Add API to get user constraint id.

examples/SharedMemory/PhysicsClient.h

@@ -37,6 +37,8 @@ public:
     virtual int getNumUserConstraints() const = 0;
     
     virtual int getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint& info) const = 0;
+	
+	virtual int getUserConstraintId(int serialIndex) const = 0;
     
     virtual void setSharedMemoryKey(int key) = 0;
 

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -1179,6 +1179,13 @@ int b3GetUserConstraintInfo(b3PhysicsClientHandle physClient, int constraintUniq
     return 0;
 }
 
+/// return the user constraint id, given the index in range [0 , b3GetNumUserConstraints() )
+int b3GetUserConstraintId(b3PhysicsClientHandle physClient, int serialIndex)
+{
+	PhysicsClient* cl = (PhysicsClient* ) physClient;
+	return cl->getUserConstraintId(serialIndex);
+}
+
 /// return the body unique id, given the index in range [0 , b3GetNumBodies() )
 int b3GetBodyUniqueId(b3PhysicsClientHandle physClient, int serialIndex)
 {

examples/SharedMemory/PhysicsClientC_API.h

@@ -96,6 +96,8 @@ b3SharedMemoryCommandHandle  b3InitRemoveUserConstraintCommand(b3PhysicsClientHa
 
 int b3GetNumUserConstraints(b3PhysicsClientHandle physClient);
 int b3GetUserConstraintInfo(b3PhysicsClientHandle physClient, int constraintUniqueId, struct b3UserConstraint* info);
+/// return the user constraint id, given the index in range [0 , b3GetNumUserConstraints() )
+int b3GetUserConstraintId(b3PhysicsClientHandle physClient, int serialIndex);
     
 ///Request physics debug lines for debug visualization. The flags in debugMode are the same as used in Bullet
 ///See btIDebugDraw::DebugDrawModes in Bullet/src/LinearMath/btIDebugDraw.h

examples/SharedMemory/PhysicsClientSharedMemory.cpp

@@ -163,6 +163,15 @@ int PhysicsClientSharedMemory::getUserConstraintInfo(int constraintUniqueId, str
     return 0;
 }
 
+int PhysicsClientSharedMemory::getUserConstraintId(int serialIndex) const
+{
+	if ((serialIndex >= 0) && (serialIndex < getNumUserConstraints()))
+	{
+		return m_data->m_userConstraintInfoMap.getKeyAtIndex(serialIndex).getUid1();
+	}
+	return -1;
+}
+
 PhysicsClientSharedMemory::PhysicsClientSharedMemory()
 
 {

examples/SharedMemory/PhysicsClientSharedMemory.h

@@ -47,6 +47,8 @@ public:
     virtual int getNumUserConstraints() const;
     
     virtual int getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint& info) const;
+	
+	virtual int getUserConstraintId(int serialIndex) const;
     
     virtual void setSharedMemoryKey(int key);
 

examples/SharedMemory/PhysicsDirect.cpp

@@ -925,7 +925,14 @@ int PhysicsDirect::getUserConstraintInfo(int constraintUniqueId, struct b3UserCo
     return 0;
 }
 
-
+int PhysicsDirect::getUserConstraintId(int serialIndex) const
+{
+	if ((serialIndex >= 0) && (serialIndex < getNumUserConstraints()))
+	{
+		return m_data->m_userConstraintInfoMap.getKeyAtIndex(serialIndex).getUid1();
+	}
+	return -1;
+}
 
 int PhysicsDirect::getBodyUniqueId(int serialIndex) const
 {

examples/SharedMemory/PhysicsDirect.h

@@ -66,6 +66,8 @@ public:
     virtual int getNumUserConstraints() const;
     
     virtual int getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint& info) const;
+	
+	virtual int getUserConstraintId(int serialIndex) const;
     
 	///todo: move this out of the
     virtual void setSharedMemoryKey(int key);

examples/SharedMemory/PhysicsLoopBack.cpp

@@ -108,6 +108,11 @@ int PhysicsLoopBack::getUserConstraintInfo(int constraintUniqueId, struct b3User
     return m_data->m_physicsClient->getUserConstraintInfo( constraintUniqueId, info);
 }
 
+int PhysicsLoopBack::getUserConstraintId(int serialIndex) const
+{
+	return m_data->m_physicsClient->getUserConstraintId(serialIndex);
+}
+
 ///todo: move this out of the interface
 void PhysicsLoopBack::setSharedMemoryKey(int key)
 {

examples/SharedMemory/PhysicsLoopBack.h

@@ -51,6 +51,8 @@ public:
     virtual int getNumUserConstraints() const;
     
     virtual int getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint&info) const;
+	
+	virtual int getUserConstraintId(int serialIndex) const;
     
 	///todo: move this out of the
     virtual void setSharedMemoryKey(int key);

examples/pybullet/examples/constraint.py

@@ -9,6 +9,8 @@ cubeId = p.loadURDF("cube_small.urdf",0,0,1)
 p.setGravity(0,0,-10)
 p.setRealTimeSimulation(1)
 cid = p.createConstraint(cubeId,-1,-1,-1,p.JOINT_FIXED,[0,0,0],[0,0,0],[0,0,1])
+print cid
+print p.getConstraintUniqueId(0)
 prev=[0,0,1]
 a=-math.pi
 while 1:
@@ -21,4 +23,4 @@ while 1:
 	orn = p.getQuaternionFromEuler([a,0,0])
 	p.changeConstraint(cid,pivot,jointChildFrameOrientation=orn, maxForce=50)
 
-p.removeConstraint(cid)
+p.removeConstraint(cid)

examples/pybullet/pybullet.c

@@ -1846,6 +1846,36 @@ static PyObject* pybullet_getConstraintInfo(PyObject* self, PyObject* args, PyOb
 	return NULL;
 }
 
+static PyObject* pybullet_getConstraintUniqueId(PyObject* self, PyObject* args, PyObject* keywds)
+{
+	int physicsClientId = 0;
+	int serialIndex = -1;
+	b3PhysicsClientHandle sm = 0;
+	
+	static char* kwlist[] = {"serialIndex", "physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|i", kwlist, &serialIndex, &physicsClientId))
+	{
+		return NULL;
+	}
+	sm = getPhysicsClient(physicsClientId);
+	if (sm == 0)
+	{
+		PyErr_SetString(SpamError, "Not connected to physics server.");
+		return NULL;
+	}
+	
+	{
+		int userConstraintId = -1;
+		userConstraintId = b3GetUserConstraintId(sm, serialIndex);
+		
+#if PY_MAJOR_VERSION >= 3
+		return PyLong_FromLong(userConstraintId);
+#else
+		return PyInt_FromLong(userConstraintId);
+#endif
+	}
+}
+
 static PyObject* pybullet_getNumConstraints(PyObject* self, PyObject* args, PyObject* keywds)
 {
 	int numConstraints = 0;
@@ -5430,7 +5460,7 @@ static PyMethodDef SpamMethods[] = {
 	{"getConstraintInfo", (PyCFunction)pybullet_getConstraintInfo, METH_VARARGS | METH_KEYWORDS,
 	 "Get the user-created constraint info, given a constraint unique id."},
 
-	{"getConstraintUniqueId", (PyCFunction)pybullet_getBodyUniqueId, METH_VARARGS | METH_KEYWORDS,
+	{"getConstraintUniqueId", (PyCFunction)pybullet_getConstraintUniqueId, METH_VARARGS | METH_KEYWORDS,
 	 "Get the unique id of the constraint, given a integer index in range [0.. number of constraints)."},
 
 	{"getBasePositionAndOrientation", (PyCFunction)pybullet_getBasePositionAndOrientation,