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expose width/height as ExampleBrowser options.

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suppress lack of 'site' support message in MJCF importer
suppress lack of 'plane' visual support in urdf/sdf import
getBodyName default to "" to avoid breaking cloudsim
expose bodyName when requesting body info (sdf/mjcf import)
pass optional "options" string to pybullet.connect method. this can be used for --opengl2 flag in GUI mode (or other flags)
This commit is contained in:
Erwin Coumans
2017-03-30 11:01:33 -07:00
parent d51123be3a
commit 9d05b46de2
6 changed files with 56 additions and 46 deletions
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59
examples/pybullet/pybullet.c
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@@ -221,6 +221,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
int freeIndex = -1;
int method = eCONNECT_GUI;
int i;
char* options="";
b3PhysicsClientHandle sm = 0;
if (sNumPhysicsClients >= MAX_PHYSICS_CLIENTS)
@@ -237,15 +238,24 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
const char* hostName = "localhost";
int size = PySequence_Size(args);
if (size == 1)
static char* kwlist1[] = {"method","key", "options", NULL};
static char* kwlist2[] = {"method","hostName", "port", "options", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|is", kwlist1, &method,&key,&options))
{
if (!PyArg_ParseTuple(args, "i", &method))
int port = -1;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|sis", kwlist2, &method,&hostName, &port,&options))
{
PyErr_SetString(SpamError,
"connectPhysicsServer expected argument GUI, "
"DIRECT, SHARED_MEMORY, UDP or TCP");
return NULL;
} else
{
PyErr_Clear();
if (port>=0)
{
udpPort = port;
tcpPort = port;
}
}
}
@@ -264,45 +274,12 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
}
}
if (size == 2)
{
if (!PyArg_ParseTuple(args, "ii", &method, &key))
{
if (!PyArg_ParseTuple(args, "is", &method, &hostName))
{
PyErr_SetString(SpamError,
"connectPhysicsServer cannot parse second argument (either integer or string)");
return NULL;
}
else
{
PyErr_Clear();
}
}
}
if (size == 3)
{
int port = -1;
if (!PyArg_ParseTuple(args, "isi", &method, &hostName, &port))
{
PyErr_SetString(SpamError,
"connectPhysicsServer 3 arguments: method, hostname, port");
return NULL;
}
if (port >= 0)
{
udpPort = port;
tcpPort = port;
}
}
switch (method)
{
case eCONNECT_GUI:
{
int argc = 0;
char* argv[1] = {0};
int argc = 2;
char* argv[2] = {"unused",options};
#ifdef __APPLE__
sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv);