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Add an option for a plugin to report return data after calling executePluginCommand. Also add python binding.

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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.
This commit is contained in:
Erwin Coumans
2020-10-06 20:19:39 -07:00
parent 7a6c90409f
commit 954ceff2ec
14 changed files with 182 additions and 9 deletions
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3
examples/SharedMemory/PhysicsClientC_API.h
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@@ -66,7 +66,8 @@ extern "C"
B3_SHARED_API void b3CustomCommandLoadPluginSetPostFix(b3SharedMemoryCommandHandle commandHandle, const char* postFix);
B3_SHARED_API int b3GetStatusPluginUniqueId(b3SharedMemoryStatusHandle statusHandle);
B3_SHARED_API int b3GetStatusPluginCommandResult(b3SharedMemoryStatusHandle statusHandle);
B3_SHARED_API int b3GetStatusPluginCommandReturnData(b3PhysicsClientHandle physClient, struct b3UserDataValue* valueOut);
B3_SHARED_API void b3CustomCommandUnloadPlugin(b3SharedMemoryCommandHandle commandHandle, int pluginUniqueId);
B3_SHARED_API void b3CustomCommandExecutePluginCommand(b3SharedMemoryCommandHandle commandHandle, int pluginUniqueId, const char* textArguments);
B3_SHARED_API void b3CustomCommandExecuteAddIntArgument(b3SharedMemoryCommandHandle commandHandle, int intVal);