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add API to get and set mesh velocity

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This commit is contained in:
Chuyuan Kelly Fu 2022-02-18 16:38:59 -08:00
parent 450c95d0b9
commit 4e5b3f34c9
2 changed files with 19 additions and 1 deletions
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16
examples/SharedMemory/PhysicsClientC_API.cpp
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@ -1549,6 +1549,22 @@ B3_SHARED_API void b3GetMeshDataSetFlags(b3SharedMemoryCommandHandle commandHand
}
}
B3_SHARED_API void b3GetMeshDataSimulationMesh(b3SharedMemoryCommandHandle commandHandle)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_MESH_DATA);
command->m_updateFlags |= B3_MESH_DATA_SIMULATION_MESH;
}
B3_SHARED_API void b3MeshDataSimulationMeshVelocity(b3SharedMemoryCommandHandle commandHandle)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_MESH_DATA || command->m_type == CMD_RESET_MESH_DATA);
command->m_updateFlags |= B3_MESH_DATA_SIMULATION_MESH_VELOCITY;
}
B3_SHARED_API void b3GetMeshData(b3PhysicsClientHandle physClient, struct b3MeshData* meshData)
{
PhysicsClient* cl = (PhysicsClient*)physClient;

4
examples/SharedMemory/PhysicsClientC_API.h
View File

@ -532,7 +532,9 @@ extern "C"
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRemoveCollisionShapeCommand(b3PhysicsClientHandle physClient, int collisionShapeId);
B3_SHARED_API b3SharedMemoryCommandHandle b3GetMeshDataCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex);
B3_SHARED_API void b3GetMeshDataSetCollisionShapeIndex(b3SharedMemoryCommandHandle commandHandle, int shapeIndex);
B3_SHARED_API void b3GetMeshDataSimulationMesh(b3SharedMemoryCommandHandle commandHandle);
B3_SHARED_API void b3MeshDataSimulationMeshVelocity(b3SharedMemoryCommandHandle commandHandle);
B3_SHARED_API void b3GetMeshDataSetCollisionShapeIndex(b3SharedMemoryCommandHandle commandHandle, int shapeIndex);
B3_SHARED_API void b3GetMeshDataSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags);
B3_SHARED_API void b3GetMeshData(b3PhysicsClientHandle physClient, struct b3MeshData* meshData);