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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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53
examples/SharedMemory/SharedMemoryUserData.h
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@@ -3,6 +3,7 @@
#include <string>
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btHashMap.h"
#include "SharedMemoryPublic.h"
struct SharedMemoryUserData
@@ -10,20 +11,22 @@ struct SharedMemoryUserData
std::string m_key;
int m_type;
int m_bodyUniqueId;
int m_linkIndex;
int m_visualShapeIndex;
btAlignedObjectArray<char> m_bytes;
SharedMemoryUserData()
:m_type(-1)
:m_type(-1), m_bodyUniqueId(-1), m_linkIndex(-1), m_visualShapeIndex(-1)
{
}
// Takes ownership of the passed key and value arguments.
SharedMemoryUserData(const char* key)
:m_key(key)
SharedMemoryUserData(const char* key, int bodyUniqueId, int linkIndex, int visualShapeIndex)
:m_key(key), m_type(-1), m_bodyUniqueId(bodyUniqueId), m_linkIndex(linkIndex), m_visualShapeIndex(visualShapeIndex)
{
}
// Takes ownership of the data pointed to by newValue.
void replaceValue(const char* bytes, int len, int type)
{
m_type = type;
@@ -45,4 +48,44 @@ struct SharedMemoryUserData
}
};
class SharedMemoryUserDataHashKey {
unsigned int m_hash = 0;
btHashString m_key;
btHashInt m_bodyUniqueId;
btHashInt m_linkIndex;
btHashInt m_visualShapeIndex;
public:
SIMD_FORCE_INLINE unsigned int getHash()const {
return m_hash;
}
SharedMemoryUserDataHashKey() : m_hash(0) {}
SharedMemoryUserDataHashKey(const struct SharedMemoryUserData *userData)
: m_key(userData->m_key.c_str()),
m_bodyUniqueId(userData->m_bodyUniqueId),
m_linkIndex(userData->m_linkIndex),
m_visualShapeIndex(userData->m_visualShapeIndex) {
calculateHash();
}
SharedMemoryUserDataHashKey(const char *key, int bodyUniqueId, int linkIndex, int visualShapeIndex)
: m_key(key), m_bodyUniqueId(bodyUniqueId), m_linkIndex(linkIndex), m_visualShapeIndex(visualShapeIndex) {
calculateHash();
}
void calculateHash() {
m_hash = m_key.getHash() ^ m_bodyUniqueId.getHash() ^ m_linkIndex.getHash() ^ m_visualShapeIndex.getHash();
}
bool equals(const SharedMemoryUserDataHashKey& other) const {
return m_bodyUniqueId.equals(other.m_bodyUniqueId) &&
m_linkIndex.equals(other.m_linkIndex) &&
m_visualShapeIndex.equals(other.m_visualShapeIndex) &&
m_key.equals(other.m_key);
}
};
#endif //SHARED_MEMORY_USER_DATA_H