textSize, double lifeTime)
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B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle physClient, const char* txt, const double positionXYZ[3], const double colorRGB[3], double textSize, double lifeTime)
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{
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PhysicsClient* cl = (PhysicsClient*)physClient;
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b3Assert(cl);
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@ -3173,7 +3173,7 @@ B3_SHARED_API void b3UserDebugTextSetOptionFlags(b3SharedMemoryCommandHandle com
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command->m_updateFlags |= USER_DEBUG_HAS_OPTION_FLAGS;
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}
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B3_SHARED_API void b3UserDebugTextSetOrientation(b3SharedMemoryCommandHandle commandHandle, double orientation[4])
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B3_SHARED_API void b3UserDebugTextSetOrientation(b3SharedMemoryCommandHandle commandHandle, const double orientation[4])
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
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b3Assert(command);
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@ -3307,7 +3307,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitDebugDrawingCommand(b3PhysicsCli
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return (b3SharedMemoryCommandHandle)command;
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}
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B3_SHARED_API void b3SetDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex, double objectColorRGB[3])
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B3_SHARED_API void b3SetDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex, const double objectColorRGB[3])
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
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b3Assert(command);
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@ -4017,7 +4017,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClien
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return (b3SharedMemoryCommandHandle)command;
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}
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B3_SHARED_API void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle commandHandle, double rgbaColor[4])
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B3_SHARED_API void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle commandHandle, const double rgbaColor[4])
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
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b3Assert(command);
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@ -4033,7 +4033,7 @@ B3_SHARED_API void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle comm
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}
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}
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B3_SHARED_API void b3UpdateVisualShapeSpecularColor(b3SharedMemoryCommandHandle commandHandle, double specularColor[3])
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B3_SHARED_API void b3UpdateVisualShapeSpecularColor(b3SharedMemoryCommandHandle commandHandle, const double specularColor[3])
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
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b3Assert(command);
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@ -4526,7 +4526,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3SetVRCameraStateCommandInit(b3Physic
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return (b3SharedMemoryCommandHandle)command;
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}
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B3_SHARED_API int b3SetVRCameraRootPosition(b3SharedMemoryCommandHandle commandHandle, double rootPos[3])
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B3_SHARED_API int b3SetVRCameraRootPosition(b3SharedMemoryCommandHandle commandHandle, const double rootPos[3])
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
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b3Assert(command);
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@ -4538,7 +4538,7 @@ B3_SHARED_API int b3SetVRCameraRootPosition(b3SharedMemoryCommandHandle commandH
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return 0;
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}
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B3_SHARED_API int b3SetVRCameraRootOrientation(b3SharedMemoryCommandHandle commandHandle, double rootOrn[4])
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B3_SHARED_API int b3SetVRCameraRootOrientation(b3SharedMemoryCommandHandle commandHandle, const double rootOrn[4])
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
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b3Assert(command);
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@ -169,8 +169,8 @@ extern "C"
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///change parameters of an existing user constraint
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B3_SHARED_API b3SharedMemoryCommandHandle b3InitChangeUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId);
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B3_SHARED_API int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHandle commandHandle, double jointChildPivot[/*3*/]);
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B3_SHARED_API int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle commandHandle, double jointChildFrameOrn[/*4*/]);
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B3_SHARED_API int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHandle commandHandle, const double jointChildPivot[/*3*/]);
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B3_SHARED_API int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle commandHandle, const double jointChildFrameOrn[/*4*/]);
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B3_SHARED_API int b3InitChangeUserConstraintSetMaxForce(b3SharedMemoryCommandHandle commandHandle, double maxAppliedForce);
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B3_SHARED_API int b3InitChangeUserConstraintSetGearRatio(b3SharedMemoryCommandHandle commandHandle, double gearRatio);
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B3_SHARED_API int b3InitChangeUserConstraintSetGearAuxLink(b3SharedMemoryCommandHandle commandHandle, int gearAuxLink);
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@ -206,11 +206,11 @@ extern "C"
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B3_SHARED_API int b3GetStatusOpenGLVisualizerCamera(b3SharedMemoryStatusHandle statusHandle, struct b3OpenGLVisualizerCameraInfo* camera);
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/// Add/remove user-specific debug lines and debug text messages
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B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3PhysicsClientHandle physClient, double fromXYZ[/*3*/], double toXYZ[/*3*/], double colorRGB[/*3*/], double lineWidth, double lifeTime);
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B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3PhysicsClientHandle physClient, const double fromXYZ[/*3*/], const double toXYZ[/*3*/], const double colorRGB[/*3*/], double lineWidth, double lifeTime);
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B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle physClient, const char* txt, double positionXYZ[/*3*/], double colorRGB[/*3*/], double textSize, double lifeTime);
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B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle physClient, const char* txt, const double positionXYZ[/*3*/], const double colorRGB[/*3*/], double textSize, double lifeTime);
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B3_SHARED_API void b3UserDebugTextSetOptionFlags(b3SharedMemoryCommandHandle commandHandle, int optionFlags);
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B3_SHARED_API void b3UserDebugTextSetOrientation(b3SharedMemoryCommandHandle commandHandle, double orientation[/*4*/]);
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B3_SHARED_API void b3UserDebugTextSetOrientation(b3SharedMemoryCommandHandle commandHandle, const double orientation[/*4*/]);
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B3_SHARED_API void b3UserDebugItemSetReplaceItemUniqueId(b3SharedMemoryCommandHandle commandHandle, int replaceItem);
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B3_SHARED_API void b3UserDebugItemSetParentObject(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex);
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@ -223,7 +223,7 @@ extern "C"
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B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawRemoveAll(b3PhysicsClientHandle physClient);
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B3_SHARED_API b3SharedMemoryCommandHandle b3InitDebugDrawingCommand(b3PhysicsClientHandle physClient);
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B3_SHARED_API void b3SetDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex, double objectColorRGB[/*3*/]);
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B3_SHARED_API void b3SetDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex, const double objectColorRGB[/*3*/]);
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B3_SHARED_API void b3RemoveDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex);
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///All debug items unique Ids are positive: a negative unique Id means failure.
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@ -309,8 +309,8 @@ extern "C"
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B3_SHARED_API b3SharedMemoryCommandHandle b3CreateChangeTextureCommandInit(b3PhysicsClientHandle physClient, int textureUniqueId, int width, int height, const char* rgbPixels);
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B3_SHARED_API b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId);
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B3_SHARED_API void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle commandHandle, double rgbaColor[/*4*/]);
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B3_SHARED_API void b3UpdateVisualShapeSpecularColor(b3SharedMemoryCommandHandle commandHandle, double specularColor[/*3*/]);
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B3_SHARED_API void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle commandHandle, const double rgbaColor[/*4*/]);
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B3_SHARED_API void b3UpdateVisualShapeSpecularColor(b3SharedMemoryCommandHandle commandHandle, const double specularColor[/*3*/]);
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B3_SHARED_API b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient);
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B3_SHARED_API b3SharedMemoryCommandHandle b3InitPhysicsParamCommand2(b3SharedMemoryCommandHandle commandHandle);
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@ -453,43 +453,43 @@ extern "C"
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B3_SHARED_API b3SharedMemoryCommandHandle b3CreateCollisionShapeCommandInit(b3PhysicsClientHandle physClient);
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B3_SHARED_API int b3CreateCollisionShapeAddSphere(b3SharedMemoryCommandHandle commandHandle, double radius);
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B3_SHARED_API int b3CreateCollisionShapeAddBox(b3SharedMemoryCommandHandle commandHandle, double halfExtents[/*3*/]);
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B3_SHARED_API int b3CreateCollisionShapeAddBox(b3SharedMemoryCommandHandle commandHandle, const double halfExtents[/*3*/]);
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B3_SHARED_API int b3CreateCollisionShapeAddCapsule(b3SharedMemoryCommandHandle commandHandle, double radius, double height);
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B3_SHARED_API int b3CreateCollisionShapeAddCylinder(b3SharedMemoryCommandHandle commandHandle, double radius, double height);
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B3_SHARED_API int b3CreateCollisionShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, double planeNormal[/*3*/], double planeConstant);
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B3_SHARED_API int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle commandHandle, const char* fileName, double meshScale[/*3*/]);
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B3_SHARED_API int b3CreateCollisionShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, const double planeNormal[/*3*/], double planeConstant);
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B3_SHARED_API int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle commandHandle, const char* fileName, const double meshScale[/*3*/]);
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B3_SHARED_API void b3CreateCollisionSetFlag(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, int flags);
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||||
B3_SHARED_API void b3CreateCollisionShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, double childPosition[/*3*/], double childOrientation[/*4*/]);
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||||
B3_SHARED_API void b3CreateCollisionShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, const double childPosition[/*3*/], const double childOrientation[/*4*/]);
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||||
B3_SHARED_API int b3GetStatusCollisionShapeUniqueId(b3SharedMemoryStatusHandle statusHandle);
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||||
|
||||
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRemoveCollisionShapeCommand(b3PhysicsClientHandle physClient, int collisionShapeId);
|
||||
|
||||
B3_SHARED_API b3SharedMemoryCommandHandle b3CreateVisualShapeCommandInit(b3PhysicsClientHandle physClient);
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||||
B3_SHARED_API int b3CreateVisualShapeAddSphere(b3SharedMemoryCommandHandle commandHandle, double radius);
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||||
B3_SHARED_API int b3CreateVisualShapeAddBox(b3SharedMemoryCommandHandle commandHandle, double halfExtents[/*3*/]);
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||||
B3_SHARED_API int b3CreateVisualShapeAddBox(b3SharedMemoryCommandHandle commandHandle, const double halfExtents[/*3*/]);
|
||||
B3_SHARED_API int b3CreateVisualShapeAddCapsule(b3SharedMemoryCommandHandle commandHandle, double radius, double height);
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||||
B3_SHARED_API int b3CreateVisualShapeAddCylinder(b3SharedMemoryCommandHandle commandHandle, double radius, double height);
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||||
B3_SHARED_API int b3CreateVisualShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, double planeNormal[/*3*/], double planeConstant);
|
||||
B3_SHARED_API int b3CreateVisualShapeAddMesh(b3SharedMemoryCommandHandle commandHandle, const char* fileName, double meshScale[/*3*/]);
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||||
B3_SHARED_API int b3CreateVisualShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, const double planeNormal[/*3*/], double planeConstant);
|
||||
B3_SHARED_API int b3CreateVisualShapeAddMesh(b3SharedMemoryCommandHandle commandHandle, const char* fileName, const double meshScale[/*3*/]);
|
||||
B3_SHARED_API void b3CreateVisualSetFlag(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, int flags);
|
||||
B3_SHARED_API void b3CreateVisualShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, double childPosition[/*3*/], double childOrientation[/*4*/]);
|
||||
B3_SHARED_API void b3CreateVisualShapeSetSpecularColor(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, double specularColor[/*3*/]);
|
||||
B3_SHARED_API void b3CreateVisualShapeSetRGBAColor(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, double rgbaColor[/*4*/]);
|
||||
B3_SHARED_API void b3CreateVisualShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, const double childPosition[/*3*/], const double childOrientation[/*4*/]);
|
||||
B3_SHARED_API void b3CreateVisualShapeSetSpecularColor(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, const double specularColor[/*3*/]);
|
||||
B3_SHARED_API void b3CreateVisualShapeSetRGBAColor(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, const double rgbaColor[/*4*/]);
|
||||
|
||||
B3_SHARED_API int b3GetStatusVisualShapeUniqueId(b3SharedMemoryStatusHandle statusHandle);
|
||||
|
||||
B3_SHARED_API b3SharedMemoryCommandHandle b3CreateMultiBodyCommandInit(b3PhysicsClientHandle physClient);
|
||||
B3_SHARED_API int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandle, double mass, int collisionShapeUnique, int visualShapeUniqueId, double basePosition[/*3*/], double baseOrientation[/*4*/], double baseInertialFramePosition[/*3*/], double baseInertialFrameOrientation[/*4*/]);
|
||||
B3_SHARED_API int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandle, double mass, int collisionShapeUnique, int visualShapeUniqueId, const double basePosition[/*3*/], const double baseOrientation[/*4*/], const double baseInertialFramePosition[/*3*/], const double baseInertialFrameOrientation[/*4*/]);
|
||||
|
||||
B3_SHARED_API int b3CreateMultiBodyLink(b3SharedMemoryCommandHandle commandHandle, double linkMass, double linkCollisionShapeIndex,
|
||||
double linkVisualShapeIndex,
|
||||
double linkPosition[/*3*/],
|
||||
double linkOrientation[/*4*/],
|
||||
double linkInertialFramePosition[/*3*/],
|
||||
double linkInertialFrameOrientation[/*4*/],
|
||||
const double linkPosition[/*3*/],
|
||||
const double linkOrientation[/*4*/],
|
||||
const double linkInertialFramePosition[/*3*/],
|
||||
const double linkInertialFrameOrientation[/*4*/],
|
||||
int linkParentIndex,
|
||||
int linkJointType,
|
||||
double linkJointAxis[/*3*/]);
|
||||
const double linkJointAxis[/*3*/]);
|
||||
|
||||
//useMaximalCoordinates are disabled by default, enabling them is experimental and not fully supported yet
|
||||
B3_SHARED_API void b3CreateMultiBodyUseMaximalCoordinates(b3SharedMemoryCommandHandle commandHandle);
|
||||
@ -515,8 +515,8 @@ extern "C"
|
||||
|
||||
B3_SHARED_API int b3CreatePoseCommandSetBasePosition(b3SharedMemoryCommandHandle commandHandle, double startPosX, double startPosY, double startPosZ);
|
||||
B3_SHARED_API int b3CreatePoseCommandSetBaseOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW);
|
||||
B3_SHARED_API int b3CreatePoseCommandSetBaseLinearVelocity(b3SharedMemoryCommandHandle commandHandle, double linVel[/*3*/]);
|
||||
B3_SHARED_API int b3CreatePoseCommandSetBaseAngularVelocity(b3SharedMemoryCommandHandle commandHandle, double angVel[/*3*/]);
|
||||
B3_SHARED_API int b3CreatePoseCommandSetBaseLinearVelocity(b3SharedMemoryCommandHandle commandHandle, const double linVel[/*3*/]);
|
||||
B3_SHARED_API int b3CreatePoseCommandSetBaseAngularVelocity(b3SharedMemoryCommandHandle commandHandle, const double angVel[/*3*/]);
|
||||
|
||||
B3_SHARED_API int b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle commandHandle, int numJointPositions, const double* jointPositions);
|
||||
B3_SHARED_API int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, double jointPosition);
|
||||
@ -584,8 +584,8 @@ extern "C"
|
||||
B3_SHARED_API void b3GetVREventsData(b3PhysicsClientHandle physClient, struct b3VREventsData* vrEventsData);
|
||||
|
||||
B3_SHARED_API b3SharedMemoryCommandHandle b3SetVRCameraStateCommandInit(b3PhysicsClientHandle physClient);
|
||||
B3_SHARED_API int b3SetVRCameraRootPosition(b3SharedMemoryCommandHandle commandHandle, double rootPos[/*3*/]);
|
||||
B3_SHARED_API int b3SetVRCameraRootOrientation(b3SharedMemoryCommandHandle commandHandle, double rootOrn[/*4*/]);
|
||||
B3_SHARED_API int b3SetVRCameraRootPosition(b3SharedMemoryCommandHandle commandHandle, const double rootPos[/*3*/]);
|
||||
B3_SHARED_API int b3SetVRCameraRootOrientation(b3SharedMemoryCommandHandle commandHandle, const double rootOrn[/*4*/]);
|
||||
B3_SHARED_API int b3SetVRCameraTrackingObject(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId);
|
||||
B3_SHARED_API int b3SetVRCameraTrackingObjectFlag(b3SharedMemoryCommandHandle commandHandle, int flag);
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user