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implement PyBullet removeState command. Fixes Issue #2163

Browse Source 
https://github.com/bulletphysics/bullet3/issues/2163
This commit is contained in:
erwincoumans
2019-04-03 20:06:40 -07:00
parent c033c8b22f
commit 6951aaf26a
9 changed files with 132 additions and 7 deletions
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37
examples/pybullet/pybullet.c
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@@ -1160,6 +1160,40 @@ static PyObject* pybullet_saveState(PyObject* self, PyObject* args, PyObject* ke
return PyInt_FromLong(stateId);
}
static PyObject* pybullet_removeState(PyObject* self, PyObject* args, PyObject* keywds)
{
{
int stateUniqueId = -1;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = { "stateUniqueId", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|i", kwlist, &stateUniqueId, &physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
if (stateUniqueId >= 0)
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;
if (b3CanSubmitCommand(sm))
{
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, b3InitRemoveStateCommand(sm, stateUniqueId));
statusType = b3GetStatusType(statusHandle);
}
}
}
Py_INCREF(Py_None);
return Py_None;
}
static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* keywds)
{
const char* mjcfFileName = "";
@@ -10329,6 +10363,9 @@ static PyMethodDef SpamMethods[] = {
{"saveState", (PyCFunction)pybullet_saveState, METH_VARARGS | METH_KEYWORDS,
"Save the full state of the world to memory."},
{ "removeState", (PyCFunction)pybullet_removeState, METH_VARARGS | METH_KEYWORDS,
"Remove a state created using saveState by its state unique id." },
{"loadMJCF", (PyCFunction)pybullet_loadMJCF, METH_VARARGS | METH_KEYWORDS,
"Load multibodies from an MJCF file."},