1d0f038aad
(for now, start the example browser in 'physics server', then compile using premake --python option, then run python in the bin folder (so it finds pybullet.so) and run the test.py script in examples/pybullet folder. The robotics shared memory C API is very suitable for this.
115 lines
3.0 KiB
C
115 lines
3.0 KiB
C
#include "../SharedMemory/SharedMemoryInProcessPhysicsC_API.h"
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#include "../SharedMemory/PhysicsClientC_API.h"
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#ifdef __APPLE__
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#include <Python/Python.h>
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#else
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#include <Python.h>
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#endif
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static PyObject *SpamError;
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static b3PhysicsClientHandle sm;
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static PyObject *
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spam_step(PyObject *self, PyObject *args)
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{
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{
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b3SharedMemoryStatusHandle statusHandle;
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int statusType;
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if (b3CanSubmitCommand(sm))
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{
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statusHandle = b3SubmitClientCommandAndWaitStatus(sm, b3InitStepSimulationCommand(sm));
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statusType = b3GetStatusType(statusHandle);
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}
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}
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return PyLong_FromLong(1);
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}
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static PyObject *
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spam_loadURDF(PyObject* self, PyObject* args)
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{
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int size= PySequence_Size(args);
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int bodyIndex = -1;
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const char* urdfFileName=0;
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float startPosX =0;
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float startPosY =0;
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float startPosZ = 1;
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float startOrnX = 0;
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float startOrnY = 0;
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float startOrnZ = 0;
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float startOwnW = 1;
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printf("size=%d\n", size);
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if (size==1)
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{
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if (!PyArg_ParseTuple(args, "s", &urdfFileName))
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return NULL;
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}
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if (size == 4)
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{
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if (!PyArg_ParseTuple(args, "sfff", &urdfFileName,
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&startPosX,&startPosY,&startPosZ))
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return NULL;
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}
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if (size==7)
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{
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if (!PyArg_ParseTuple(args, "sfffffff", &urdfFileName,
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&startPosX,startPosY,&startPosZ,
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&startOrnX,&startOrnY,&startOrnZ, &startOwnW))
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return NULL;
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}
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printf("urdf filename = %s\n", urdfFileName);
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b3SharedMemoryStatusHandle statusHandle;
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int statusType;
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b3SharedMemoryCommandHandle command = b3LoadUrdfCommandInit(sm, urdfFileName);
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//setting the initial position, orientation and other arguments are optional
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int ret = b3LoadUrdfCommandSetStartPosition(command, startPosX,startPosY,startPosZ);
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statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
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statusType = b3GetStatusType(statusHandle);
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if (statusType!=CMD_URDF_LOADING_COMPLETED)
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{
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PyErr_SetString(SpamError, "Cannot load URDF file.");
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return NULL;
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}
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bodyIndex = b3GetStatusBodyIndex(statusHandle);
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return PyLong_FromLong(bodyIndex);
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}
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static PyMethodDef SpamMethods[] = {
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{"step", spam_step, METH_VARARGS,
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"Step the simulation forward."},
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{"loadURDF", spam_loadURDF, METH_VARARGS,
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"Create a multibody by loading a URDF file."},
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{NULL, NULL, 0, NULL} /* Sentinel */
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};
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PyMODINIT_FUNC
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initpybullet(void)
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{
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b3PhysicsClientHandle h;
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PyObject *m;
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sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
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//#ifdef __APPLE__
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//sm = b3CreateInProcessPhysicsServerAndConnectMainThread(0,0);
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//#else
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//sm = b3CreateInProcessPhysicsServerAndConnect(0,0);
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//#endif
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m = Py_InitModule("pybullet", SpamMethods);
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if (m == NULL)
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return;
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SpamError = PyErr_NewException("pybullet.error", NULL, NULL);
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Py_INCREF(SpamError);
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PyModule_AddObject(m, "error", SpamError);
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}
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