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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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18
examples/SharedMemory/SharedMemoryCommands.h
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@@ -993,13 +993,20 @@ struct b3StateSerializationArguments
struct SyncUserDataArgs
{
// User data identifiers stored in m_bulletStreamDataServerToClientRefactor
// as as array of b3UserDataGlobalIdentifier objects
// as as array of integers.
int m_numUserDataIdentifiers;
};
struct UserDataRequestArgs {
int m_userDataId;
};
struct UserDataResponseArgs
{
b3UserDataGlobalIdentifier m_userDataGlobalId;
int m_userDataId;
int m_bodyUniqueId;
int m_linkIndex;
int m_visualShapeIndex;
int m_valueType;
int m_valueLength;
char m_key[MAX_USER_DATA_KEY_LENGTH];
@@ -1010,6 +1017,7 @@ struct AddUserDataRequestArgs
{
int m_bodyUniqueId;
int m_linkIndex;
int m_visualShapeIndex;
int m_valueType;
int m_valueLength;
char m_key[MAX_USER_DATA_KEY_LENGTH];
@@ -1073,9 +1081,9 @@ struct SharedMemoryCommand
struct b3CustomCommand m_customCommandArgs;
struct b3StateSerializationArguments m_loadStateArguments;
struct RequestCollisionShapeDataArgs m_requestCollisionShapeDataArguments;
struct b3UserDataGlobalIdentifier m_userDataRequestArgs;
struct UserDataRequestArgs m_userDataRequestArgs;
struct AddUserDataRequestArgs m_addUserDataRequestArgs;
struct b3UserDataGlobalIdentifier m_removeUserDataRequestArgs;
struct UserDataRequestArgs m_removeUserDataRequestArgs;
};
};
@@ -1150,7 +1158,7 @@ struct SharedMemoryStatus
struct SendCollisionShapeDataArgs m_sendCollisionShapeArgs;
struct SyncUserDataArgs m_syncUserDataArgs;
struct UserDataResponseArgs m_userDataResponseArgs;
struct b3UserDataGlobalIdentifier m_removeUserDataResponseArgs;
struct UserDataRequestArgs m_removeUserDataResponseArgs;
};
};