bullet3/examples/SharedMemory/plugins/b3PluginContext.h

#ifndef B3_PLUGIN_CONTEXT_H
#define B3_PLUGIN_CONTEXT_H

#include "../PhysicsClientC_API.h"

struct b3PluginContext
{
	b3PhysicsClientHandle m_physClient;

	//plugin can modify the m_userPointer to store persistent object pointer (class or struct instance etc)
	void* m_userPointer;

	const struct b3VRControllerEvent* m_vrControllerEvents;
	int m_numVRControllerEvents;
	const struct b3KeyboardEvent* m_keyEvents;
	int m_numKeyEvents;
	const struct b3MouseEvent* m_mouseEvents;
	int m_numMouseEvents;
	const struct b3Notification* m_notifications;
	int m_numNotifications;

	//only used for grpc/processClientCommands
	class PhysicsCommandProcessorInterface* m_rpcCommandProcessorInterface;
};

#endif  //B3_PLUGIN_CONTEXT_H
Allow to load a urdf file in the testplugin.cpp, as first quick test, example pybullet script: 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) 2017-09-23 16:25:00 +00:00			`#ifndef B3_PLUGIN_CONTEXT_H`
			`#define B3_PLUGIN_CONTEXT_H`

			`#include "../PhysicsClientC_API.h"`

			`struct b3PluginContext`
			`{`
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh 2018-09-23 21:17:31 +00:00			`b3PhysicsClientHandle m_physClient;`
More work on the C/C++ plugin system for pybullet/C-API: Add preTickPluginCallback/postTickPluginCallback User pointer for b3PluginContext, to store objects (class/struct instances) Pass ints and floats as optional argument for plugin executePluginCommand 2017-09-24 01:05:23 +00:00
			`//plugin can modify the m_userPointer to store persistent object pointer (class or struct instance etc)`
			`void* m_userPointer;`
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh 2018-09-23 21:17:31 +00:00
add option to statically link a plugin, select the postFix (to avoid naming conflict of multiple plugins functions ('initPlugin' becomes initPlugin_postFix) pass events (keyboard, mouse, vr controllers etc) to the plugin, and clear them after the tick callback, so that it doesn't interfere with Python 'getEvents' 2017-10-03 22:00:52 +00:00			`const struct b3VRControllerEvent* m_vrControllerEvents;`
			`int m_numVRControllerEvents;`
			`const struct b3KeyboardEvent* m_keyEvents;`
			`int m_numKeyEvents;`
			`const struct b3MouseEvent* m_mouseEvents;`
			`int m_numMouseEvents;`
Notify plugins on certain events (e.g. body added). This also adds a periodic tick function to plugins, giving them periodically control over the simulation thread, even when the simulation is paused. 2018-07-24 12:12:16 +00:00			`const struct b3Notification* m_notifications;`
			`int m_numNotifications;`
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh 2018-09-23 21:17:31 +00:00
allow pybullet to connect to GRPC server. (need to use flag --enable_grpc in premake build system) add grpcPlugin, it can work in GUI, SHARED_MEMORY_SERVER, DIRECT and other modes. example script to start server from pybullet: import pybullet as p p.connect(p.GUI) #if statically linked plugin id = p.loadPlugin("grpcPlugin") #dynamics loading the plugin #id = p.loadPlugin("E:/develop/bullet3/bin/pybullet_grpcPlugin_vs2010_x64_debug.dll", postFix="_grpcPlugin") #start the GRPC server at hostname, port if (id>=0): p.executePluginCommand(id, "localhost:1234") Only in DIRECT mode, since there is no 'ping' you need to call to handle RCPs: numRPC = 10 while (1): p.executePluginCommand(id, intArgs=[numRPC]) 2018-09-06 00:58:14 +00:00			`//only used for grpc/processClientCommands`
			`class PhysicsCommandProcessorInterface* m_rpcCommandProcessorInterface;`
Allow to load a urdf file in the testplugin.cpp, as first quick test, example pybullet script: 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) 2017-09-23 16:25:00 +00:00			`};`

Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh 2018-09-23 21:17:31 +00:00			`#endif //B3_PLUGIN_CONTEXT_H`