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Merge pull request #1782 from RanTig/userdata

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Changes UserData to use global identifiers and makes linkIndex optional.
This commit is contained in:
erwincoumans
2018-07-09 11:36:51 +02:00
committed by GitHub
parent d6aae09290 49684144dc
commit 3d5c921495
16 changed files with 478 additions and 556 deletions
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73
examples/pybullet/pybullet.c
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@@ -713,18 +713,19 @@ static PyObject* pybullet_addUserData(PyObject* self, PyObject* args, PyObject*
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
int bodyUniqueId = -1;
int linkIndex = -2;
int linkIndex = -1;
int visualShapeIndex = -1;
const char* key = "";
const char* value = ""; // TODO: Change this to a PyObject and detect the type dynamically.
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "key", "value", "physicsClientId", NULL};
static char* kwlist[] = {"bodyUniqueId", "key", "value", "linkIndex", "visualShapeIndex", "physicsClientId", NULL};
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
int userDataId;
int valueLen=-1;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iiss|i", kwlist, &bodyUniqueId, &linkIndex, &key, &value, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iss|iii", kwlist, &bodyUniqueId, &key, &value, &linkIndex, &visualShapeIndex, &physicsClientId))
{
return NULL;
}
@@ -736,7 +737,7 @@ static PyObject* pybullet_addUserData(PyObject* self, PyObject* args, PyObject*
}
valueLen = strlen(value)+1;
command = b3InitAddUserDataCommand(sm, bodyUniqueId, linkIndex, key, USER_DATA_VALUE_TYPE_STRING, valueLen, value);
command = b3InitAddUserDataCommand(sm, bodyUniqueId, linkIndex, visualShapeIndex, key, USER_DATA_VALUE_TYPE_STRING, valueLen, value);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
@@ -754,16 +755,14 @@ static PyObject* pybullet_removeUserData(PyObject* self, PyObject* args, PyObjec
{
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
int bodyUniqueId = -1;
int linkIndex = -1;
int userDataId = -1;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "userDataId", "physicsClientId", NULL};
static char* kwlist[] = {"userDataId", "physicsClientId", NULL};
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iii|i", kwlist, &bodyUniqueId, &linkIndex, &userDataId, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|i", kwlist, &userDataId, &physicsClientId))
{
return NULL;
}
@@ -774,7 +773,7 @@ static PyObject* pybullet_removeUserData(PyObject* self, PyObject* args, PyObjec
return NULL;
}
command = b3InitRemoveUserDataCommand(sm, bodyUniqueId, linkIndex, userDataId);
command = b3InitRemoveUserDataCommand(sm, userDataId);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
@@ -794,15 +793,16 @@ static PyObject* pybullet_getUserDataId(PyObject* self, PyObject* args, PyObject
int physicsClientId = 0;
int bodyUniqueId = -1;
int linkIndex = -1;
int visualShapeIndex = -1;
const char* key = "";
int userDataId;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "key", "physicsClientId", NULL};
static char* kwlist[] = {"bodyUniqueId", "key", "linkIndex", "visualShapeIndex", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iis|i", kwlist, &bodyUniqueId, &linkIndex, &key, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "is|iii", kwlist, &bodyUniqueId, &key, &linkIndex, &visualShapeIndex, &physicsClientId))
{
return NULL;
}
@@ -813,7 +813,7 @@ static PyObject* pybullet_getUserDataId(PyObject* self, PyObject* args, PyObject
return NULL;
}
userDataId = b3GetUserDataId(sm, bodyUniqueId, linkIndex, key);
userDataId = b3GetUserDataId(sm, bodyUniqueId, linkIndex, visualShapeIndex, key);
return PyInt_FromLong(userDataId);
}
@@ -821,16 +821,14 @@ static PyObject* pybullet_getUserData(PyObject* self, PyObject* args, PyObject*
{
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
int bodyUniqueId = -1;
int linkIndex = -1;
int userDataId = -1;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "userDataId", "physicsClientId", NULL};
static char* kwlist[] = {"userDataId", "physicsClientId", NULL};
struct b3UserDataValue value;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iii|i", kwlist, &bodyUniqueId, &linkIndex, &userDataId, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|i", kwlist, &userDataId, &physicsClientId))
{
return NULL;
}
@@ -842,7 +840,7 @@ static PyObject* pybullet_getUserData(PyObject* self, PyObject* args, PyObject*
}
if (!b3GetUserData(sm, bodyUniqueId, linkIndex, userDataId, &value)) {
if (!b3GetUserData(sm, userDataId, &value)) {
Py_INCREF(Py_None);
return Py_None;
@@ -861,15 +859,14 @@ static PyObject* pybullet_getNumUserData(PyObject* self, PyObject* args, PyObjec
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
int bodyUniqueId = -1;
int linkIndex = -1;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "physicsClientId", NULL};
static char* kwlist[] = {"bodyUniqueId", "physicsClientId", NULL};
int numUserData;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|i", kwlist, &bodyUniqueId, &linkIndex, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|i", kwlist, &bodyUniqueId, &physicsClientId))
{
return NULL;
}
@@ -880,7 +877,7 @@ static PyObject* pybullet_getNumUserData(PyObject* self, PyObject* args, PyObjec
return NULL;
}
numUserData = b3GetNumUserData(sm, bodyUniqueId, linkIndex);
numUserData = b3GetNumUserData(sm, bodyUniqueId);
return PyInt_FromLong(numUserData);
}
@@ -889,16 +886,17 @@ static PyObject* pybullet_getUserDataInfo(PyObject* self, PyObject* args, PyObje
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
int bodyUniqueId = -1;
int linkIndex = -1;
int userDataIndex = -1;
int linkIndex = -1;
int visualShapeIndex = -1;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "userDataIndex", "physicsClientId", NULL};
static char* kwlist[] = {"bodyUniqueId", "userDataIndex", "physicsClientId", NULL};
const char* key = 0;
int userDataId = -1;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iii|i", kwlist, &bodyUniqueId, &linkIndex, &userDataIndex, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|i", kwlist, &bodyUniqueId, &userDataIndex, &physicsClientId))
{
return NULL;
}
@@ -909,16 +907,19 @@ static PyObject* pybullet_getUserDataInfo(PyObject* self, PyObject* args, PyObje
return NULL;
}
b3GetUserDataInfo(sm, bodyUniqueId, linkIndex, userDataIndex, &key, &userDataId);
b3GetUserDataInfo(sm, bodyUniqueId, userDataIndex, &key, &userDataId, &linkIndex, &visualShapeIndex);
if (key == 0 || userDataId == -1) {
PyErr_SetString(SpamError, "Could not get user data info.");
return NULL;
}
{
PyObject *userDataInfoTuple = PyTuple_New(2);
PyObject *userDataInfoTuple = PyTuple_New(5);
PyTuple_SetItem(userDataInfoTuple, 0, PyInt_FromLong(userDataId));
PyTuple_SetItem(userDataInfoTuple, 1, PyString_FromString(key));
PyTuple_SetItem(userDataInfoTuple, 2, PyInt_FromLong(bodyUniqueId));
PyTuple_SetItem(userDataInfoTuple, 3, PyInt_FromLong(linkIndex));
PyTuple_SetItem(userDataInfoTuple, 4, PyInt_FromLong(visualShapeIndex));
return userDataInfoTuple;
}
}
@@ -9164,28 +9165,28 @@ static PyMethodDef SpamMethods[] = {
"Update user data, in case other clients made changes."},
{"addUserData", (PyCFunction)pybullet_addUserData, METH_VARARGS | METH_KEYWORDS,
"addUserData(bodyUniqueId, linkIndex, key, value, physicsClientId=0)\n"
"Adds or updates a user data entry to a link. Returns user data identifier."},
"addUserData(bodyUniqueId, key, value, linkIndex=-1, visualShapeIndex=-1, physicsClientId=0)\n"
"Adds or updates a user data entry. Returns user data identifier."},
{"getUserData", (PyCFunction)pybullet_getUserData, METH_VARARGS | METH_KEYWORDS,
"getUserData(bodyUniqueId, linkIndex, userDataId, physicsClientId=0)\n"
"getUserData(userDataId, physicsClientId=0)\n"
"Returns the user data value."},
{"removeUserData", (PyCFunction)pybullet_removeUserData, METH_VARARGS | METH_KEYWORDS,
"removeUserData(bodyUniqueId, linkIndex, userDataId, physicsClientId=0)\n"
"removeUserData(userDataId, physicsClientId=0)\n"
"Removes a user data entry."},
{"getUserDataId", (PyCFunction)pybullet_getUserDataId, METH_VARARGS | METH_KEYWORDS,
"getUserDataId(bodyUniqueId, linkIndex, key, physicsClientId=0)\n"
"Retrieves the userDataId on a link given the key."},
"getUserDataId(bodyUniqueId, key, linkIndex=-1, visualShapeIndex=-1, physicsClientId=0)\n"
"Retrieves the userDataId given the key and optionally link and visual shape index."},
{"getNumUserData", (PyCFunction)pybullet_getNumUserData, METH_VARARGS | METH_KEYWORDS,
"getNumUserData(bodyUniqueId, linkIndex, physicsClientId=0)\n"
"Retrieves the number of user data entries in a link."},
"getNumUserData(bodyUniqueId physicsClientId=0)\n"
"Retrieves the number of user data entries in a body."},
{"getUserDataInfo", (PyCFunction)pybullet_getUserDataInfo, METH_VARARGS | METH_KEYWORDS,
"getUserDataInfo(bodyUniqueId, linkIndex, userDataIndex, physicsClientId=0)\n"
"Retrieves the key and the identifier of a user data as (id, key)."},
"getUserDataInfo(bodyUniqueId, userDataIndex, physicsClientId=0)\n"
"Retrieves the key and the identifier of a user data as (userDataId, key, bodyUniqueId, linkIndex, visualShapeIndex)."},
{"removeBody", (PyCFunction)pybullet_removeBody, METH_VARARGS | METH_KEYWORDS,
"Remove a body by its body unique id."},