diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 642a2a655..c5861b220 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -539,18 +539,6 @@ int b3JointControlSetDesiredForceTorque(b3SharedMemoryCommandHandle commandHandl return 0; } -b3SharedMemoryCommandHandle b3RequestBodyNameCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId) -{ - PhysicsClient* cl = (PhysicsClient* ) physClient; - b3Assert(cl); - b3Assert(cl->canSubmitCommand()); - struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand(); - b3Assert(command); - command->m_type = CMD_REQUEST_BODY_NAME; - command->m_requestBodyNameArguments.m_bodyUniqueId = bodyUniqueId; - return (b3SharedMemoryCommandHandle) command; -} - b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId) { PhysicsClient* cl = (PhysicsClient* ) physClient; @@ -1068,20 +1056,6 @@ int b3GetStatusActualState(b3SharedMemoryStatusHandle statusHandle, return true; } -int b3GetBodyName(b3SharedMemoryStatusHandle statusHandle, - struct b3BodyInfo* info) -{ - const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle; - const SendBodyNameArgs &args = status->m_sendBodyNameArgs; - btAssert(status->m_type == CMD_REQUEST_BODY_NAME_COMPLETED); - if (status->m_type != CMD_REQUEST_BODY_NAME_COMPLETED) - return false; - - info->m_bodyName = args.m_bodyName; - - return true; -} - int b3CanSubmitCommand(b3PhysicsClientHandle physClient) { PhysicsClient* cl = (PhysicsClient* ) physClient; diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index aa64dccf3..7aef18f86 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -57,9 +57,6 @@ int b3GetStatusActualState(b3SharedMemoryStatusHandle statusHandle, const double* actualStateQdot[], const double* jointReactionForces[]); -int b3GetBodyName(b3SharedMemoryStatusHandle statusHandle, - struct b3BodyInfo* info); - ///If you re-connected to an existing server, or server changed otherwise, sync the body info and user constraints etc. b3SharedMemoryCommandHandle b3InitSyncBodyInfoCommand(b3PhysicsClientHandle physClient); @@ -314,8 +311,6 @@ int b3CreateSensorEnable6DofJointForceTorqueSensor(b3SharedMemoryCommandHandle c ///b3CreateSensorEnableIMUForLink is not implemented yet. ///For now, if the IMU is located in the root link, use the root world transform to mimic an IMU. int b3CreateSensorEnableIMUForLink(b3SharedMemoryCommandHandle commandHandle, int linkIndex, int enable); - -b3SharedMemoryCommandHandle b3RequestBodyNameCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId); b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandle physClient,int bodyUniqueId); int b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int jointIndex, struct b3JointSensorState *state); diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp index 6011d5a68..dce4784d8 100644 --- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp +++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp @@ -943,15 +943,6 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { b3Warning("State Logging failed"); break; } - case CMD_REQUEST_BODY_NAME_COMPLETED: - { - break; - } - case CMD_REQUEST_BODY_NAME_FAILED: - { - b3Warning("Request body name failed"); - break; - } default: { b3Error("Unknown server status %d\n", serverCmd.m_type); btAssert(0); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index adb892805..d8a00513c 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -4917,26 +4917,6 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm break; } - case CMD_REQUEST_BODY_NAME: - { - int bodyUniqueId = clientCmd.m_requestBodyNameArguments.m_bodyUniqueId; - InteralBodyData* body = m_data->getHandle(bodyUniqueId); - if (body) - { - SharedMemoryStatus& serverCmd = serverStatusOut; - serverCmd.m_type = CMD_REQUEST_BODY_NAME_COMPLETED; - strcpy(serverCmd.m_sendBodyNameArgs.m_bodyName, body->m_bodyName.c_str()); - hasStatus = true; - } - else - { - b3Warning("The body name requested is not available"); - SharedMemoryStatus& serverCmd = serverStatusOut; - serverCmd.m_type = CMD_REQUEST_BODY_NAME_FAILED; - hasStatus = true; - } - break; - } default: { b3Error("Unknown command encountered"); diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index 6049ea9e0..f975932e7 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -358,16 +358,6 @@ struct LoadBunnyArgs double m_collisionMargin; }; -struct RequestBodyNameArgs -{ - int m_bodyUniqueId; -}; - -struct SendBodyNameArgs -{ - char m_bodyName[MAX_FILENAME_LENGTH]; -}; - struct RequestActualStateArgs { int m_bodyUniqueId; @@ -722,7 +712,6 @@ struct SharedMemoryCommand struct VRCameraState m_vrCameraStateArguments; struct StateLoggingRequest m_stateLoggingArguments; struct ConfigureOpenGLVisualizerRequest m_configureOpenGLVisualizerArguments; - struct RequestBodyNameArgs m_requestBodyNameArguments; }; }; @@ -785,7 +774,6 @@ struct SharedMemoryStatus struct SendKeyboardEvents m_sendKeyboardEvents; struct SendRaycastHits m_raycastHits; struct StateLoggingResultArgs m_stateLoggingResultArgs; - struct SendBodyNameArgs m_sendBodyNameArgs; }; }; diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index 3778a73fa..6610164af 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -54,7 +54,6 @@ enum EnumSharedMemoryClientCommand CMD_STATE_LOGGING, CMD_CONFIGURE_OPENGL_VISUALIZER, CMD_REQUEST_KEYBOARD_EVENTS_DATA, - CMD_REQUEST_BODY_NAME, //don't go beyond this command! CMD_MAX_CLIENT_COMMANDS, @@ -134,8 +133,6 @@ enum EnumSharedMemoryServerStatus CMD_STATE_LOGGING_FAILED, CMD_REQUEST_KEYBOARD_EVENTS_DATA_COMPLETED, CMD_REQUEST_KEYBOARD_EVENTS_DATA_FAILED, - CMD_REQUEST_BODY_NAME_COMPLETED, - CMD_REQUEST_BODY_NAME_FAILED, //don't go beyond 'CMD_MAX_SERVER_COMMANDS! CMD_MAX_SERVER_COMMANDS }; diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 5ff38861b..9ea9f16da 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -2238,69 +2238,6 @@ static PyObject* pybullet_getJointState(PyObject* self, PyObject* args, PyObject return Py_None; } -// Returns the name of a body given the bodyIndex -// -// Args: -// bodyIndex - integer indicating body in simulation -// -// The returned pylist includes the body name in string format - -static PyObject* pybullet_getBodyName(PyObject* self, PyObject* args, PyObject* keywds) -{ - { - int bodyUniqueId = -1; - b3PhysicsClientHandle sm = 0; - - int physicsClientId = 0; - static char* kwlist[] = {"bodyUniqueId", "physicsClientId", NULL}; - if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|i", kwlist, &bodyUniqueId, &physicsClientId)) - { - return NULL; - } - sm = getPhysicsClient(physicsClientId); - if (sm == 0) - { - PyErr_SetString(SpamError, "Not connected to physics server."); - return NULL; - } - - { - int status_type = 0; - b3SharedMemoryCommandHandle cmd_handle; - b3SharedMemoryStatusHandle status_handle; - - if (bodyUniqueId < 0) - { - PyErr_SetString(SpamError, "getBodyName failed; invalid bodyIndex"); - return NULL; - } - - cmd_handle = - b3RequestBodyNameCommandInit(sm, bodyUniqueId); - status_handle = - b3SubmitClientCommandAndWaitStatus(sm, cmd_handle); - - status_type = b3GetStatusType(status_handle); - if (status_type != CMD_REQUEST_BODY_NAME_COMPLETED) - { - PyErr_SetString(SpamError, "getBodyName failed; invalid return status"); - return NULL; - } - - struct b3BodyInfo info; - if (b3GetBodyName(status_handle, &info)) - { - PyObject* pyBodyNameInfo = PyTuple_New(1); - PyTuple_SetItem(pyBodyNameInfo, 0, PyString_FromString(info.m_bodyName)); - return pyBodyNameInfo; - } - } - } - PyErr_SetString(SpamError, "Couldn't get body name"); - return NULL; -} - - static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args, PyObject* keywds) { PyObject* pyLinkState; @@ -5168,10 +5105,7 @@ static PyMethodDef SpamMethods[] = { {"getJointState", (PyCFunction)pybullet_getJointState, METH_VARARGS | METH_KEYWORDS, "Get the state (position, velocity etc) for a joint on a body."}, - {"getBodyName", (PyCFunction)pybullet_getBodyName, METH_VARARGS | METH_KEYWORDS, - "Get the name of a body."}, - - {"getLinkState", (PyCFunction)pybullet_getLinkState, METH_VARARGS | METH_KEYWORDS, + {"getLinkState", (PyCFunction)pybullet_getLinkState, METH_VARARGS | METH_KEYWORDS, "Provides extra information such as the Cartesian world coordinates" " center of mass (COM) of the link, relative to the world reference" " frame."},