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pybullet getOverlappingObjects added: report all object unique ids within a world space bounding box (aabb)

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This commit is contained in:
erwincoumans
2016-11-10 11:22:22 -08:00
parent b16d9abddd
commit 9b5aa9a723
12 changed files with 299 additions and 99 deletions
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29
examples/pybullet/pybullet.c
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@@ -682,8 +682,7 @@ static int pybullet_internalGetBasePositionAndOrientation(
if (0 == sm) {
PyErr_SetString(SpamError, "Not connected to physics server.");
Py_INCREF(Py_None);
return Py_None;
return 0;
}
{
@@ -1628,7 +1627,8 @@ static PyObject* pybullet_getOverlappingObjects(PyObject* self, PyObject* args,
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
struct b3AABBOverlapData overlapData;
int i;
static char *kwlist[] = { "aabbMin", "aabbMax", NULL };
if (0 == sm) {
PyErr_SetString(SpamError, "Not connected to physics server.");
@@ -1646,6 +1646,27 @@ static PyObject* pybullet_getOverlappingObjects(PyObject* self, PyObject* args,
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
b3GetAABBOverlapResults(sm, &overlapData);
if (overlapData.m_numOverlappingObjects)
{
PyObject* pyResultList = PyTuple_New(overlapData.m_numOverlappingObjects);
//For huge amount of overlap, we could use numpy instead (see camera pixel data)
//What would Python do with huge amount of data? Pass it onto TensorFlow!
for (i = 0; i < overlapData.m_numOverlappingObjects; i++) {
PyObject* overlap = PyTuple_New(2);//body unique id and link index
PyObject* item;
item =
PyInt_FromLong(overlapData.m_overlappingObjects[i].m_objectUniqueId);
PyTuple_SetItem(overlap, 0, item);
item =
PyInt_FromLong(overlapData.m_overlappingObjects[i].m_linkIndex);
PyTuple_SetItem(overlap, 1, item);
PyTuple_SetItem(pyResultList, i, overlap);
}
return pyResultList;
}
Py_INCREF(Py_None);
return Py_None;
@@ -1700,7 +1721,6 @@ static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, Py
}
static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, PyObject *keywds) {
int size = PySequence_Size(args);
int bodyUniqueIdA = -1;
@@ -1710,7 +1730,6 @@ static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, Py
struct b3ContactInformation contactPointData;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
int i;
PyObject* pyResultList = 0;