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add option to statically link a plugin, select the postFix (to avoid naming conflict of multiple plugins functions ('initPlugin' becomes initPlugin_postFix)

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pass events (keyboard, mouse, vr controllers etc) to the plugin, and clear them after the tick callback, so that it doesn't interfere with Python 'getEvents'
This commit is contained in:
Erwin Coumans
2017-10-03 15:00:52 -07:00
parent 0be9dde36c
commit acbe457d31
11 changed files with 159 additions and 50 deletions
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4
examples/pybullet/examples/vr_kuka_setup_vrSyncPlugin.py
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@@ -116,7 +116,9 @@ while (controllerId<0):
print("Using controllerId="+str(controllerId))
plugin = p.loadPlugin("d:/develop/bullet3/bin/pybullet_vrSyncPlugin_vs2010_x64_release.dll")
plugin = p.loadPlugin("d:/develop/bullet3/bin/pybullet_vrSyncPlugin_vs2010_x64_release.dll","_vrSyncPlugin")
#plugin = p.loadPlugin("vrSyncPlugin")
print("PluginId="+str(plugin))
p.executePluginCommand(plugin ,"bla", [controllerId,pr2_cid, pr2_cid2,pr2_gripper],[50,3])

10
examples/pybullet/pybullet.c
View File

@@ -6681,13 +6681,15 @@ static PyObject* pybullet_loadPlugin(PyObject* self,
int physicsClientId = 0;
char* pluginPath = 0;
char* postFix = 0;
b3SharedMemoryCommandHandle command = 0;
b3SharedMemoryStatusHandle statusHandle = 0;
int statusType = -1;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = { "pluginPath", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|i", kwlist, &pluginPath, &physicsClientId))
static char* kwlist[] = { "pluginPath", "postFix", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|si", kwlist, &pluginPath, &postFix, &physicsClientId))
{
return NULL;
}
@@ -6701,6 +6703,10 @@ static PyObject* pybullet_loadPlugin(PyObject* self,
command = b3CreateCustomCommand(sm);
b3CustomCommandLoadPlugin(command, pluginPath);
if (postFix)
{
b3CustomCommandLoadPluginSetPostFix(command, postFix);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusPluginUniqueId(statusHandle);
return PyInt_FromLong(statusType);