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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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73
examples/pybullet/pybullet.c
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@@ -689,18 +689,19 @@ static PyObject* pybullet_addUserData(PyObject* self, PyObject* args, PyObject*
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
int bodyUniqueId = -1;
int linkIndex = -2;
int linkIndex = -1;
int visualShapeIndex = -1;
const char* key = "";
const char* value = ""; // TODO: Change this to a PyObject and detect the type dynamically.
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "key", "value", "physicsClientId", NULL};
static char* kwlist[] = {"bodyUniqueId", "key", "value", "linkIndex", "visualShapeIndex", "physicsClientId", NULL};
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
int userDataId;
int valueLen=-1;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iiss|i", kwlist, &bodyUniqueId, &linkIndex, &key, &value, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iss|iii", kwlist, &bodyUniqueId, &key, &value, &linkIndex, &visualShapeIndex, &physicsClientId))
{
return NULL;
}
@@ -712,7 +713,7 @@ static PyObject* pybullet_addUserData(PyObject* self, PyObject* args, PyObject*
}
valueLen = strlen(value)+1;
command = b3InitAddUserDataCommand(sm, bodyUniqueId, linkIndex, key, USER_DATA_VALUE_TYPE_STRING, valueLen, value);
command = b3InitAddUserDataCommand(sm, bodyUniqueId, linkIndex, visualShapeIndex, key, USER_DATA_VALUE_TYPE_STRING, valueLen, value);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
@@ -730,16 +731,14 @@ static PyObject* pybullet_removeUserData(PyObject* self, PyObject* args, PyObjec
{
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
int bodyUniqueId = -1;
int linkIndex = -1;
int userDataId = -1;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "userDataId", "physicsClientId", NULL};
static char* kwlist[] = {"userDataId", "physicsClientId", NULL};
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iii|i", kwlist, &bodyUniqueId, &linkIndex, &userDataId, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|i", kwlist, &userDataId, &physicsClientId))
{
return NULL;
}
@@ -750,7 +749,7 @@ static PyObject* pybullet_removeUserData(PyObject* self, PyObject* args, PyObjec
return NULL;
}
command = b3InitRemoveUserDataCommand(sm, bodyUniqueId, linkIndex, userDataId);
command = b3InitRemoveUserDataCommand(sm, userDataId);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
@@ -770,15 +769,16 @@ static PyObject* pybullet_getUserDataId(PyObject* self, PyObject* args, PyObject
int physicsClientId = 0;
int bodyUniqueId = -1;
int linkIndex = -1;
int visualShapeIndex = -1;
const char* key = "";
int userDataId;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "key", "physicsClientId", NULL};
static char* kwlist[] = {"bodyUniqueId", "key", "linkIndex", "visualShapeIndex", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iis|i", kwlist, &bodyUniqueId, &linkIndex, &key, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "is|iii", kwlist, &bodyUniqueId, &key, &linkIndex, &visualShapeIndex, &physicsClientId))
{
return NULL;
}
@@ -789,7 +789,7 @@ static PyObject* pybullet_getUserDataId(PyObject* self, PyObject* args, PyObject
return NULL;
}
userDataId = b3GetUserDataId(sm, bodyUniqueId, linkIndex, key);
userDataId = b3GetUserDataId(sm, bodyUniqueId, linkIndex, visualShapeIndex, key);
return PyInt_FromLong(userDataId);
}
@@ -797,16 +797,14 @@ static PyObject* pybullet_getUserData(PyObject* self, PyObject* args, PyObject*
{
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
int bodyUniqueId = -1;
int linkIndex = -1;
int userDataId = -1;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "userDataId", "physicsClientId", NULL};
static char* kwlist[] = {"userDataId", "physicsClientId", NULL};
struct b3UserDataValue value;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iii|i", kwlist, &bodyUniqueId, &linkIndex, &userDataId, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|i", kwlist, &userDataId, &physicsClientId))
{
return NULL;
}
@@ -818,7 +816,7 @@ static PyObject* pybullet_getUserData(PyObject* self, PyObject* args, PyObject*
}
if (!b3GetUserData(sm, bodyUniqueId, linkIndex, userDataId, &value)) {
if (!b3GetUserData(sm, userDataId, &value)) {
Py_INCREF(Py_None);
return Py_None;
@@ -837,15 +835,14 @@ static PyObject* pybullet_getNumUserData(PyObject* self, PyObject* args, PyObjec
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
int bodyUniqueId = -1;
int linkIndex = -1;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "physicsClientId", NULL};
static char* kwlist[] = {"bodyUniqueId", "physicsClientId", NULL};
int numUserData;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|i", kwlist, &bodyUniqueId, &linkIndex, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|i", kwlist, &bodyUniqueId, &physicsClientId))
{
return NULL;
}
@@ -856,7 +853,7 @@ static PyObject* pybullet_getNumUserData(PyObject* self, PyObject* args, PyObjec
return NULL;
}
numUserData = b3GetNumUserData(sm, bodyUniqueId, linkIndex);
numUserData = b3GetNumUserData(sm, bodyUniqueId);
return PyInt_FromLong(numUserData);
}
@@ -865,16 +862,17 @@ static PyObject* pybullet_getUserDataInfo(PyObject* self, PyObject* args, PyObje
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
int bodyUniqueId = -1;
int linkIndex = -1;
int userDataIndex = -1;
int linkIndex = -1;
int visualShapeIndex = -1;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "userDataIndex", "physicsClientId", NULL};
static char* kwlist[] = {"bodyUniqueId", "userDataIndex", "physicsClientId", NULL};
const char* key = 0;
int userDataId = -1;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iii|i", kwlist, &bodyUniqueId, &linkIndex, &userDataIndex, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|i", kwlist, &bodyUniqueId, &userDataIndex, &physicsClientId))
{
return NULL;
}
@@ -885,16 +883,19 @@ static PyObject* pybullet_getUserDataInfo(PyObject* self, PyObject* args, PyObje
return NULL;
}
b3GetUserDataInfo(sm, bodyUniqueId, linkIndex, userDataIndex, &key, &userDataId);
b3GetUserDataInfo(sm, bodyUniqueId, userDataIndex, &key, &userDataId, &linkIndex, &visualShapeIndex);
if (key == 0 || userDataId == -1) {
PyErr_SetString(SpamError, "Could not get user data info.");
return NULL;
}
{
PyObject *userDataInfoTuple = PyTuple_New(2);
PyObject *userDataInfoTuple = PyTuple_New(5);
PyTuple_SetItem(userDataInfoTuple, 0, PyInt_FromLong(userDataId));
PyTuple_SetItem(userDataInfoTuple, 1, PyString_FromString(key));
PyTuple_SetItem(userDataInfoTuple, 2, PyInt_FromLong(bodyUniqueId));
PyTuple_SetItem(userDataInfoTuple, 3, PyInt_FromLong(linkIndex));
PyTuple_SetItem(userDataInfoTuple, 4, PyInt_FromLong(visualShapeIndex));
return userDataInfoTuple;
}
}
@@ -9131,28 +9132,28 @@ static PyMethodDef SpamMethods[] = {
"Update user data, in case other clients made changes."},
{"addUserData", (PyCFunction)pybullet_addUserData, METH_VARARGS | METH_KEYWORDS,
"addUserData(bodyUniqueId, linkIndex, key, value, physicsClientId=0)\n"
"Adds or updates a user data entry to a link. Returns user data identifier."},
"addUserData(bodyUniqueId, key, value, linkIndex=-1, visualShapeIndex=-1, physicsClientId=0)\n"
"Adds or updates a user data entry. Returns user data identifier."},
{"getUserData", (PyCFunction)pybullet_getUserData, METH_VARARGS | METH_KEYWORDS,
"getUserData(bodyUniqueId, linkIndex, userDataId, physicsClientId=0)\n"
"getUserData(userDataId, physicsClientId=0)\n"
"Returns the user data value."},
{"removeUserData", (PyCFunction)pybullet_removeUserData, METH_VARARGS | METH_KEYWORDS,
"removeUserData(bodyUniqueId, linkIndex, userDataId, physicsClientId=0)\n"
"removeUserData(userDataId, physicsClientId=0)\n"
"Removes a user data entry."},
{"getUserDataId", (PyCFunction)pybullet_getUserDataId, METH_VARARGS | METH_KEYWORDS,
"getUserDataId(bodyUniqueId, linkIndex, key, physicsClientId=0)\n"
"Retrieves the userDataId on a link given the key."},
"getUserDataId(bodyUniqueId, key, linkIndex=-1, visualShapeIndex=-1, physicsClientId=0)\n"
"Retrieves the userDataId given the key and optionally link and visual shape index."},
{"getNumUserData", (PyCFunction)pybullet_getNumUserData, METH_VARARGS | METH_KEYWORDS,
"getNumUserData(bodyUniqueId, linkIndex, physicsClientId=0)\n"
"Retrieves the number of user data entries in a link."},
"getNumUserData(bodyUniqueId physicsClientId=0)\n"
"Retrieves the number of user data entries in a body."},
{"getUserDataInfo", (PyCFunction)pybullet_getUserDataInfo, METH_VARARGS | METH_KEYWORDS,
"getUserDataInfo(bodyUniqueId, linkIndex, userDataIndex, physicsClientId=0)\n"
"Retrieves the key and the identifier of a user data as (id, key)."},
"getUserDataInfo(bodyUniqueId, userDataIndex, physicsClientId=0)\n"
"Retrieves the key and the identifier of a user data as (userDataId, key, bodyUniqueId, linkIndex, visualShapeIndex)."},
{"removeBody", (PyCFunction)pybullet_removeBody, METH_VARARGS | METH_KEYWORDS,
"Remove a body by its body unique id."},