7bd84740d7
Split examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.* and move to examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp and examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
107 lines
2.2 KiB
C++
107 lines
2.2 KiB
C++
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//test plugin, can load a URDF file, example usage on a Windows machine:
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/*
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import pybullet as p
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p.connect(p.GUI)
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pluginUid = p.loadPlugin("E:/develop/bullet3/bin/pybullet_testplugin_vs2010_x64_debug.dll")
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commandUid = 0
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argument = "plane.urdf"
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p.executePluginCommand(pluginUid,commandUid,argument)
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p.unloadPlugin(pluginUid)
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*/
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#include "testplugin.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 MyClass
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{
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int m_testData;
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MyClass()
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:m_testData(42)
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{
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}
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virtual ~MyClass()
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{
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}
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};
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B3_SHARED_API int initPlugin_testPlugin(struct b3PluginContext* context)
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{
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MyClass* obj = new MyClass();
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context->m_userPointer = obj;
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printf("hi!\n");
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return SHARED_MEMORY_MAGIC_NUMBER;
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}
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B3_SHARED_API int preTickPluginCallback_testPlugin(struct b3PluginContext* context)
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{
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return 0;
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}
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B3_SHARED_API int postTickPluginCallback_testPlugin(struct b3PluginContext* context)
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{
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MyClass* obj = (MyClass* )context->m_userPointer;
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obj->m_testData++;
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return 0;
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}
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B3_SHARED_API int executePluginCommand_testPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
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{
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printf("text argument:%s\n",arguments->m_text);
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printf("int args: [");
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for (int i=0;i<arguments->m_numInts;i++)
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{
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printf("%d", arguments->m_ints[i]);
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if ((i+1)<arguments->m_numInts)
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{
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printf(",");
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}
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}
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printf("]\nfloat args: [");
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for (int i=0;i<arguments->m_numFloats;i++)
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{
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printf("%f", arguments->m_floats[i]);
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if ((i+1)<arguments->m_numFloats)
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{
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printf(",");
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}
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}
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printf("]\n");
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MyClass* obj = (MyClass*) context->m_userPointer;
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b3SharedMemoryStatusHandle statusHandle;
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int statusType = -1;
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int bodyUniqueId = -1;
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b3SharedMemoryCommandHandle command =
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b3LoadUrdfCommandInit(context->m_physClient, arguments->m_text);
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statusHandle = b3SubmitClientCommandAndWaitStatus(context->m_physClient, 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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bodyUniqueId = b3GetStatusBodyIndex(statusHandle);
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}
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return bodyUniqueId;
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}
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B3_SHARED_API void exitPlugin_testPlugin(struct b3PluginContext* context)
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{
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MyClass* obj = (MyClass*) context->m_userPointer;
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delete obj;
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context->m_userPointer = 0;
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printf("bye!\n");
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}
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