From 1262adeaec389dea8905f78231046e9038b3e763 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Thu, 5 Oct 2017 09:57:17 -0700
Subject: [PATCH] build a named tuple for 'getConnectionInfo' remove debug code

---
 .../PhysicsServerCommandProcessor.cpp         | 34 +------------------
 examples/pybullet/pybullet.c                  | 18 +++-------
 2 files changed, 5 insertions(+), 47 deletions(-)

diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 9fce685ae..271450a0d 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -3003,39 +3003,7 @@ int PhysicsServerCommandProcessor::createBodyInfoStream(int bodyUniqueId, char*
 bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes )
 {
 //	BT_PROFILE("processCommand");
-	int szc = sizeof(SharedMemoryCommand);
-	int sz = sizeof(SharedMemoryStatus);
-
-	int sz1 = sizeof(BulletDataStreamArgs);
-		int sz2 = sizeof(SdfLoadedArgs);
-		int sz3 = sizeof(SendActualStateArgs);//30k
-		int sz4= sizeof(SendDebugLinesArgs);
-		int sz5= sizeof(SendPixelDataArgs);
-		int sz6 = sizeof(RigidBodyCreateArgs);
-		int sz7 = sizeof(CalculateInverseDynamicsResultArgs);
-        int sz8 = sizeof(CalculateJacobianResultArgs);
-        int sz9 = sizeof(CalculateMassMatrixResultArgs);//130k
-		int sz10 = sizeof(SendContactDataArgs);
-		int sz11 = sizeof(SendOverlappingObjectsArgs);
-		int sz12 = sizeof(CalculateInverseKinematicsResultArgs);
-		int sz13 = sizeof(SendVisualShapeDataArgs);
-		int sz14 = sizeof(UserDebugDrawResultArgs);
-		int sz15 = sizeof(b3UserConstraint);
-		int sz16 = sizeof(SendVREvents);
-		int sz17 = sizeof(SendKeyboardEvents);
-		int sz18 = sizeof(SendRaycastHits);
-		int sz19 = sizeof(StateLoggingResultArgs);
-		int sz20 = sizeof(b3OpenGLVisualizerCameraInfo);
-		int sz21 = sizeof(b3ObjectArgs);
-		int sz22 = sizeof(b3DynamicsInfo);
-		int sz23 = sizeof(b3CreateCollisionShapeResultArgs);
-		int sz24 = sizeof(b3CreateVisualShapeResultArgs);
-		int sz25 = sizeof(b3CreateMultiBodyResultArgs);
-		int sz26 = sizeof(b3SendCollisionInfoArgs);
-		int sz27 = sizeof(SendMouseEvents);
-		int sz28 = sizeof(b3LoadTextureResultArgs);
-		int sz29 = sizeof(b3CustomCommandResultArgs);
-
+	
 	bool hasStatus = false;
 
     {
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index f08b4c4d4..b3be00d45 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -509,6 +509,7 @@ static PyObject* pybullet_getConnectionInfo(PyObject* self, PyObject* args, PyOb
 	int isConnected=0;
 	int method=0;
 	PyObject* pylist = 0;
+	PyObject* val = 0;
 	b3PhysicsClientHandle sm = 0;
 	static char* kwlist[] = {"physicsClientId", NULL};
 	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|i", kwlist, &physicsClientId))
@@ -525,10 +526,8 @@ static PyObject* pybullet_getConnectionInfo(PyObject* self, PyObject* args, PyOb
 		}
 	}
 
-	pylist = PyTuple_New(2);
-	PyTuple_SetItem(pylist, 0, PyInt_FromLong(isConnected));
-	PyTuple_SetItem(pylist, 1, PyInt_FromLong(method));
-	return pylist;
+	val = Py_BuildValue("{s:i,s:i}","isConnected", isConnected, "connectionMethod", method);
+	return val;
 
 }
 
@@ -948,19 +947,10 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
 		{
 			b3PhysicsParamSetDefaultFrictionERP(command,frictionERP);
 		}
-		//ret = b3PhysicsParamSetRealTimeSimulation(command, enableRealTimeSimulation);
 
 		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
 	}
-#if 0
-	b3SharedMemoryCommandHandle	b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient);
-	int	b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx, double gravy, double gravz);
-	int	b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double timeStep);
-	int	b3PhysicsParamSetDefaultContactERP(b3SharedMemoryCommandHandle commandHandle, double defaultContactERP);
-	int	b3PhysicsParamSetNumSubSteps(b3SharedMemoryCommandHandle commandHandle, int numSubSteps);
-	int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation);
-	int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations);
-#endif
+
 
 	Py_INCREF(Py_None);
 	return Py_None;