Turn off self-collision for FixJointBoxes example

3 files changed, 25 insertions, 0 deletions

diff --git a/examples/BulletRobotics/FixJointBoxes.cpp b/examples/BulletRobotics/FixJointBoxes.cpp
index 8034600f3..a5a89e329 100644
--- a/examples/BulletRobotics/FixJointBoxes.cpp
+++ b/examples/BulletRobotics/FixJointBoxes.cpp
@@ -75,6 +75,7 @@ public:
 				if (i > 0)
 				{
 					m_robotSim.createConstraint(cubeIds[i], -1, cubeIds[i - 1], -1, &jointInfo);
+                    m_robotSim.setCollisionFilterGroupMask(cubeIds[i], -1, 0, 0);
 				}
 
 				m_robotSim.loadURDF("plane.urdf");
diff --git a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
index 284430847..9efed7f7e 100644
--- a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
+++ b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
@@ -2417,3 +2417,25 @@ void b3RobotSimulatorClientAPI_NoDirect::setAdditionalSearchPath(const std::stri
 		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
 	}
 }
+
+void b3RobotSimulatorClientAPI_NoDirect::setCollisionFilterGroupMask(int bodyUniqueIdA, int linkIndexA, int collisionFilterGroup, int collisionFilterMask)
+{
+    int physicsClientId = 0;
+    b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
+    if (sm == 0)
+    {
+        b3Warning("Not connected");
+        return;
+    }
+    
+    b3SharedMemoryCommandHandle commandHandle;
+    b3SharedMemoryStatusHandle statusHandle;
+    int statusType;
+    
+    commandHandle = b3CollisionFilterCommandInit(sm);
+    b3SetCollisionFilterGroupMask(commandHandle, bodyUniqueIdA, linkIndexA, collisionFilterGroup, collisionFilterMask);
+    
+    statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
+    statusType = b3GetStatusType(statusHandle);
+}
+
diff --git a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
index cca09d974..297c7e203 100644
--- a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
+++ b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
@@ -664,6 +664,8 @@ public:
 		return SHARED_MEMORY_MAGIC_NUMBER;
 	}
 	void setAdditionalSearchPath(const std::string &path);
+    
+    void setCollisionFilterGroupMask(int bodyUniqueIdA, int linkIndexA, int collisionFilterGroup, int collisionFilterMask);
 };
 
 #endif  //B3_ROBOT_SIMULATOR_CLIENT_API_NO_DIRECT_H