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allow to disable/enable default keyboard shortcuts ('w', 'd' 's' etc) and default mouse picking

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pybullet.getMouseEvents / b3RequestMouseEventsCommandInit
This commit is contained in:
Erwin Coumans
2017-06-17 13:29:14 -07:00
parent 3a826a5997
commit 2e6f8c271e
19 changed files with 401 additions and 86 deletions
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51
examples/pybullet/pybullet.c
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@@ -3996,6 +3996,50 @@ static PyObject* pybullet_getKeyboardEvents(PyObject* self, PyObject* args, PyOb
return keyEventsObj;
}
static PyObject* pybullet_getMouseEvents(PyObject* self, PyObject* args, PyObject* keywds)
{
b3SharedMemoryCommandHandle commandHandle;
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
struct b3MouseEventsData mouseEventsData;
PyObject* mouseEventsObj = 0;
int i = 0;
static char* kwlist[] = {"physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|i", kwlist, &physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
commandHandle = b3RequestMouseEventsCommandInit(sm);
b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
b3GetMouseEventsData(sm, &mouseEventsData);
mouseEventsObj = PyTuple_New(mouseEventsData.m_numMouseEvents);
for (i = 0; i < mouseEventsData.m_numMouseEvents; i++)
{
PyObject* mouseEventObj = PyTuple_New(5);
PyTuple_SetItem(mouseEventObj,0, PyInt_FromLong(mouseEventsData.m_mouseEvents[i].m_eventType));
PyTuple_SetItem(mouseEventObj,1, PyFloat_FromDouble(mouseEventsData.m_mouseEvents[i].m_mousePosX));
PyTuple_SetItem(mouseEventObj,2, PyFloat_FromDouble(mouseEventsData.m_mouseEvents[i].m_mousePosY));
PyTuple_SetItem(mouseEventObj,3, PyInt_FromLong(mouseEventsData.m_mouseEvents[i].m_buttonIndex));
PyTuple_SetItem(mouseEventObj,4, PyInt_FromLong(mouseEventsData.m_mouseEvents[i].m_buttonState));
PyTuple_SetItem(mouseEventsObj,i,mouseEventObj);
}
return mouseEventsObj;
}
static PyObject* pybullet_getVREvents(PyObject* self, PyObject* args, PyObject* keywds)
{
b3SharedMemoryCommandHandle commandHandle;
@@ -6756,7 +6800,10 @@ static PyMethodDef SpamMethods[] = {
"Set properties of the VR Camera such as its root transform "
"for teleporting or to track objects (camera inside a vehicle for example)."},
{"getKeyboardEvents", (PyCFunction)pybullet_getKeyboardEvents, METH_VARARGS | METH_KEYWORDS,
"Get Keyboard events, keycode and state (KEY_IS_DOWN, KEY_WAS_TRIGGER, KEY_WAS_RELEASED)"},
"Get keyboard events, keycode and state (KEY_IS_DOWN, KEY_WAS_TRIGGERED, KEY_WAS_RELEASED)"},
{"getMouseEvents", (PyCFunction)pybullet_getMouseEvents, METH_VARARGS | METH_KEYWORDS,
"Get mouse events, event type and button state (KEY_IS_DOWN, KEY_WAS_TRIGGERED, KEY_WAS_RELEASED)"},
{"startStateLogging", (PyCFunction)pybullet_startStateLogging, METH_VARARGS | METH_KEYWORDS,
"Start logging of state, such as robot base position, orientation, joint positions etc. "
@@ -6923,6 +6970,8 @@ initpybullet(void)
PyModule_AddIntConstant(m, "COV_ENABLE_VR_TELEPORTING", COV_ENABLE_VR_TELEPORTING);
PyModule_AddIntConstant(m, "COV_ENABLE_RENDERING", COV_ENABLE_RENDERING);
PyModule_AddIntConstant(m, "COV_ENABLE_VR_RENDER_CONTROLLERS", COV_ENABLE_VR_RENDER_CONTROLLERS);
PyModule_AddIntConstant(m, "COV_ENABLE_KEYBOARD_SHORTCUTS", COV_ENABLE_KEYBOARD_SHORTCUTS);
PyModule_AddIntConstant(m, "COV_ENABLE_MOUSE_PICKING", COV_ENABLE_MOUSE_PICKING);
PyModule_AddIntConstant(m, "ER_TINY_RENDERER", ER_TINY_RENDERER);