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pybullet: only allow a single local in-process GUI connection

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update pybullet quickstart guide
This commit is contained in:
Erwin Coumans
2017-01-21 14:30:37 -08:00
parent 64957ece9f
commit f237c4440f
2 changed files with 22 additions and 2 deletions
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24
examples/pybullet/pybullet.c
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@@ -31,6 +31,7 @@ static PyObject* SpamError;
#define MAX_PHYSICS_CLIENTS 1024
static b3PhysicsClientHandle sPhysicsClients1[MAX_PHYSICS_CLIENTS] = {0};
static int sPhysicsClientsGUI[MAX_PHYSICS_CLIENTS] = {0};
static int sNumPhysicsClients=0;
b3PhysicsClientHandle getPhysicsClient(int physicsClientId)
@@ -50,6 +51,8 @@ b3PhysicsClientHandle getPhysicsClient(int physicsClientId)
//broken connection?
b3DisconnectSharedMemory(sm);
sPhysicsClients1[physicsClientId] = 0;
sPhysicsClientsGUI[physicsClientId] = 0;
sNumPhysicsClients--;
}
return 0;
@@ -209,6 +212,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
int freeIndex = -1;
int method = eCONNECT_GUI;
int i;
b3PhysicsClientHandle sm=0;
@@ -221,7 +225,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
{
int method = eCONNECT_GUI;
int key = SHARED_MEMORY_KEY;
int port = 1234;
const char* hostName = "localhost";
@@ -237,6 +241,21 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
}
}
//Only one local in-process GUI connection allowed.
if (method == eCONNECT_GUI)
{
int i;
for (i=0;i<MAX_PHYSICS_CLIENTS;i++)
{
if (sPhysicsClientsGUI[i] ==eCONNECT_GUI)
{
PyErr_SetString(SpamError,
"Only one local in-process GUI connection allowed. Use DIRECT connection mode or start a separate GUI physics server (ExampleBrowser, App_SharedMemoryPhysics_GUI, App_SharedMemoryPhysics_VR) and connect over SHARED_MEMORY or UDP instead.");
return NULL;
}
}
}
if (size == 2)
{
if (!PyArg_ParseTuple(args, "ii", &method, &key))
@@ -321,6 +340,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
sPhysicsClients1[freeIndex] = sm;
sPhysicsClientsGUI[freeIndex] = method;
sNumPhysicsClients++;
command = b3InitSyncBodyInfoCommand(sm);
@@ -363,6 +383,7 @@ static PyObject* pybullet_disconnectPhysicsServer(PyObject* self,
}
sPhysicsClients1[physicsClientId] = 0;
sPhysicsClientsGUI[physicsClientId] = 0;
sNumPhysicsClients--;
Py_INCREF(Py_None);
@@ -2203,7 +2224,6 @@ static PyObject* pybullet_addUserDebugParameter(PyObject* self, PyObject* args,
int res = 0;
char* text;
double posXYZ[3];
double colorRGB[3]={1,1,1};