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[pybullet] implement addUserDebugParameter / readUserDebugParameter

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fix inertial frame for door.urdf
allow picking of links of multi-bodies with a fixed base
This commit is contained in:
Erwin Coumans
2017-01-17 15:42:32 -08:00
parent 966ebb04fe
commit 52761f5578
14 changed files with 270 additions and 13 deletions
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62
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -176,6 +176,7 @@ enum MultiThreadedGUIHelperCommunicationEnums
eGUIHelperAutogenerateGraphicsObjects,
eGUIUserDebugAddText,
eGUIUserDebugAddLine,
eGUIUserDebugAddParameter,
eGUIUserDebugRemoveItem,
eGUIUserDebugRemoveAllItems,
};
@@ -481,6 +482,15 @@ struct UserDebugDrawLine
int m_itemUniqueId;
};
struct UserDebugParameter
{
char m_text[1024];
double m_rangeMin;
double m_rangeMax;
double m_value;
int m_itemUniqueId;
};
struct UserDebugText
{
char m_text[1024];
@@ -807,8 +817,6 @@ public:
}
btAlignedObjectArray<UserDebugText> m_userDebugText;
UserDebugText m_tmpText;
@@ -835,6 +843,38 @@ public:
return m_userDebugText[m_userDebugText.size()-1].m_itemUniqueId;
}
btAlignedObjectArray<UserDebugParameter*> m_userDebugParams;
UserDebugParameter m_tmpParam;
virtual int readUserDebugParameter(int itemUniqueId, double* value)
{
for (int i=0;i<m_userDebugParams.size();i++)
{
if (m_userDebugParams[i]->m_itemUniqueId == itemUniqueId)
{
*value = m_userDebugParams[i]->m_value;
return 1;
}
}
return 0;
}
virtual int addUserDebugParameter(const char* txt, double rangeMin, double rangeMax, double startValue)
{
strcpy(m_tmpParam.m_text,txt);
m_tmpParam.m_rangeMin = rangeMin;
m_tmpParam.m_rangeMax = rangeMax;
m_tmpParam.m_value = startValue;
m_tmpParam.m_itemUniqueId = m_uidGenerator++;
m_cs->lock();
m_cs->setSharedParam(1, eGUIUserDebugAddParameter);
workerThreadWait();
return (*m_userDebugParams[m_userDebugParams.size()-1]).m_itemUniqueId;
}
btAlignedObjectArray<UserDebugDrawLine> m_userDebugLines;
UserDebugDrawLine m_tmpLine;
@@ -1407,6 +1447,24 @@ void PhysicsServerExample::stepSimulation(float deltaTime)
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIUserDebugAddParameter:
{
UserDebugParameter* param = new UserDebugParameter(m_multiThreadedHelper->m_tmpParam);
m_multiThreadedHelper->m_userDebugParams.push_back(param);
{
SliderParams slider(param->m_text,&param->m_value);
slider.m_minVal=param->m_rangeMin;
slider.m_maxVal=param->m_rangeMax;
if (m_multiThreadedHelper->m_childGuiHelper->getParameterInterface())
m_multiThreadedHelper->m_childGuiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
//also add actual menu
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIUserDebugAddLine:
{
m_multiThreadedHelper->m_userDebugLines.push_back(m_multiThreadedHelper->m_tmpLine);