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pybullet, more robust multi-server connections

Browse Source 
Windows shared memory: allow to use custom key.
Improve GUI performance on Windows, submit letters in text as a batch (fewer draw-calls)
quadruped.py: first try to connect to SHARED_MEMORY, if it fails (<0) use GUI
increase Chrome about://tracing json export capacity (press 'p' in Example Browser)
UDP physics server: add --port and --sharedMemoryKey command-line arguments
PhysicsServerExample: add --sharedMemoryKey command-line option (for VR example too)
ExampleBrowser: sleep a few milliseconds if rendering is too fast, use --minUpdateTimeMicroSecs=0 to disable
This commit is contained in:
Erwin Coumans
2016-12-28 21:51:54 -08:00
parent da2cc483b4
commit 82995a8343
19 changed files with 723 additions and 328 deletions
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292
examples/pybullet/pybullet.c
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@@ -30,9 +30,31 @@ enum eCONNECT_METHOD {
static PyObject* SpamError;
#define MAX_PHYSICS_CLIENTS 1024
static b3PhysicsClientHandle sPhysicsClients[MAX_PHYSICS_CLIENTS] = {0};
static b3PhysicsClientHandle sPhysicsClients1[MAX_PHYSICS_CLIENTS] = {0};
static int sNumPhysicsClients=0;
b3PhysicsClientHandle getPhysicsClient(int physicsClientId)
{
b3PhysicsClientHandle sm;
if ((physicsClientId <0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients1[physicsClientId]))
{
return 0;
}
sm = sPhysicsClients1[physicsClientId];
if (sm)
{
if (b3CanSubmitCommand(sm))
{
return sm;
}
//broken connection?
b3DisconnectSharedMemory(sm);
sPhysicsClients1[physicsClientId] = 0;
sNumPhysicsClients--;
}
return 0;
}
static double pybullet_internalGetFloatFromSequence(PyObject* seq, int index) {
double v = 0.0;
@@ -161,13 +183,12 @@ static PyObject* pybullet_stepSimulation(PyObject* self, PyObject* args, PyObjec
{
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
{
b3SharedMemoryStatusHandle statusHandle;
@@ -281,22 +302,23 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
};
}
for (i=0;i<MAX_PHYSICS_CLIENTS;i++)
if (sm && b3CanSubmitCommand(sm))
{
if (sPhysicsClients[i]==0)
for (i=0;i<MAX_PHYSICS_CLIENTS;i++)
{
freeIndex = i;
break;
if (sPhysicsClients1[i]==0)
{
freeIndex = i;
break;
}
}
if (freeIndex>=0)
{
sPhysicsClients1[freeIndex] = sm;
sNumPhysicsClients++;
}
}
if (freeIndex>=0)
{
sPhysicsClients[freeIndex] = sm;
sNumPhysicsClients++;
}
return PyInt_FromLong(freeIndex);
}
@@ -311,20 +333,20 @@ static PyObject* pybullet_disconnectPhysicsServer(PyObject* self,
{
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
{
b3DisconnectSharedMemory(sm);
sm = 0;
}
sPhysicsClients[physicsClientId] = 0;
sPhysicsClients1[physicsClientId] = 0;
sNumPhysicsClients--;
Py_INCREF(Py_None);
@@ -342,17 +364,12 @@ static PyObject* pybullet_saveWorld(PyObject* self, PyObject* args,PyObject *key
{
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
if (0==sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
{
@@ -397,12 +414,12 @@ static PyObject* pybullet_loadBullet(PyObject* self, PyObject* args,PyObject *ke
{
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
command = b3LoadBulletCommandInit(sm, bulletFileName);
@@ -448,12 +465,12 @@ static PyObject* pybullet_saveBullet(PyObject* self, PyObject* args, PyObject* k
{
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
command = b3SaveBulletCommandInit(sm, bulletFileName);
@@ -485,12 +502,12 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key
{
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
command = b3LoadMJCFCommandInit(sm, mjcfFileName);
@@ -522,12 +539,12 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
{
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(sm);
@@ -669,13 +686,12 @@ b3PhysicsClientHandle sm=0;
}
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
if (strlen(urdfFileName)) {
// printf("(%f, %f, %f) (%f, %f, %f, %f)\n",
@@ -736,12 +752,12 @@ b3PhysicsClientHandle sm = 0;
{
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
commandHandle = b3LoadSdfCommandInit(sm, sdfFileName);
@@ -780,12 +796,13 @@ static PyObject* pybullet_resetSimulation(PyObject* self, PyObject* args, PyObje
{
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
{
b3SharedMemoryStatusHandle statusHandle;
statusHandle = b3SubmitClientCommandAndWaitStatus(
@@ -807,12 +824,13 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args) {
double kd = 1.0;
int valid = 0;
int physicsClientId = 0;
b3PhysicsClientHandle sm = sPhysicsClients[physicsClientId];
if (0 == sm) {
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
b3PhysicsClientHandle sm;
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
size = PySequence_Size(args);
if (size == 4) {
@@ -985,12 +1003,12 @@ b3PhysicsClientHandle sm = 0;
{
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
{
int numJoints;
@@ -1066,12 +1084,12 @@ static PyObject* pybullet_setRealTimeSimulation(PyObject* self,
{
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
{
@@ -1106,12 +1124,12 @@ b3PhysicsClientHandle sm = 0;
{
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
{
@@ -1146,12 +1164,12 @@ static PyObject* pybullet_setGravity(PyObject* self, PyObject* args, PyObject* k
{
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(sm);
@@ -1172,18 +1190,20 @@ static PyObject* pybullet_setTimeStep(PyObject* self, PyObject* args, PyObject*
double timeStep = 0.001;
int ret;
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
static char *kwlist[] = { "timeStep", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "d|i", kwlist,&timeStep, &physicsClientId))
{
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
{
b3PhysicsClientHandle sm = sPhysicsClients[physicsClientId];
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(sm);
b3SharedMemoryStatusHandle statusHandle;
@@ -1202,18 +1222,20 @@ pybullet_setDefaultContactERP(PyObject* self, PyObject* args,PyObject* keywds)
{
double defaultContactERP=0.005;
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
static char *kwlist[] = { "defaultContactERP", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "d|i", kwlist,&defaultContactERP, &physicsClientId))
{
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
{
b3PhysicsClientHandle sm = sPhysicsClients[physicsClientId];
int ret;
b3SharedMemoryStatusHandle statusHandle;
@@ -1366,12 +1388,12 @@ static PyObject* pybullet_getBasePositionAndOrientation(PyObject* self,
{
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
if (0 == pybullet_internalGetBasePositionAndOrientation(
bodyUniqueId, basePosition, baseOrientation,sm)) {
@@ -1427,12 +1449,12 @@ static PyObject* pybullet_getBaseVelocity(PyObject* self,
{
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
if (0 == pybullet_internalGetBaseVelocity(
bodyUniqueId, baseLinearVelocity, baseAngularVelocity,sm)) {
@@ -1481,12 +1503,12 @@ static PyObject* pybullet_getNumBodies(PyObject* self, PyObject* args, PyObject*
{
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
{
@@ -1511,12 +1533,12 @@ b3PhysicsClientHandle sm = 0;
{
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
{
@@ -1546,12 +1568,12 @@ static PyObject* pybullet_getBodyInfo(PyObject* self, PyObject* args, PyObject*
{
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
{
struct b3BodyInfo info;
@@ -1587,12 +1609,12 @@ static PyObject* pybullet_getNumJoints(PyObject* self, PyObject* args, PyObject*
{
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
numJoints = b3GetNumJoints(sm, bodyUniqueId);
@@ -1619,12 +1641,12 @@ static PyObject* pybullet_resetJointState(PyObject* self, PyObject* args, PyObje
{
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
{
@@ -1674,12 +1696,12 @@ static PyObject* pybullet_resetBaseVelocity(PyObject* self, PyObject* args, PyOb
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
if (linVelObj || angVelObj)
@@ -1737,12 +1759,12 @@ static PyObject* pybullet_resetBasePositionAndOrientation(PyObject* self,
{
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
{
b3SharedMemoryCommandHandle commandHandle;
@@ -1828,12 +1850,12 @@ int physicsClientId = 0;
{
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
{
@@ -1909,12 +1931,12 @@ static PyObject* pybullet_getJointState(PyObject* self, PyObject* args,PyObject*
{
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
{
@@ -1994,12 +2016,12 @@ b3PhysicsClientHandle sm = 0;
{
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
{
{
@@ -2097,12 +2119,12 @@ static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObj
{
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
res = pybullet_internalSetVectord(textPositionObj,posXYZ);
@@ -2168,13 +2190,12 @@ static PyObject* pybullet_addUserDebugLine(PyObject* self, PyObject* args, PyObj
{
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
res = pybullet_internalSetVectord(lineFromObj,fromXYZ);
if (!res)
@@ -2228,13 +2249,12 @@ static PyObject* pybullet_removeUserDebugItem(PyObject* self, PyObject* args, Py
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
commandHandle = b3InitUserDebugDrawRemove(sm,itemUniqueId);
@@ -2258,12 +2278,12 @@ static PyObject* pybullet_removeAllUserDebugItems(PyObject* self, PyObject* args
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
commandHandle = b3InitUserDebugDrawRemoveAll(sm);
@@ -2294,12 +2314,12 @@ static PyObject* pybullet_rayTest(PyObject* self, PyObject* args, PyObject *keyw
&rayFromObj, &rayToObj,&physicsClientId))
return NULL;
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
pybullet_internalSetVectord(rayFromObj,from);
pybullet_internalSetVectord(rayToObj,to);
@@ -2407,13 +2427,12 @@ static PyObject* pybullet_getVREvents(PyObject* self, PyObject* args, PyObject *
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
commandHandle = b3RequestVREventsCommandInit(sm);
@@ -2488,12 +2507,12 @@ static PyObject* pybullet_setDebugObjectColor(PyObject* self, PyObject* args, Py
&objectUniqueId, &linkIndex, &objectColorRGBObj,&physicsClientId))
return NULL;
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
if (objectColorRGBObj)
{
@@ -2531,12 +2550,12 @@ static PyObject* pybullet_getVisualShapeData(PyObject* self, PyObject* args, PyO
{
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
{
@@ -2634,13 +2653,12 @@ static PyObject* pybullet_resetVisualShapeData(PyObject* self, PyObject* args,Py
{
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
{
@@ -2677,12 +2695,12 @@ static PyObject* pybullet_loadTexture(PyObject* self, PyObject* args, PyObject*
{
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
{
@@ -2823,12 +2841,12 @@ static PyObject* pybullet_getOverlappingObjects(PyObject* self, PyObject* args,
&aabbMinOb, &aabbMaxOb,&physicsClientId))
return NULL;
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
pybullet_internalSetVectord(aabbMinOb, aabbMin);
@@ -2890,12 +2908,12 @@ static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, Py
&bodyUniqueIdA, &bodyUniqueIdB, &distanceThreshold, &linkIndexA, &linkIndexB,&physicsClientId))
return NULL;
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
commandHandle = b3InitClosestDistanceQuery(sm);
b3SetClosestDistanceFilterBodyA(commandHandle, bodyUniqueIdA);
@@ -2939,13 +2957,12 @@ static PyObject* pybullet_removeUserConstraint(PyObject* self, PyObject* args, P
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
commandHandle = b3InitRemoveUserConstraintCommand(sm,userConstraintUniqueId);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
@@ -3017,13 +3034,12 @@ static PyObject* pybullet_createUserConstraint(PyObject* self, PyObject* args, P
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
pybullet_internalSetVectord(jointAxisObj,jointAxis);
pybullet_internalSetVectord(parentFramePositionObj,parentFramePosition);
@@ -3091,14 +3107,12 @@ static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, Py
&bodyUniqueIdA, &bodyUniqueIdB,&physicsClientId))
return NULL;
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
commandHandle = b3InitRequestContactPointInformation(sm);
b3SetContactFilterBodyA(commandHandle, bodyUniqueIdA);
@@ -3150,12 +3164,12 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
{
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
command = b3InitRequestCameraImage(sm);
b3RequestCameraImageSetPixelResolution(command, width, height);
@@ -3478,21 +3492,15 @@ static PyObject* pybullet_renderImageObsolete(PyObject* self, PyObject* args) {
// inialize cmd
b3SharedMemoryCommandHandle command;
b3PhysicsClientHandle sm;
int physicsClientId = 0;
b3PhysicsClientHandle sm=0;
if (0 == sPhysicsClients[physicsClientId])
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
if (0 == sm) {
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
command = b3InitRequestCameraImage(sm);
if (size == 2) // only set camera resolution
@@ -3725,12 +3733,12 @@ static PyObject* pybullet_applyExternalForce(PyObject* self, PyObject* args,PyOb
{
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
{
PyObject* seq;
int len, i;
@@ -3793,12 +3801,12 @@ static PyObject* pybullet_applyExternalTorque(PyObject* self, PyObject* args,PyO
{
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
{
PyObject* seq;
@@ -3982,12 +3990,12 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self,
{
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
{
double pos[3];
double ori[4]={0,1.0,0,0};
@@ -4067,12 +4075,12 @@ static PyObject* pybullet_calculateInverseDynamics(PyObject* self,
{
return NULL;
}
if ((physicsClientId<0) || (physicsClientId>=MAX_PHYSICS_CLIENTS) || (0 == sPhysicsClients[physicsClientId]))
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
sm = sPhysicsClients[physicsClientId];
{
int szObPos = PySequence_Size(objPositionsQ);