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More work on the C/C++ plugin system for pybullet/C-API:

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Add preTickPluginCallback/postTickPluginCallback
User pointer for b3PluginContext, to store objects (class/struct instances)
Pass ints and floats as optional argument for plugin executePluginCommand
This commit is contained in:
erwincoumans
2017-09-23 18:05:23 -07:00
parent 5373ca39e1
commit 8e496036c6
13 changed files with 380 additions and 97 deletions
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55
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1748,7 +1748,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3CreateCustomCommand(b3PhysicsClientH
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API void b3CustomCommandLoadPlugin(b3SharedMemoryCommandHandle commandHandle, const char* pluginPath, int options)
B3_SHARED_API void b3CustomCommandLoadPlugin(b3SharedMemoryCommandHandle commandHandle, const char* pluginPath)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_CUSTOM_COMMAND);
@@ -1756,7 +1756,7 @@ B3_SHARED_API void b3CustomCommandLoadPlugin(b3SharedMemoryCommandHandle command
{
command->m_updateFlags |= CMD_CUSTOM_COMMAND_LOAD_PLUGIN;
command->m_customCommandArgs.m_pluginPath[0] = 0;
command->m_customCommandArgs.m_options = options;
int len = strlen(pluginPath);
if (len<MAX_FILENAME_LENGTH)
{
@@ -1806,7 +1806,7 @@ B3_SHARED_API void b3CustomCommandUnloadPlugin(b3SharedMemoryCommandHandle comma
command->m_customCommandArgs.m_pluginUniqueId = pluginUniqueId;
}
}
B3_SHARED_API void b3CustomCommandExecutePluginCommand(b3SharedMemoryCommandHandle commandHandle, int pluginUniqueId, int commandUniqueId, const char* arguments)
B3_SHARED_API void b3CustomCommandExecutePluginCommand(b3SharedMemoryCommandHandle commandHandle, int pluginUniqueId, const char* textArguments)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
@@ -1815,18 +1815,55 @@ B3_SHARED_API void b3CustomCommandExecutePluginCommand(b3SharedMemoryCommandHand
{
command->m_updateFlags |= CMD_CUSTOM_COMMAND_EXECUTE_PLUGIN_COMMAND;
command->m_customCommandArgs.m_pluginUniqueId = pluginUniqueId;
command->m_customCommandArgs.m_commandUniqueId = commandUniqueId;
command->m_customCommandArgs.m_pluginArguments[0] = 0;
int len = strlen(arguments);
command->m_customCommandArgs.m_arguments.m_numInts = 0;
command->m_customCommandArgs.m_arguments.m_numFloats = 0;
command->m_customCommandArgs.m_arguments.m_text[0] = 0;
int len = strlen(textArguments);
if (len<MAX_FILENAME_LENGTH)
{
strcpy(command->m_customCommandArgs.m_pluginArguments, arguments);
strcpy(command->m_customCommandArgs.m_arguments.m_text, textArguments);
}
}
}
B3_SHARED_API void b3CustomCommandExecuteAddIntArgument(b3SharedMemoryCommandHandle commandHandle, int intVal)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_CUSTOM_COMMAND);
b3Assert(command->m_updateFlags & CMD_CUSTOM_COMMAND_EXECUTE_PLUGIN_COMMAND);
if (command->m_type == CMD_CUSTOM_COMMAND && (command->m_updateFlags & CMD_CUSTOM_COMMAND_EXECUTE_PLUGIN_COMMAND))
{
int numInts = command->m_customCommandArgs.m_arguments.m_numInts;
if (numInts<B3_MAX_PLUGIN_ARG_SIZE)
{
command->m_customCommandArgs.m_arguments.m_ints[numInts]=intVal;
command->m_customCommandArgs.m_arguments.m_numInts++;
}
}
}
B3_SHARED_API void b3CustomCommandExecuteAddFloatArgument(b3SharedMemoryCommandHandle commandHandle, float floatVal)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_CUSTOM_COMMAND);
b3Assert(command->m_updateFlags & CMD_CUSTOM_COMMAND_EXECUTE_PLUGIN_COMMAND);
if (command->m_type == CMD_CUSTOM_COMMAND && (command->m_updateFlags & CMD_CUSTOM_COMMAND_EXECUTE_PLUGIN_COMMAND))
{
int numFloats = command->m_customCommandArgs.m_arguments.m_numFloats;
if (numFloats<B3_MAX_PLUGIN_ARG_SIZE)
{
command->m_customCommandArgs.m_arguments.m_floats[numFloats]=floatVal;
command->m_customCommandArgs.m_arguments.m_numFloats++;
}
}
}
B3_SHARED_API b3SharedMemoryCommandHandle b3GetDynamicsInfoCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex)
{