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more work towards removeBody for C-API/pybullet, work-in-progress.

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This commit is contained in:
Erwin Coumans
2017-05-03 21:53:29 -07:00
parent 152e3da3e4
commit a86f584824
13 changed files with 278 additions and 23 deletions
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43
examples/pybullet/pybullet.c
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@@ -714,7 +714,7 @@ static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* key
double startOrnY = 0.0;
double startOrnZ = 0.0;
double startOrnW = 1.0;
int useMaximalCoordinates = 0;
int useMaximalCoordinates = -1;
int useFixedBase = 0;
int backwardsCompatibilityArgs = 0;
@@ -802,9 +802,9 @@ static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* key
b3LoadUrdfCommandSetStartPosition(command, startPosX, startPosY, startPosZ);
b3LoadUrdfCommandSetStartOrientation(command, startOrnX, startOrnY,
startOrnZ, startOrnW);
if (useMaximalCoordinates)
if (useMaximalCoordinates>=0)
{
b3LoadUrdfCommandSetUseMultiBody(command, 0);
b3LoadUrdfCommandSetUseMultiBody(command, useMaximalCoordinates);
}
if (useFixedBase)
{
@@ -1695,6 +1695,40 @@ static PyObject* pybullet_getBodyUniqueId(PyObject* self, PyObject* args, PyObje
}
}
static PyObject* pybullet_removeBody(PyObject* self, PyObject* args, PyObject* keywds)
{
{
int bodyUniqueId = -1;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"bodyUniqueId", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|i", kwlist, &bodyUniqueId, &physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
if (bodyUniqueId>=0)
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;
if (b3CanSubmitCommand(sm))
{
statusHandle = b3SubmitClientCommandAndWaitStatus( sm, b3InitRemoveBodyCommand(sm,bodyUniqueId));
statusType = b3GetStatusType(statusHandle);
}
}
}
Py_INCREF(Py_None);
return Py_None;
}
static PyObject* pybullet_getBodyInfo(PyObject* self, PyObject* args, PyObject* keywds)
{
{
@@ -5387,6 +5421,9 @@ static PyMethodDef SpamMethods[] = {
{"getBodyInfo", (PyCFunction)pybullet_getBodyInfo, METH_VARARGS | METH_KEYWORDS,
"Get the body info, given a body unique id."},
{"removeBody", (PyCFunction)pybullet_removeBody, METH_VARARGS | METH_KEYWORDS,
"Remove a body by its body unique id."},
{"getNumConstraints", (PyCFunction)pybullet_getNumConstraints, METH_VARARGS | METH_KEYWORDS,
"Get the number of user-created constraints in the simulation."},