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PyBullet.addUserData / getUserData / removeUserData / getUserDataId / getNumUserData / getUserDataInfo

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See examples/pybullet/examples/userData.py how to use it. TODO: add to PyBullet Quickstart Guide.
Thanks to Tigran Gasparian for the contribution!
This commit is contained in:
erwincoumans
2018-06-02 13:40:08 -07:00
parent cb6b7a7c38
commit b6120e760a
16 changed files with 1257 additions and 29 deletions
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40
examples/SharedMemory/SharedMemoryPublic.h
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@@ -5,7 +5,8 @@
///increase the SHARED_MEMORY_MAGIC_NUMBER whenever incompatible changes are made in the structures
///my convention is year/month/day/rev
#define SHARED_MEMORY_MAGIC_NUMBER 201801170
#define SHARED_MEMORY_MAGIC_NUMBER 201806020
//#define SHARED_MEMORY_MAGIC_NUMBER 201801170
//#define SHARED_MEMORY_MAGIC_NUMBER 201801080
//#define SHARED_MEMORY_MAGIC_NUMBER 201801010
//#define SHARED_MEMORY_MAGIC_NUMBER 201710180
@@ -83,9 +84,14 @@ enum EnumSharedMemoryClientCommand
CMD_SAVE_STATE,
CMD_RESTORE_STATE,
CMD_REQUEST_COLLISION_SHAPE_INFO,
CMD_SYNC_USER_DATA,
CMD_REQUEST_USER_DATA,
CMD_ADD_USER_DATA,
CMD_REMOVE_USER_DATA,
//don't go beyond this command!
CMD_MAX_CLIENT_COMMANDS,
};
enum EnumSharedMemoryServerStatus
@@ -192,6 +198,15 @@ enum EnumSharedMemoryServerStatus
CMD_COLLISION_SHAPE_INFO_FAILED,
CMD_LOAD_SOFT_BODY_FAILED,
CMD_LOAD_SOFT_BODY_COMPLETED,
CMD_SYNC_USER_DATA_COMPLETED,
CMD_SYNC_USER_DATA_FAILED,
CMD_REQUEST_USER_DATA_COMPLETED,
CMD_REQUEST_USER_DATA_FAILED,
CMD_ADD_USER_DATA_COMPLETED,
CMD_ADD_USER_DATA_FAILED,
CMD_REMOVE_USER_DATA_COMPLETED,
CMD_REMOVE_USER_DATA_FAILED,
//don't go beyond 'CMD_MAX_SERVER_COMMANDS!
CMD_MAX_SERVER_COMMANDS
};
@@ -254,6 +269,27 @@ struct b3JointInfo
};
enum UserDataValueType {
// Data represents generic byte array.
USER_DATA_VALUE_TYPE_BYTES = 0,
// Data represents C-string
USER_DATA_VALUE_TYPE_STRING = 1,
};
struct b3UserDataValue
{
int m_type;
int m_length;
char* m_data1;
};
struct b3UserDataGlobalIdentifier
{
int m_bodyUniqueId;
int m_linkIndex;
int m_userDataId;
};
struct b3UserConstraint
{
int m_parentBodyIndex;