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Changes UserData to use global identifiers and makes linkIndex optional.

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This removes the need to specify the body id/link index when retrieving a user data entry.
Additionally, user data can now optionally be set to visual shapes as well.

The following public pybullet APIs have changed (backwards incompatible)
addUserData and getUserDataId
  Makes linkIndex parameter optional (default value is -1)
  Adds optional visualShapeIndex parameter (default value is -1)

getUserData and removeUserData
  Removes required parameters bodyUniqueId and linkIndex

getNumUserData
  Removes required bodyUniqueId parameter

getUserDataInfo
  Removes required linkIndex parameter
  Changes returned tuple from (userDataId, key) to (userDataId, key, bodyUniqueId, linkIndex, visualShapeIndex)
This commit is contained in:
Tigran Gasparian
2018-07-03 17:45:19 +02:00
parent 04556502f0
commit 9c7aa3a863
16 changed files with 478 additions and 555 deletions
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25
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2848,7 +2848,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitSyncUserDataCommand(b3PhysicsCl
return (b3SharedMemoryCommandHandle) command;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitAddUserDataCommand(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex, const char* key, UserDataValueType valueType, int valueLength, const void *valueData) {
B3_SHARED_API b3SharedMemoryCommandHandle b3InitAddUserDataCommand(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex, int visualShapeIndex, const char* key, UserDataValueType valueType, int valueLength, const void *valueData) {
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(strlen(key) < MAX_USER_DATA_KEY_LENGTH);
b3Assert(cl);
@@ -2860,6 +2860,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitAddUserDataCommand(b3PhysicsCli
command->m_type = CMD_ADD_USER_DATA;
command->m_addUserDataRequestArgs.m_bodyUniqueId = bodyUniqueId;
command->m_addUserDataRequestArgs.m_linkIndex = linkIndex;
command->m_addUserDataRequestArgs.m_visualShapeIndex = visualShapeIndex;
command->m_addUserDataRequestArgs.m_valueType = valueType;
command->m_addUserDataRequestArgs.m_valueLength = valueLength;
strcpy(command->m_addUserDataRequestArgs.m_key, key);
@@ -2868,7 +2869,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitAddUserDataCommand(b3PhysicsCli
return (b3SharedMemoryCommandHandle) command;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRemoveUserDataCommand(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex, int userDataId) {
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRemoveUserDataCommand(b3PhysicsClientHandle physClient, int userDataId) {
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
@@ -2876,29 +2877,27 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitRemoveUserDataCommand(b3Physics
b3Assert(command);
command->m_type = CMD_REMOVE_USER_DATA;
command->m_removeUserDataRequestArgs.m_bodyUniqueId = bodyUniqueId;
command->m_removeUserDataRequestArgs.m_linkIndex = linkIndex;
command->m_removeUserDataRequestArgs.m_userDataId = userDataId;
return (b3SharedMemoryCommandHandle) command;
}
B3_SHARED_API int b3GetUserData(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex, int userDataId, struct b3UserDataValue *valueOut)
B3_SHARED_API int b3GetUserData(b3PhysicsClientHandle physClient, int userDataId, struct b3UserDataValue *valueOut)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
if (cl)
{
return cl->getCachedUserData(bodyUniqueId, linkIndex, userDataId, *valueOut);
return cl->getCachedUserData(userDataId, *valueOut);
}
return false;
}
B3_SHARED_API int b3GetUserDataId(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex, const char *key)
B3_SHARED_API int b3GetUserDataId(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex, int visualShapeIndex, const char *key)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
if (cl)
{
return cl->getCachedUserDataId(bodyUniqueId, linkIndex, key);
return cl->getCachedUserDataId(bodyUniqueId, linkIndex, visualShapeIndex, key);
}
return -1;
}
@@ -2909,27 +2908,27 @@ B3_SHARED_API int b3GetUserDataIdFromStatus(b3SharedMemoryStatusHandle statusHan
if (status)
{
btAssert(status->m_type == CMD_ADD_USER_DATA_COMPLETED);
return status->m_userDataResponseArgs.m_userDataGlobalId.m_userDataId;
return status->m_userDataResponseArgs.m_userDataId;
}
return -1;
}
B3_SHARED_API int b3GetNumUserData(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex)
B3_SHARED_API int b3GetNumUserData(b3PhysicsClientHandle physClient, int bodyUniqueId)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
if (cl)
{
return cl->getNumUserData(bodyUniqueId, linkIndex);
return cl->getNumUserData(bodyUniqueId);
}
return 0;
}
B3_SHARED_API void b3GetUserDataInfo(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex, int userDataIndex, const char **keyOut, int *userDataIdOut)
B3_SHARED_API void b3GetUserDataInfo(b3PhysicsClientHandle physClient, int bodyUniqueId, int userDataIndex, const char **keyOut, int *userDataIdOut, int *linkIndexOut, int *visualShapeIndexOut)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
if (cl)
{
cl->getUserDataInfo(bodyUniqueId, linkIndex, userDataIndex, keyOut, userDataIdOut);
cl->getUserDataInfo(bodyUniqueId, userDataIndex, keyOut, userDataIdOut, linkIndexOut, visualShapeIndexOut);
}
}