9c7aa3a863
This removes the need to specify the body id/link index when retrieving a user data entry. Additionally, user data can now optionally be set to visual shapes as well. The following public pybullet APIs have changed (backwards incompatible) addUserData and getUserDataId Makes linkIndex parameter optional (default value is -1) Adds optional visualShapeIndex parameter (default value is -1) getUserData and removeUserData Removes required parameters bodyUniqueId and linkIndex getNumUserData Removes required bodyUniqueId parameter getUserDataInfo Removes required linkIndex parameter Changes returned tuple from (userDataId, key) to (userDataId, key, bodyUniqueId, linkIndex, visualShapeIndex)
92 lines
2.1 KiB
C++
92 lines
2.1 KiB
C++
#ifndef SHARED_MEMORY_USER_DATA_H
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#define SHARED_MEMORY_USER_DATA_H
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#include <string>
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#include "LinearMath/btAlignedObjectArray.h"
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#include "LinearMath/btHashMap.h"
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#include "SharedMemoryPublic.h"
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struct SharedMemoryUserData
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{
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std::string m_key;
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int m_type;
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int m_bodyUniqueId;
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int m_linkIndex;
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int m_visualShapeIndex;
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btAlignedObjectArray<char> m_bytes;
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SharedMemoryUserData()
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:m_type(-1), m_bodyUniqueId(-1), m_linkIndex(-1), m_visualShapeIndex(-1)
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{
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}
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SharedMemoryUserData(const char* key, int bodyUniqueId, int linkIndex, int visualShapeIndex)
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:m_key(key), m_type(-1), m_bodyUniqueId(bodyUniqueId), m_linkIndex(linkIndex), m_visualShapeIndex(visualShapeIndex)
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{
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}
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void replaceValue(const char* bytes, int len, int type)
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{
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m_type = type;
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m_bytes.resize(len);
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for (int i=0;i<len;i++)
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{
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m_bytes[i] = bytes[i];
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}
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}
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virtual ~SharedMemoryUserData()
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{
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}
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void clear()
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{
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m_bytes.clear();
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m_type = -1;
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}
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};
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class SharedMemoryUserDataHashKey {
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unsigned int m_hash = 0;
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btHashString m_key;
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btHashInt m_bodyUniqueId;
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btHashInt m_linkIndex;
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btHashInt m_visualShapeIndex;
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public:
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SIMD_FORCE_INLINE unsigned int getHash()const {
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return m_hash;
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}
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SharedMemoryUserDataHashKey() : m_hash(0) {}
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SharedMemoryUserDataHashKey(const struct SharedMemoryUserData *userData)
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: m_key(userData->m_key.c_str()),
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m_bodyUniqueId(userData->m_bodyUniqueId),
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m_linkIndex(userData->m_linkIndex),
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m_visualShapeIndex(userData->m_visualShapeIndex) {
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calculateHash();
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}
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SharedMemoryUserDataHashKey(const char *key, int bodyUniqueId, int linkIndex, int visualShapeIndex)
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: m_key(key), m_bodyUniqueId(bodyUniqueId), m_linkIndex(linkIndex), m_visualShapeIndex(visualShapeIndex) {
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calculateHash();
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}
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void calculateHash() {
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m_hash = m_key.getHash() ^ m_bodyUniqueId.getHash() ^ m_linkIndex.getHash() ^ m_visualShapeIndex.getHash();
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}
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bool equals(const SharedMemoryUserDataHashKey& other) const {
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return m_bodyUniqueId.equals(other.m_bodyUniqueId) &&
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m_linkIndex.equals(other.m_linkIndex) &&
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m_visualShapeIndex.equals(other.m_visualShapeIndex) &&
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m_key.equals(other.m_key);
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}
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};
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#endif //SHARED_MEMORY_USER_DATA_H
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