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first version of 'getVisualShapeData' to get visual shape information to allow external renderer with pybullet and shared memory robotics API

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b3InitRequestVisualShapeInformation/b3GetVisualShapeInformation in shared memory API
This commit is contained in:
erwin coumans
2016-10-18 22:05:28 -07:00
parent d1ab6c144b
commit f97cb7002d
22 changed files with 490 additions and 27 deletions
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105
examples/pybullet/pybullet.c
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@@ -1260,6 +1260,107 @@ static int pybullet_internalSetVector4(PyObject* obVec, double vector[4]) {
return 0;
}
static PyObject* pybullet_getVisualShapeData(PyObject* self, PyObject* args)
{
int size = PySequence_Size(args);
int objectUniqueId = -1;
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
struct b3VisualShapeInformation visualShapeInfo;
int statusType;
PyObject* pyResultList = 0;
if (size == 1)
{
if (!PyArg_ParseTuple(args, "i", &objectUniqueId)) {
PyErr_SetString(SpamError, "Error parsing object unique id");
return NULL;
}
commandHandle = b3InitRequestVisualShapeInformation(sm, objectUniqueId);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_VISUAL_SHAPE_INFO_COMPLETED)
{
b3GetVisualShapeInformation(sm, &visualShapeInfo);
pyResultList = PyTuple_New(visualShapeInfo.m_numVisualShapes);
for (int i = 0; i < visualShapeInfo.m_numVisualShapes; i++)
{
PyObject* visualShapeObList = PyTuple_New(7);
PyObject* item;
item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_objectUniqueId);
PyTuple_SetItem(visualShapeObList, 0, item);
item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_linkIndex);
PyTuple_SetItem(visualShapeObList, 1, item);
item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_visualGeometryType);
PyTuple_SetItem(visualShapeObList, 2, item);
{
PyObject* vec = PyTuple_New(3);
item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_dimensions[0]);
PyTuple_SetItem(vec, 0, item);
item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_dimensions[1]);
PyTuple_SetItem(vec, 1, item);
item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_dimensions[2]);
PyTuple_SetItem(vec, 2, item);
PyTuple_SetItem(visualShapeObList, 3, vec);
}
item = PyString_FromString(visualShapeInfo.m_visualShapeData[i].m_meshAssetFileName);
PyTuple_SetItem(visualShapeObList, 4, item);
{
PyObject* vec = PyTuple_New(3);
item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localInertiaFrame[0]);
PyTuple_SetItem(vec, 0, item);
item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localInertiaFrame[1]);
PyTuple_SetItem(vec, 1, item);
item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localInertiaFrame[2]);
PyTuple_SetItem(vec, 2, item);
PyTuple_SetItem(visualShapeObList, 5, vec);
}
{
PyObject* vec = PyTuple_New(4);
item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localInertiaFrame[3]);
PyTuple_SetItem(vec, 0, item);
item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localInertiaFrame[4]);
PyTuple_SetItem(vec, 1, item);
item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localInertiaFrame[5]);
PyTuple_SetItem(vec, 2, item);
item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localInertiaFrame[6]);
PyTuple_SetItem(vec, 3, item);
PyTuple_SetItem(visualShapeObList, 6, vec);
}
PyTuple_SetItem(pyResultList, i, visualShapeObList);
}
return pyResultList;
}
else
{
PyErr_SetString(SpamError, "Error receiving visual shape info");
return NULL;
}
}
else
{
PyErr_SetString(SpamError, "getVisualShapeData requires 1 argument (object unique id)");
return NULL;
}
Py_INCREF(Py_None);
return Py_None;
}
static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args) {
int size = PySequence_Size(args);
int objectUniqueIdA = -1;
@@ -1287,7 +1388,6 @@ static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args) {
commandHandle = b3InitRequestContactPointInformation(sm);
b3SetContactFilterBodyA(commandHandle, objectUniqueIdA);
b3SetContactFilterBodyB(commandHandle, objectUniqueIdB);
b3SubmitClientCommand(sm, commandHandle);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
@@ -2194,6 +2294,9 @@ static PyMethodDef SpamMethods[] = {
"object-object collisions. Optional arguments one or two object unique "
"ids, that need to be involved in the contact."},
{ "getVisualShapeData", pybullet_getVisualShapeData, METH_VARARGS,
"Return the visual shape information for one object." },
{"getQuaternionFromEuler", pybullet_getQuaternionFromEuler, METH_VARARGS,
"Convert Euler [roll, pitch, yaw] as in URDF/SDF convention, to "
"quaternion [x,y,z,w]"},