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make pybullet.getMeshData work for softbody

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This commit is contained in:
Erwin Coumans
2019-06-17 21:43:38 -07:00
parent 20d9ad5f24
commit 7e76ee0ad7
10 changed files with 244 additions and 198 deletions
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83
examples/pybullet/pybullet.c
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@@ -7358,46 +7358,57 @@ static PyObject* pybullet_createCollisionShapeArray(PyObject* self, PyObject* ar
return NULL;
}
static PyObject* pybullet_getMeshData(PyObject* self, PyObject* args, PyObject* keywds)
{
{
int bodyUniqueId = -1;
b3PhysicsClientHandle sm = 0;
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
struct b3MeshData meshData;
int statusType;
int bodyUniqueId = -1;
int linkIndex = -1;
b3PhysicsClientHandle sm = 0;
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
struct b3MeshData meshData;
int statusType;
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;
}
command = b3GetMeshDataCommandInit(sm, bodyUniqueId);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_REQUEST_MESH_DATA_COMPLETED)
{
b3GetMeshData(sm, &meshData);
PyObject* pyListMeshData = PyTuple_New(1);
PyTuple_SetItem(pyListMeshData, 0, PyInt_FromLong(meshData.m_numVertices));
return pyListMeshData;
}
}
PyErr_SetString(SpamError, "Couldn't get body info");
return NULL;
int physicsClientId = 0;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|ii", kwlist, &bodyUniqueId, &linkIndex, &physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
command = b3GetMeshDataCommandInit(sm, bodyUniqueId, linkIndex);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_REQUEST_MESH_DATA_COMPLETED)
{
int i;
PyObject* pyVertexData;
PyObject* pyListMeshData = PyTuple_New(2);
b3GetMeshData(sm, &meshData);
PyTuple_SetItem(pyListMeshData, 0, PyInt_FromLong(meshData.m_numVertices));
pyVertexData = PyTuple_New(meshData.m_numVertices);
PyTuple_SetItem(pyListMeshData, 1, pyVertexData);
for (i = 0; i < meshData.m_numVertices; i++)
{
PyObject* pyListVertex = PyTuple_New(3);
PyTuple_SetItem(pyListVertex, 0, PyFloat_FromDouble(meshData.m_vertices[i].x));
PyTuple_SetItem(pyListVertex, 1, PyFloat_FromDouble(meshData.m_vertices[i].y));
PyTuple_SetItem(pyListVertex, 2, PyFloat_FromDouble(meshData.m_vertices[i].z));
PyTuple_SetItem(pyVertexData, i, pyListVertex);
}
return pyListMeshData;
}
PyErr_SetString(SpamError, "getMeshData failed");
return NULL;
}
static PyObject* pybullet_createVisualShape(PyObject* self, PyObject* args, PyObject* keywds)
{
int physicsClientId = 0;
@@ -10485,7 +10496,7 @@ static PyMethodDef SpamMethods[] = {
{"removeCollisionShape", (PyCFunction)pybullet_removeCollisionShape, METH_VARARGS | METH_KEYWORDS,
"Remove a collision shape. Only useful when the collision shape is not used in a body (to perform a getClosestPoint query)."},
{"getMeshData", (PyCFunction)pybullet_getMeshData, METH_VARARGS | METH_KEYWORDS,
{"getMeshData", (PyCFunction)pybullet_getMeshData, METH_VARARGS | METH_KEYWORDS,
"Get mesh data. Returns vertices etc from the mesh."},
{"createVisualShape", (PyCFunction)pybullet_createVisualShape, METH_VARARGS | METH_KEYWORDS,