Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Allow to load a urdf file in the testplugin.cpp, as first quick test, example pybullet script:

Browse Source 
import pybullet as p
p.connect(p.GUI)
pluginUid = p.loadPlugin("E:/develop/bullet3/bin/pybullet_testplugin_vs2010_x64_debug.dll")
commandUid = 0
argument = "plane.urdf"
p.executePluginCommand(pluginUid,commandUid,argument)
p.unloadPlugin(pluginUid)
This commit is contained in:
erwincoumans
2017-09-23 09:25:00 -07:00
parent 37cfce99b2
commit 815a56c9bc
8 changed files with 50 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files

22
examples/SharedMemory/plugins/testPlugin/testplugin.cpp
View File

@@ -1,7 +1,7 @@
#include "testplugin.h"
#include "../../SharedMemoryPublic.h"
#include "../b3PluginContext.h"
#include <stdio.h>
B3_SHARED_API int initPlugin()
@@ -10,10 +10,24 @@ B3_SHARED_API int initPlugin()
return SHARED_MEMORY_MAGIC_NUMBER;
}
B3_SHARED_API int executePluginCommand(const char* arguments)
B3_SHARED_API int executePluginCommand(struct b3PluginContext* context)
{
printf("arguments:%s\n",arguments);
return 42;
printf("arguments:%s\n",context->m_arguments);
b3SharedMemoryStatusHandle statusHandle;
int statusType = -1;
int bodyUniqueId = -1;
b3SharedMemoryCommandHandle command =
b3LoadUrdfCommandInit(context->m_physClient, context->m_arguments);
statusHandle = b3SubmitClientCommandAndWaitStatus(context->m_physClient, command);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_URDF_LOADING_COMPLETED)
{
bodyUniqueId = b3GetStatusBodyIndex(statusHandle);
}
return bodyUniqueId;
}