1 files changed, 38 insertions, 1 deletions
diff --git a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
index 297c7e203..d8fd179c0 100644
--- a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
+++ b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
@@ -52,6 +52,43 @@ struct b3RobotSimulatorLoadSdfFileArgs
 	}
 };
 
+struct b3RobotSimulatorLoadSoftBodyArgs
+{
+	btVector3 m_startPosition;
+	btQuaternion m_startOrientation;
+	double m_scale;
+	double m_mass;
+	double m_collisionMargin;
+
+	b3RobotSimulatorLoadSoftBodyArgs(const btVector3 &startPos, const btQuaternion &startOrn, const double &scale, const double &mass, const double &collisionMargin)
+		: m_startPosition(startPos),
+		  m_startOrientation(startOrn),
+		  m_scale(scale),
+		  m_mass(mass),
+		  m_collisionMargin(collisionMargin)
+	{
+	}
+
+	b3RobotSimulatorLoadSoftBodyArgs(const btVector3 &startPos, const btQuaternion &startOrn)
+	{
+		b3RobotSimulatorLoadSoftBodyArgs(startPos, startOrn, 1.0, 1.0, 0.02);
+	}
+
+	b3RobotSimulatorLoadSoftBodyArgs()
+	{
+		b3RobotSimulatorLoadSoftBodyArgs(btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1));
+	}
+
+	b3RobotSimulatorLoadSoftBodyArgs(double scale, double mass, double collisionMargin)
+		: m_startPosition(btVector3(0, 0, 0)),
+		  m_startOrientation(btQuaternion(0, 0, 0, 1)),
+		  m_scale(scale),
+		  m_mass(mass),
+		  m_collisionMargin(collisionMargin)
+	{
+	}
+};
+
 struct b3RobotSimulatorLoadFileResults
 {
 	btAlignedObjectArray<int> m_uniqueObjectIds;
@@ -647,7 +684,7 @@ public:
 
 	int getConstraintUniqueId(int serialIndex);
 
-	void loadSoftBody(const std::string &fileName, double scale, double mass, double collisionMargin);
+	void loadSoftBody(const std::string &fileName, const struct b3RobotSimulatorLoadSoftBodyArgs &args);
 
 	virtual void setGuiHelper(struct GUIHelperInterface *guiHelper);
 	virtual struct GUIHelperInterface *getGuiHelper();