Add C++ simSpawn|Destroy object APIs

microsoft · Aug 8, 2021 · e706003 · e706003
1 parent f6bd9c4
commit e706003
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Showing 3 changed files with 15 additions and 1 deletion.
diff --git a/AirLib/include/api/RpcLibClientBase.hpp b/AirLib/include/api/RpcLibClientBase.hpp
@@ -65,6 +65,9 @@ namespace airlib
         Vector3r simGetObjectScale(const std::string& object_name) const;
         bool simSetObjectPose(const std::string& object_name, const Pose& pose, bool teleport = true);
         bool simSetObjectScale(const std::string& object_name, const Vector3r& scale);
+        std::string simSpawnObject(const std::string& object_name, const std::string& load_component, const Pose& pose,
+                                   const Vector3r& scale, bool physics_enabled);
+        bool simDestroyObject(const std::string& object_name);
 
         //task management APIs
         void cancelLastTask(const std::string& vehicle_name = "");

diff --git a/AirLib/src/api/RpcLibClientBase.cpp b/AirLib/src/api/RpcLibClientBase.cpp
@@ -416,6 +416,17 @@ __pragma(warning(disable : 4239))
             return pimpl_->client.call("simLoadLevel", level_name).as<bool>();
         }
 
+        std::string RpcLibClientBase::simSpawnObject(const std::string& object_name, const std::string& load_component, const Pose& pose,
+                                                     const Vector3r& scale, bool physics_enabled)
+        {
+            return pimpl_->client.call("simSpawnObject", object_name, load_component, RpcLibAdaptorsBase::Pose(pose), RpcLibAdaptorsBase::Vector3r(scale), physics_enabled).as<std::string>();
+        }
+
+        bool RpcLibClientBase::simDestroyObject(const std::string& object_name)
+        {
+            return pimpl_->client.call("simDestroyObject", object_name).as<bool>();
+        }
+
         msr::airlib::Vector3r RpcLibClientBase::simGetObjectScale(const std::string& object_name) const
         {
             return pimpl_->client.call("simGetObjectScale", object_name).as<RpcLibAdaptorsBase::Vector3r>().to();

diff --git a/AirLib/src/api/RpcLibServerBase.cpp b/AirLib/src/api/RpcLibServerBase.cpp
@@ -302,7 +302,7 @@ namespace airlib
             return getWorldSimApi()->loadLevel(level_name);
         });
 
-        pimpl_->server.bind("simSpawnObject", [&](string& object_name, const string& load_component, const RpcLibAdaptorsBase::Pose& pose, const RpcLibAdaptorsBase::Vector3r& scale, bool physics_enabled) -> string {
+        pimpl_->server.bind("simSpawnObject", [&](const string& object_name, const string& load_component, const RpcLibAdaptorsBase::Pose& pose, const RpcLibAdaptorsBase::Vector3r& scale, bool physics_enabled) -> string {
             return getWorldSimApi()->spawnObject(object_name, load_component, pose.to(), scale.to(), physics_enabled);
         });