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PyBullet createMultiBody(Batch), return all body unique ids

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PyBullet: fix crash: always check for existance m_multibodyWorld in ::render method
This commit is contained in:
Erwin Coumans
2019-09-09 16:41:25 -07:00
parent 5a3c60c709
commit 64ea8e9f27
2 changed files with 664 additions and 719 deletions
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1366
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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17
examples/pybullet/pybullet.c
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@@ -9024,8 +9024,21 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
if (statusType == CMD_CREATE_MULTI_BODY_COMPLETED)
{
int uid = b3GetStatusBodyIndex(statusHandle);
PyObject* ob = PyLong_FromLong(uid);
return ob;
if (numBatchPositions > 0)
{
PyObject* pyResultList = PyTuple_New(numBatchPositions );
for (i = 0; i < numBatchPositions; i++)
{
PyTuple_SetItem(pyResultList, i, PyLong_FromLong(uid - numBatchPositions + i + 1));
}
return pyResultList;
}
else
{
PyObject* ob = PyLong_FromLong(uid);
return ob;
}
}
}
else