bullet3/examples/SharedMemory/PhysicsDirect.cpp

#include "PhysicsDirect.h"

#include "PhysicsClientSharedMemory.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "SharedMemoryCommands.h"
#include "PhysicsServerCommandProcessor.h"
#include "LinearMath/btHashMap.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "../../Extras/Serialize/BulletFileLoader/btBulletFile.h"
#include "../../Extras/Serialize/BulletFileLoader/autogenerated/bullet.h"
#include "BodyJointInfoUtility.h"


struct BodyJointInfoCache2
{
	btAlignedObjectArray<b3JointInfo> m_jointInfo;
};

struct PhysicsDirectInternalData
{
	DummyGUIHelper m_noGfx;

	SharedMemoryCommand m_command;
	SharedMemoryStatus m_serverStatus;
	bool m_hasStatus;
	bool m_verboseOutput;
	
	btAlignedObjectArray<TmpFloat3> m_debugLinesFrom;
    btAlignedObjectArray<TmpFloat3> m_debugLinesTo;
    btAlignedObjectArray<TmpFloat3> m_debugLinesColor;

	btHashMap<btHashInt,BodyJointInfoCache2*> m_bodyJointMap;
	
	char    m_bulletStreamDataServerToClient[SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE];

	PhysicsServerCommandProcessor* m_commandProcessor;

	PhysicsDirectInternalData()
		:m_hasStatus(false),
		m_verboseOutput(false)
	{
	}
};

PhysicsDirect::PhysicsDirect()
{
	m_data = new PhysicsDirectInternalData;
	m_data->m_commandProcessor = new PhysicsServerCommandProcessor;
	
	
}

PhysicsDirect::~PhysicsDirect()
{
	delete m_data->m_commandProcessor;
	delete m_data;
}


// return true if connection succesfull, can also check 'isConnected'
bool PhysicsDirect::connect()
{
	m_data->m_commandProcessor->setGuiHelper(&m_data->m_noGfx);
	return true;
}

////todo: rename to 'disconnect'
void PhysicsDirect::disconnectSharedMemory()
{
	m_data->m_commandProcessor->setGuiHelper(0);
}

bool PhysicsDirect::isConnected() const
{
	return true;
}

// return non-null if there is a status, nullptr otherwise
const  SharedMemoryStatus* PhysicsDirect::processServerStatus()
{
	SharedMemoryStatus* stat = 0;
	if (m_data->m_hasStatus)
	{
		stat = &m_data->m_serverStatus;
		m_data->m_hasStatus = false;
	}
	return stat;
}

SharedMemoryCommand* PhysicsDirect::getAvailableSharedMemoryCommand()
{
	return &m_data->m_command;
}

bool PhysicsDirect::canSubmitCommand() const
{
	return true;
}

bool PhysicsDirect::processDebugLines(const struct SharedMemoryCommand& orgCommand)
{
	SharedMemoryCommand command = orgCommand;

	const SharedMemoryStatus& serverCmd = m_data->m_serverStatus;

	do
	{

		bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
		m_data->m_hasStatus = hasStatus;
		if (hasStatus)
		{
			btAssert(m_data->m_serverStatus.m_type == CMD_DEBUG_LINES_COMPLETED);

			if (m_data->m_verboseOutput) 
			{
				b3Printf("Success receiving %d debug lines",
							serverCmd.m_sendDebugLinesArgs.m_numDebugLines);
			}

			int numLines = serverCmd.m_sendDebugLinesArgs.m_numDebugLines;
			float* linesFrom =
				(float*)&m_data->m_bulletStreamDataServerToClient[0];
			float* linesTo =
				(float*)(&m_data->m_bulletStreamDataServerToClient[0] + 
						numLines * 3 * sizeof(float));
			float* linesColor =
				(float*)(&m_data->m_bulletStreamDataServerToClient[0] +
							2 * numLines * 3 * sizeof(float));

			m_data->m_debugLinesFrom.resize(serverCmd.m_sendDebugLinesArgs.m_startingLineIndex +
											numLines);
			m_data->m_debugLinesTo.resize(serverCmd.m_sendDebugLinesArgs.m_startingLineIndex +
											numLines);
			m_data->m_debugLinesColor.resize(
				serverCmd.m_sendDebugLinesArgs.m_startingLineIndex + numLines);

			for (int i = 0; i < numLines; i++) 
			{
				TmpFloat3 from = CreateTmpFloat3(linesFrom[i * 3], linesFrom[i * 3 + 1],
													linesFrom[i * 3 + 2]);
				TmpFloat3 to =
					CreateTmpFloat3(linesTo[i * 3], linesTo[i * 3 + 1], linesTo[i * 3 + 2]);
				TmpFloat3 color = CreateTmpFloat3(linesColor[i * 3], linesColor[i * 3 + 1],
													linesColor[i * 3 + 2]);

				m_data
					->m_debugLinesFrom[serverCmd.m_sendDebugLinesArgs.m_startingLineIndex + i] =
					from;
				m_data->m_debugLinesTo[serverCmd.m_sendDebugLinesArgs.m_startingLineIndex + i] =
					to;
				m_data->m_debugLinesColor[serverCmd.m_sendDebugLinesArgs.m_startingLineIndex +
											i] = color;
			}

			if (serverCmd.m_sendDebugLinesArgs.m_numRemainingDebugLines > 0)
			{
				command.m_type = CMD_REQUEST_DEBUG_LINES;
				command.m_requestDebugLinesArguments.m_startingLineIndex =
					serverCmd.m_sendDebugLinesArgs.m_numDebugLines +
					serverCmd.m_sendDebugLinesArgs.m_startingLineIndex;
			}
		}

	} while (serverCmd.m_sendDebugLinesArgs.m_numRemainingDebugLines > 0);
	
	return m_data->m_hasStatus;
}

bool PhysicsDirect::submitClientCommand(const struct SharedMemoryCommand& command)
{
	if (command.m_type==CMD_REQUEST_DEBUG_LINES)
	{			
		return processDebugLines(command);
	}

	bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
	m_data->m_hasStatus = hasStatus;
	if (hasStatus)
	{
		const SharedMemoryStatus& serverCmd = m_data->m_serverStatus;

		switch (m_data->m_serverStatus.m_type)
		{
			case CMD_RESET_SIMULATION_COMPLETED:
			{
				m_data->m_debugLinesFrom.clear();
				m_data->m_debugLinesTo.clear();
				m_data->m_debugLinesColor.clear();
				for (int i=0;i<m_data->m_bodyJointMap.size();i++)
				{
					BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap.getAtIndex(i);
					if (bodyJointsPtr && *bodyJointsPtr)
					{
						BodyJointInfoCache2* bodyJoints = *bodyJointsPtr;
						for (int j=0;j<bodyJoints->m_jointInfo.size();j++) {
							if (bodyJoints->m_jointInfo[j].m_jointName)
							{
								free(bodyJoints->m_jointInfo[j].m_jointName);
							}
							if (bodyJoints->m_jointInfo[j].m_linkName)
							{
								free(bodyJoints->m_jointInfo[j].m_linkName);
							}
						}
						delete (*bodyJointsPtr);
					}
				}
				m_data->m_bodyJointMap.clear();
                
				break;
			}
			case CMD_URDF_LOADING_COMPLETED:
			{
				if (serverCmd.m_dataStreamArguments.m_streamChunkLength > 0) 
				{
					bParse::btBulletFile bf(
						&m_data->m_bulletStreamDataServerToClient[0],
						serverCmd.m_dataStreamArguments.m_streamChunkLength);
					bf.setFileDNAisMemoryDNA();
					bf.parse(false);
					int bodyIndex = serverCmd.m_dataStreamArguments.m_bodyUniqueId;

					BodyJointInfoCache2* bodyJoints = new BodyJointInfoCache2;
					m_data->m_bodyJointMap.insert(bodyIndex,bodyJoints);

					for (int i = 0; i < bf.m_multiBodies.size(); i++) 
					{
						int flag = bf.getFlags();
						if ((flag & bParse::FD_DOUBLE_PRECISION) != 0) 
						{
							Bullet::btMultiBodyDoubleData* mb =
								(Bullet::btMultiBodyDoubleData*)bf.m_multiBodies[i];

							addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
						} else 
						{
							Bullet::btMultiBodyFloatData* mb =
								(Bullet::btMultiBodyFloatData*)bf.m_multiBodies[i];

							addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
						}
					}
					if (bf.ok()) {
						if (m_data->m_verboseOutput) 
						{
							b3Printf("Received robot description ok!\n");
						}
					} else 
					{
						b3Warning("Robot description not received");
					}
				}
                break;
            }
			
		 default:
			 {
				// b3Error("Unknown server status type");
			 }
		};
										  
		
	}
	return hasStatus;
}

int PhysicsDirect::getNumJoints(int bodyIndex) const
{
	BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyIndex];
	if (bodyJointsPtr && *bodyJointsPtr)
	{
		BodyJointInfoCache2* bodyJoints = *bodyJointsPtr;
		return bodyJoints->m_jointInfo.size(); 
	}
	btAssert(0);
	return 0;
}

void PhysicsDirect::getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const
{
	BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyIndex];
	if (bodyJointsPtr && *bodyJointsPtr)
	{
		BodyJointInfoCache2* bodyJoints = *bodyJointsPtr;
		info = bodyJoints->m_jointInfo[jointIndex];
	}
}

///todo: move this out of the
void PhysicsDirect::setSharedMemoryKey(int key)
{
	//m_data->m_physicsServer->setSharedMemoryKey(key);
	//m_data->m_physicsClient->setSharedMemoryKey(key);
}

void PhysicsDirect::uploadBulletFileToSharedMemory(const char* data, int len)
{
	//m_data->m_physicsClient->uploadBulletFileToSharedMemory(data,len);
}

int PhysicsDirect::getNumDebugLines() const
{
	return m_data->m_debugLinesFrom.size();
}

const float* PhysicsDirect::getDebugLinesFrom() const
{
	if (getNumDebugLines())
	{
		return &m_data->m_debugLinesFrom[0].m_x;
	}
	return 0;
}
const float* PhysicsDirect::getDebugLinesTo() const
{
	if (getNumDebugLines())
	{
		return &m_data->m_debugLinesTo[0].m_x;
	}
	return 0;
}
const float* PhysicsDirect::getDebugLinesColor() const
{
	if (getNumDebugLines())
	{
		return &m_data->m_debugLinesColor[0].m_x;
	}
	return 0;
}