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PyBullet: allow to replace existing debug lines in addUserDebugLine through the replaceItemUniqueId argument

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See batchRayCast.py for example usage
This commit is contained in:
erwincoumans
2018-06-22 16:47:20 -07:00
parent 6b2cae1b1d
commit 49b0ec08e1
7 changed files with 66 additions and 19 deletions
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11
examples/pybullet/pybullet.c
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@@ -4261,10 +4261,11 @@ static PyObject* pybullet_addUserDebugLine(PyObject* self, PyObject* args, PyObj
double lifeTime = 0.f;
int physicsClientId = 0;
int debugItemUniqueId = -1;
int replaceItemUniqueId = -1;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = {"lineFromXYZ", "lineToXYZ", "lineColorRGB", "lineWidth", "lifeTime", "parentObjectUniqueId", "parentLinkIndex", "physicsClientId", NULL};
static char* kwlist[] = {"lineFromXYZ", "lineToXYZ", "lineColorRGB", "lineWidth", "lifeTime", "parentObjectUniqueId", "parentLinkIndex", "replaceItemUniqueId", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO|Oddiii", kwlist, &lineFromObj, &lineToObj, &lineColorRGBObj, &lineWidth, &lifeTime, &parentObjectUniqueId, &parentLinkIndex, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO|Oddiiii", kwlist, &lineFromObj, &lineToObj, &lineColorRGBObj, &lineWidth, &lifeTime, &parentObjectUniqueId, &parentLinkIndex, &replaceItemUniqueId, &physicsClientId))
{
return NULL;
}
@@ -4293,6 +4294,7 @@ static PyObject* pybullet_addUserDebugLine(PyObject* self, PyObject* args, PyObj
res = pybullet_internalSetVectord(lineColorRGBObj, colorRGB);
}
commandHandle = b3InitUserDebugDrawAddLine3D(sm, fromXYZ, toXYZ, colorRGB, lineWidth, lifeTime);
if (parentObjectUniqueId>=0)
@@ -4300,6 +4302,11 @@ static PyObject* pybullet_addUserDebugLine(PyObject* self, PyObject* args, PyObj
b3UserDebugItemSetParentObject(commandHandle, parentObjectUniqueId,parentLinkIndex);
}
if (replaceItemUniqueId>=0)
{
b3UserDebugItemSetReplaceItemUniqueId(commandHandle,replaceItemUniqueId);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_USER_DEBUG_DRAW_COMPLETED)