diff options
Diffstat (limited to 'examples/SharedMemory/PhysicsClientC_API.cpp')
| -rw-r--r-- | examples/SharedMemory/PhysicsClientC_API.cpp | 24 |
1 files changed, 24 insertions, 0 deletions
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 920a463b7..c316cbeb2 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -314,6 +314,30 @@ B3_SHARED_API int b3LoadSoftBodySetCollisionMargin(b3SharedMemoryCommandHandle c return 0; } + +B3_SHARED_API int b3LoadSoftBodySetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX, double startPosY, double startPosZ) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; + b3Assert(command->m_type == CMD_LOAD_SOFT_BODY); + command->m_loadSoftBodyArguments.m_initialPosition[0] = startPosX; + command->m_loadSoftBodyArguments.m_initialPosition[1] = startPosY; + command->m_loadSoftBodyArguments.m_initialPosition[2] = startPosZ; + command->m_updateFlags |= LOAD_SOFT_BODY_INITIAL_POSITION; + return 0; +} + +B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; + b3Assert(command->m_type == CMD_LOAD_SOFT_BODY); + command->m_loadSoftBodyArguments.m_initialOrientation[0] = startOrnX; + command->m_loadSoftBodyArguments.m_initialOrientation[1] = startOrnY; + command->m_loadSoftBodyArguments.m_initialOrientation[2] = startOrnZ; + command->m_loadSoftBodyArguments.m_initialOrientation[3] = startOrnW; + command->m_updateFlags |= LOAD_SOFT_BODY_INITIAL_ORIENTATION; + return 0; +} + B3_SHARED_API b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName) { PhysicsClient* cl = (PhysicsClient*)physClient; |