63 lines
1.4 KiB
C++
63 lines
1.4 KiB
C++
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//tinyRenderer plugin
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/*
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import pybullet as p
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p.connect(p.GUI)
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plugin = p.loadPlugin("e:/develop/bullet3/bin/pybullet_tinyRendererPlugin_vs2010_x64_debug.dll","_tinyRendererPlugin")
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print("plugin=",plugin)
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p.loadURDF("r2d2.urdf")
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while (1):
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p.getCameraImage(320,200)
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*/
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#include "tinyRendererPlugin.h"
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#include "TinyRendererVisualShapeConverter.h"
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#include "../../SharedMemoryPublic.h"
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#include "../b3PluginContext.h"
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#include <stdio.h>
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struct MyRendererPluginClass
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{
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TinyRendererVisualShapeConverter m_renderer;
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MyRendererPluginClass()
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{
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}
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virtual ~MyRendererPluginClass()
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{
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}
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};
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B3_SHARED_API int initPlugin_tinyRendererPlugin(struct b3PluginContext* context)
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{
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MyRendererPluginClass* obj = new MyRendererPluginClass();
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context->m_userPointer = obj;
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return SHARED_MEMORY_MAGIC_NUMBER;
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}
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B3_SHARED_API int executePluginCommand_tinyRendererPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
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{
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return -1;
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}
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B3_SHARED_API void exitPlugin_tinyRendererPlugin(struct b3PluginContext* context)
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{
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MyRendererPluginClass* obj = (MyRendererPluginClass*) context->m_userPointer;
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delete obj;
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context->m_userPointer = 0;
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}
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//all the APIs below are optional
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B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_tinyRendererPlugin(struct b3PluginContext* context)
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{
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MyRendererPluginClass* obj = (MyRendererPluginClass*) context->m_userPointer;
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return &obj->m_renderer;
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}
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