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add pybullet loadBullet, saveBullet (work-in-progress) and placeholder for loadMJCF.

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This commit is contained in:
erwin coumans
2016-11-11 18:07:42 -08:00
parent b150edf76b
commit 7577c6d893
11 changed files with 512 additions and 17 deletions
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44
examples/pybullet/pybullet.c
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@@ -204,21 +204,38 @@ static PyObject* pybullet_loadBullet(PyObject* self, PyObject* args)
{
int size = PySequence_Size(args);
const char* bulletFileName = "";
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle command;
if (0 == sm) {
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
return NULL;
}
if (size == 1) {
if (!PyArg_ParseTuple(args, "s", &bulletFileName)) return NULL;
}
return NULL;
command = b3LoadBulletCommandInit(sm, bulletFileName);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_BULLET_LOADING_COMPLETED)
{
PyErr_SetString(SpamError, "Couldn't load .bullet file.");
return NULL;
}
Py_INCREF(Py_None);
return Py_None;
}
static PyObject* pybullet_saveBullet(PyObject* self, PyObject* args)
{
int size = PySequence_Size(args);
const char* bulletFileName = "";
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle command;
if (0 == sm) {
PyErr_SetString(SpamError, "Not connected to physics server.");
@@ -227,7 +244,15 @@ static PyObject* pybullet_saveBullet(PyObject* self, PyObject* args)
if (size == 1) {
if (!PyArg_ParseTuple(args, "s", &bulletFileName)) return NULL;
}
return NULL;
command = b3SaveBulletCommandInit(sm, bulletFileName);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
if (statusHandle != CMD_BULLET_SAVING_COMPLETED)
{
PyErr_SetString(SpamError, "Couldn't save .bullet file.");
return NULL;
}
Py_INCREF(Py_None);
return Py_None;
}
@@ -236,6 +261,9 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args)
{
int size = PySequence_Size(args);
const char* mjcfjFileName = "";
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle command;
if (0 == sm) {
PyErr_SetString(SpamError, "Not connected to physics server.");
@@ -244,7 +272,15 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args)
if (size == 1) {
if (!PyArg_ParseTuple(args, "s", &mjcfjFileName)) return NULL;
}
return NULL;
command = b3LoadMJCFCommandInit(sm, mjcfjFileName);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
if (statusHandle != CMD_MJCF_LOADING_COMPLETED)
{
PyErr_SetString(SpamError, "Couldn't load .mjcf file.");
return NULL;
}
Py_INCREF(Py_None);
return Py_None;
}