815a56c9bc
import pybullet as p
p.connect(p.GUI)
pluginUid = p.loadPlugin("E:/develop/bullet3/bin/pybullet_testplugin_vs2010_x64_debug.dll")
commandUid = 0
argument = "plane.urdf"
p.executePluginCommand(pluginUid,commandUid,argument)
p.unloadPlugin(pluginUid)
38 lines
844 B
C++
38 lines
844 B
C++
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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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B3_SHARED_API int initPlugin()
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{
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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 executePluginCommand(struct b3PluginContext* context)
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{
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printf("arguments:%s\n",context->m_arguments);
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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, context->m_arguments);
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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()
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{
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printf("bye!\n");
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}
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