create a C/C++ plugin system for pybullet / C-API.

examples/pybullet/CMakeLists.txt

@@ -43,6 +43,9 @@ SET(pybullet_SRCS
 		../../examples/SharedMemory/PhysicsDirectC_API.h
 		../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
 		../../examples/SharedMemory/PhysicsServerCommandProcessor.h
+		../../examples/SharedMemory/b3PluginManager.cpp
+		../../examples/SharedMemory/b3PluginManager.h
+		
 		../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
 		../../examples/SharedMemory/PhysicsClientSharedMemory.h
 		../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp

examples/pybullet/premake4.lua

@@ -116,6 +116,8 @@ if not _OPTIONS["no-enet"] then
 			"../../examples/SharedMemory/PhysicsDirectC_API.h",
 			"../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp",
 			"../../examples/SharedMemory/PhysicsServerCommandProcessor.h",
+			"../../examples/SharedMemory/b3PluginManager.cpp",
+			"../../examples/SharedMemory/b3PluginManager.h",
 			"../../examples/SharedMemory/PhysicsClientSharedMemory.cpp",
 			"../../examples/SharedMemory/PhysicsClientSharedMemory.h",
 			"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp",

examples/pybullet/pybullet.c

@@ -6653,6 +6653,108 @@ static PyObject* pybullet_getEulerFromQuaternion(PyObject* self,
 	return Py_None;
 }
 
+
+static PyObject* pybullet_loadPlugin(PyObject* self,
+	PyObject* args, PyObject* keywds)
+{
+	int physicsClientId = 0;
+	int option = 0;
+	char* pluginPath = 0;
+	b3SharedMemoryCommandHandle command = 0;
+	b3SharedMemoryStatusHandle 	statusHandle = 0;
+	int statusType = -1;
+
+	b3PhysicsClientHandle sm = 0;
+	static char* kwlist[] = { "pluginPath", "option", "physicsClientId", NULL };
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|ii", kwlist, &pluginPath, &option, &physicsClientId))
+	{
+		return NULL;
+	}
+
+	sm = getPhysicsClient(physicsClientId);
+	if (sm == 0)
+	{
+		PyErr_SetString(SpamError, "Not connected to physics server.");
+		return NULL;
+	}
+
+	command = b3CreateCustomCommand(sm);
+	b3CustomCommandLoadPlugin(command, pluginPath, option);
+	statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
+	statusType = b3GetStatusPluginUniqueId(statusHandle);
+	return PyInt_FromLong(statusType);
+}
+
+
+static PyObject* pybullet_unloadPlugin(PyObject* self,
+	PyObject* args, PyObject* keywds)
+{
+	int physicsClientId = 0;
+	int pluginUniqueId = -1;
+
+	b3SharedMemoryCommandHandle command = 0;
+	b3SharedMemoryStatusHandle 	statusHandle = 0;
+	int statusType = -1;
+
+	b3PhysicsClientHandle sm = 0;
+	static char* kwlist[] = { "pluginUniqueId",  "physicsClientId", NULL };
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|i", kwlist, &pluginUniqueId,&physicsClientId))
+	{
+		return NULL;
+	}
+
+	sm = getPhysicsClient(physicsClientId);
+	if (sm == 0)
+	{
+		PyErr_SetString(SpamError, "Not connected to physics server.");
+		return NULL;
+	}
+
+	command = b3CreateCustomCommand(sm);
+	b3CustomCommandUnloadPlugin(command, pluginUniqueId);
+	statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
+
+	Py_INCREF(Py_None);
+	return Py_None;;
+}
+
+//createCustomCommand for executing commands implemented in a plugin system
+static PyObject* pybullet_executePluginCommand(PyObject* self,
+	PyObject* args, PyObject* keywds)
+{
+	int physicsClientId = 0;
+	int pluginUniqueId = -1;
+	int commandUniqueId = -1;
+	char* arguments = 0;
+
+	b3PhysicsClientHandle sm = 0;
+	static char* kwlist[] = { "pluginUniqueId", "commandUniqueId", "arguments", "physicsClientId", NULL };
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|si", kwlist, &pluginUniqueId, &commandUniqueId, &arguments, &physicsClientId))
+	{
+		return NULL;
+	}
+
+	sm = getPhysicsClient(physicsClientId);
+	if (sm == 0)
+	{
+		PyErr_SetString(SpamError, "Not connected to physics server.");
+		return NULL;
+	}
+
+	b3SharedMemoryCommandHandle command=0;
+	b3SharedMemoryStatusHandle 	statusHandle=0;
+	int statusType = -1;
+
+	command = b3CreateCustomCommand(sm);
+	b3CustomCommandExecutePluginCommand(command, pluginUniqueId, commandUniqueId, arguments);
+	statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
+	statusType = b3GetStatusPluginCommandResult(statusHandle);
+	return PyInt_FromLong(statusType);
+}
+
+
+
+
 ///Inverse Kinematics binding
 static PyObject* pybullet_calculateInverseKinematics(PyObject* self,
 													 PyObject* args, PyObject* keywds)
@@ -6947,6 +7049,7 @@ static PyObject* pybullet_calculateInverseDynamics(PyObject* self,
 	return Py_None;
 }
 
+
 static PyMethodDef SpamMethods[] = {
 
 	{"connect", (PyCFunction)pybullet_connectPhysicsServer, METH_VARARGS | METH_KEYWORDS,
@@ -7265,6 +7368,16 @@ static PyMethodDef SpamMethods[] = {
 		"Cast a batch of rays and return the result for each of the rays (first object hit, if any. or -1) "
 	 "Takes two arguments (list of from_positions [x,y,z] and a list of to_positions [x,y,z] in Cartesian world coordinates"},
 
+	 { "loadPlugin", (PyCFunction)pybullet_loadPlugin, METH_VARARGS | METH_KEYWORDS,
+		 "Load a plugin, could implement custom commands etc." },
+
+	{ "unloadPlugin", (PyCFunction)pybullet_unloadPlugin, METH_VARARGS | METH_KEYWORDS,
+		"Unload a plugin, given the pluginUniqueId." },
+
+	 { "executePluginCommand", (PyCFunction)pybullet_executePluginCommand, METH_VARARGS | METH_KEYWORDS,
+		"Execute a command, implemented in a plugin." },
+
+
 	{"submitProfileTiming", (PyCFunction)pybullet_submitProfileTiming, METH_VARARGS | METH_KEYWORDS,
 	 "Add a custom profile timing that will be visible in performance profile recordings on the physics server."
 	 "On the physics server (in GUI and VR mode) you can press 'p' to start and/or stop profile recordings" },