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Remove getBodyName API.

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This commit is contained in:
yunfeibai
2017-03-29 15:03:29 -07:00
parent de3f91b64e
commit 64573c38e4
7 changed files with 1 additions and 142 deletions
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68
examples/pybullet/pybullet.c
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@@ -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."},