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all methods (except connect, obviously) have the physicsClientId argument, even if they don't use it. This makes it easier to create a wrapper API to store the physics client. This allows easier multi-threaded versions with multiple Bullet DIRECT instances (or SHARED_MEMORY, TCP, UDP etc).

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See for example https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/gym/pybullet_envs/bullet/bullet_client.py and https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/gym/pybullet_envs/bullet/minitaur.py
This commit is contained in:
Erwin Coumans
2017-08-25 14:04:45 -07:00
parent 0d0caa7cbc
commit bcc60224f0
1 changed files with 49 additions and 19 deletions
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68
examples/pybullet/pybullet.c
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@@ -2530,6 +2530,14 @@ static PyObject* pybullet_getNumConstraints(PyObject* self, PyObject* args, PyOb
// the object is loaded into simulation // the object is loaded into simulation
static PyObject* pybullet_getAPIVersion(PyObject* self, PyObject* args, PyObject* keywds) static PyObject* pybullet_getAPIVersion(PyObject* self, PyObject* args, PyObject* keywds)
{ {
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = {"physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|i", kwlist, &physicsClientId))
{
return NULL;
}
#if PY_MAJOR_VERSION >= 3 #if PY_MAJOR_VERSION >= 3
return PyLong_FromLong(SHARED_MEMORY_MAGIC_NUMBER); return PyLong_FromLong(SHARED_MEMORY_MAGIC_NUMBER);
#else #else
@@ -5743,11 +5751,11 @@ static PyObject* pybullet_computeViewMatrix(PyObject* self, PyObject* args, PyOb
float camEye[3]; float camEye[3];
float camTargetPosition[3]; float camTargetPosition[3];
float camUpVector[3]; float camUpVector[3];
int physicsClientId=0;
// set camera resolution, optionally view, projection matrix, light position // set camera resolution, optionally view, projection matrix, light position
static char* kwlist[] = {"cameraEyePosition", "cameraTargetPosition", "cameraUpVector", NULL}; static char* kwlist[] = {"cameraEyePosition", "cameraTargetPosition", "cameraUpVector", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "OOO", kwlist, &camEyeObj, &camTargetPositionObj, &camUpVectorObj)) if (!PyArg_ParseTupleAndKeywords(args, keywds, "OOO|i", kwlist, &camEyeObj, &camTargetPositionObj, &camUpVectorObj,&physicsClientId))
{ {
return NULL; return NULL;
} }
@@ -5784,11 +5792,12 @@ static PyObject* pybullet_computeViewMatrixFromYawPitchRoll(PyObject* self, PyOb
float viewMatrix[16]; float viewMatrix[16];
PyObject* pyResultList = 0; PyObject* pyResultList = 0;
int i; int i;
int physicsClientId = 0;
// set camera resolution, optionally view, projection matrix, light position // set camera resolution, optionally view, projection matrix, light position
static char* kwlist[] = {"cameraTargetPosition", "distance", "yaw", "pitch", "roll", "upAxisIndex", NULL}; static char* kwlist[] = {"cameraTargetPosition", "distance", "yaw", "pitch", "roll", "upAxisIndex", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "Offffi", kwlist, &cameraTargetPositionObj, &distance, &yaw, &pitch, &roll, &upAxisIndex)) if (!PyArg_ParseTupleAndKeywords(args, keywds, "Offffi|i", kwlist, &cameraTargetPositionObj, &distance, &yaw, &pitch, &roll, &upAxisIndex,&physicsClientId))
{ {
return NULL; return NULL;
} }
@@ -5822,11 +5831,12 @@ static PyObject* pybullet_computeProjectionMatrix(PyObject* self, PyObject* args
float farVal; float farVal;
float projectionMatrix[16]; float projectionMatrix[16];
int i; int i;
int physicsClientId;
// set camera resolution, optionally view, projection matrix, light position // set camera resolution, optionally view, projection matrix, light position
static char* kwlist[] = {"left", "right", "bottom", "top", "nearVal", "farVal", NULL}; static char* kwlist[] = {"left", "right", "bottom", "top", "nearVal", "farVal", "physicsClientId",NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ffffff", kwlist, &left, &right, &bottom, &top, &nearVal, &farVal)) if (!PyArg_ParseTupleAndKeywords(args, keywds, "ffffff|i", kwlist, &left, &right, &bottom, &top, &nearVal, &farVal,&physicsClientId))
{ {
return NULL; return NULL;
} }
@@ -5848,10 +5858,11 @@ static PyObject* pybullet_computeProjectionMatrixFOV(PyObject* self, PyObject* a
PyObject* pyResultList = 0; PyObject* pyResultList = 0;
float projectionMatrix[16]; float projectionMatrix[16];
int i; int i;
int physicsClientId=0;
static char* kwlist[] = {"fov", "aspect", "nearVal", "farVal", NULL}; static char* kwlist[] = {"fov", "aspect", "nearVal", "farVal", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ffff", kwlist, &fov, &aspect, &nearVal, &farVal)) if (!PyArg_ParseTupleAndKeywords(args, keywds, "ffff|i", kwlist, &fov, &aspect, &nearVal, &farVal,&physicsClientId))
{ {
return NULL; return NULL;
} }
@@ -6311,13 +6322,21 @@ static PyObject* pybullet_applyExternalTorque(PyObject* self, PyObject* args, Py
} }
static PyObject* pybullet_getQuaternionFromEuler(PyObject* self, static PyObject* pybullet_getQuaternionFromEuler(PyObject* self,
PyObject* args) PyObject* args, PyObject* keywds)
{ {
double rpy[3]; double rpy[3];
PyObject* eulerObj; PyObject* eulerObj;
int physicsClientId=0;
if (PyArg_ParseTuple(args, "O", &eulerObj)) static char* kwlist[] = {"eulerAngles","physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "O|i", kwlist, &eulerObj,&physicsClientId))
{
return NULL;
}
if (eulerObj)
{ {
PyObject* seq; PyObject* seq;
int len, i; int len, i;
@@ -6399,9 +6418,10 @@ static PyObject* pybullet_multiplyTransforms(PyObject* self,
double ornA[4] = {0, 0, 0, 1}; double ornA[4] = {0, 0, 0, 1};
double posB[3]; double posB[3];
double ornB[4] = {0, 0, 0, 1}; double ornB[4] = {0, 0, 0, 1};
int physicsClientId=0;
static char* kwlist[] = {"positionA", "orientationA", "positionB", "orientationB", NULL}; static char* kwlist[] = {"positionA", "orientationA", "positionB", "orientationB", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "OOOO", kwlist, &posAObj, &ornAObj,&posBObj, &ornBObj)) if (!PyArg_ParseTupleAndKeywords(args, keywds, "OOOO|i", kwlist, &posAObj, &ornAObj,&posBObj, &ornBObj,&physicsClientId))
{ {
return NULL; return NULL;
} }
@@ -6448,9 +6468,10 @@ static PyObject* pybullet_invertTransform(PyObject* self,
double orn[4] = {0, 0, 0, 1}; double orn[4] = {0, 0, 0, 1};
int hasPos =0; int hasPos =0;
int hasOrn =0; int hasOrn =0;
int physicsClientId = 0;
static char* kwlist[] = {"position", "orientation", NULL}; static char* kwlist[] = {"position", "orientation", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO", kwlist, &posObj, &ornObj)) if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO|i", kwlist, &posObj, &ornObj,&physicsClientId))
{ {
return NULL; return NULL;
} }
@@ -6492,7 +6513,7 @@ static PyObject* pybullet_invertTransform(PyObject* self,
/// quaternion <-> euler yaw/pitch/roll convention from URDF/SDF, see Gazebo /// quaternion <-> euler yaw/pitch/roll convention from URDF/SDF, see Gazebo
/// https://github.com/arpg/Gazebo/blob/master/gazebo/math/Quaternion.cc /// https://github.com/arpg/Gazebo/blob/master/gazebo/math/Quaternion.cc
static PyObject* pybullet_getEulerFromQuaternion(PyObject* self, static PyObject* pybullet_getEulerFromQuaternion(PyObject* self,
PyObject* args) PyObject* args, PyObject* keywds)
{ {
double squ; double squ;
double sqx; double sqx;
@@ -6503,7 +6524,16 @@ static PyObject* pybullet_getEulerFromQuaternion(PyObject* self,
PyObject* quatObj; PyObject* quatObj;
if (PyArg_ParseTuple(args, "O", &quatObj)) int physicsClientId=0;
static char* kwlist[] = {"quaternion","physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "O|i", kwlist, &quatObj,&physicsClientId))
{
return NULL;
}
if (quatObj)
{ {
PyObject* seq; PyObject* seq;
int len, i; int len, i;
@@ -7116,11 +7146,11 @@ static PyMethodDef SpamMethods[] = {
{"changeTexture", (PyCFunction)pybullet_changeTexture, METH_VARARGS | METH_KEYWORDS, {"changeTexture", (PyCFunction)pybullet_changeTexture, METH_VARARGS | METH_KEYWORDS,
"Change a texture file."}, "Change a texture file."},
{"getQuaternionFromEuler", pybullet_getQuaternionFromEuler, METH_VARARGS, {"getQuaternionFromEuler", (PyCFunction) pybullet_getQuaternionFromEuler, METH_VARARGS | METH_KEYWORDS,
"Convert Euler [roll, pitch, yaw] as in URDF/SDF convention, to " "Convert Euler [roll, pitch, yaw] as in URDF/SDF convention, to "
"quaternion [x,y,z,w]"}, "quaternion [x,y,z,w]"},
{"getEulerFromQuaternion", pybullet_getEulerFromQuaternion, METH_VARARGS, {"getEulerFromQuaternion", (PyCFunction) pybullet_getEulerFromQuaternion, METH_VARARGS | METH_KEYWORDS,
"Convert quaternion [x,y,z,w] to Euler [roll, pitch, yaw] as in URDF/SDF " "Convert quaternion [x,y,z,w] to Euler [roll, pitch, yaw] as in URDF/SDF "
"convention"}, "convention"},