allow to set changeDynamics(body, link, contactProcessingThreshold) f… #3096

erwincoumans · 2020-10-05T23:35:23Z

…or multibodies

(set to 0 if restitution is important)

…or multibodies (set to 0 if restitution is important)

…ePluginCommand. Also add python binding. Currently the return data has to fit in shared memory, 8MB (Linux, Windows) or 1MB (Apple) Preparation for streaming is added (to allow unlimited return data, see CMD_CUSTOM_COMMAND_STREAM_RETURN_DATA) New C-API: b3GetStatusPluginCommandReturnData PyBullet reports return data if available, in pybullet_executePluginCommand For the plugin developer: plugin can provide additional return data for executePluginCommand in the b3PluginContext, during executePluginCommand. Lifetime of this m_returnData pointer is minimum of next call to the next executePluginCommand or plugin termination.

re-use existing code path for streaming plugin return data (work-in-progress)

erwincoumans · 2020-10-07T17:19:40Z

example to receive return data from a plugin in Python:

import pybullet as p
p.connect(p.DIRECT)
pluginId = p.loadPlugin("tinyRendererPlugin")
print(pluginId)
data = p.executePluginCommand(pluginId, "test", [1,2,3,4,5,6,7,8,9], [0.1,0.3,0.5])
print("data=",data)

or in C-API

command = b3CreateCustomCommand(sm);
b3CustomCommandExecutePluginCommand(command, pluginUniqueId, textArgument);
...
struct b3UserDataValue dv;
if (b3GetStatusPluginCommandReturnData(sm, &dv))
{
  //use dv.m_data1/dv.m_length etc
}

Some example return data in the tinyrenderer plugin:

https://github.com/bulletphysics/bullet3/blob/master/examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp#L46

Make sure the lifetime of the return data is either until the plugin terminates, or until the next 'executePluginCommand'.

erwincoumans added 6 commits October 5, 2020 16:33

allow to set changeDynamics(body, link, contactProcessingThreshold) f…

6b91ecc

…or multibodies (set to 0 if restitution is important)

Merge remote-tracking branch 'bp/master' into master

7a6c904

Support getCachedReturnData for PhysicsLoopBack

bc51ac3

re-use existing code path for streaming plugin return data (work-in-progress)

premake: don't compile standalone-examples, they are not up-to-date

9b81709

allow streaming of data

ad09940

erwincoumans merged commit afa73c2 into bulletphysics:master Oct 7, 2020

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allow to set changeDynamics(body, link, contactProcessingThreshold) f… #3096

allow to set changeDynamics(body, link, contactProcessingThreshold) f… #3096

erwincoumans commented Oct 5, 2020

erwincoumans commented Oct 7, 2020 •

edited

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allow to set changeDynamics(body, link, contactProcessingThreshold) f… #3096

allow to set changeDynamics(body, link, contactProcessingThreshold) f… #3096

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erwincoumans commented Oct 5, 2020

erwincoumans commented Oct 7, 2020 • edited Loading

erwincoumans commented Oct 7, 2020 •

edited

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