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bullet3/examples/SharedMemory/b3PluginManager.cpp

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create a C/C++ plugin system for pybullet / C-API.
2017-09-23 02:17:57 +00:00
#include "b3PluginManager.h"
#include "Bullet3Common/b3HashMap.h"
#include "Bullet3Common/b3ResizablePool.h"
fix compile warnings
2017-09-25 06:26:06 +00:00
#include "PhysicsClientC_API.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
#include "PhysicsDirect.h"
#include "plugins/b3PluginContext.h"
create a C/C++ plugin system for pybullet / C-API.
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#ifdef _WIN32
#define WIN32_LEAN_AND_MEAN
#define VC_EXTRALEAN
#include <windows.h>
typedef HMODULE B3_DYNLIB_HANDLE;
use Ansi version of LoadLibrary I got the error "C2664: 'HMODULE LoadLibraryW(LPCWSTR)': cannot convert argument 1 from 'const char *' to 'LPCWSTR'". Mapping B3_DYNLIB_OPEN to the Ansi version of LoadLibrary fixed the error for me.
2017-10-30 10:09:09 +00:00
#define B3_DYNLIB_OPEN LoadLibraryA
create a C/C++ plugin system for pybullet / C-API.
2017-09-23 02:17:57 +00:00
#define B3_DYNLIB_CLOSE FreeLibrary
#define B3_DYNLIB_IMPORT GetProcAddress
#else
#include <dlfcn.h>
typedef void* B3_DYNLIB_HANDLE;
Only make the change for Linux, since OSX doesn't have dlmopen()
2018-08-31 13:33:08 +00:00
#ifdef __APPLE__
#define B3_DYNLIB_OPEN(path) dlopen(path, RTLD_NOW | RTLD_GLOBAL)
.
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#else
#define B3_DYNLIB_OPEN(path) dlmopen(LM_ID_NEWLM, path, RTLD_LAZY)
Only make the change for Linux, since OSX doesn't have dlmopen()
2018-08-31 13:33:08 +00:00
#endif
create a C/C++ plugin system for pybullet / C-API.
2017-09-23 02:17:57 +00:00
#define B3_DYNLIB_CLOSE dlclose
#define B3_DYNLIB_IMPORT dlsym
#endif
struct b3Plugin
{
B3_DYNLIB_HANDLE m_pluginHandle;
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
bool m_ownsPluginHandle;
PyBullet setup.py: only enable BT_USE_EGL on Linux, but allow to run the eglPlugin on Windows and Mac as well (using their default opengl window). postpone the 'loadPlugin' for static eglPlugin, so that the init and exit happen in the same thread. When you don't call unloadPlugin, the program may crash when exiting in SHARED_MEMORY_SERVER mode.
2018-09-10 04:08:47 +00:00
bool m_isInitialized;
create a C/C++ plugin system for pybullet / C-API.
2017-09-23 02:17:57 +00:00
std::string m_pluginPath;
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
int m_pluginUniqueId;
create a C/C++ plugin system for pybullet / C-API.
2017-09-23 02:17:57 +00:00
PFN_INIT m_initFunc;
PFN_EXIT m_exitFunc;
PFN_EXECUTE m_executeCommandFunc;
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
PFN_TICK m_preTickFunc;
PFN_TICK m_postTickFunc;
Changes tickPlugins to reportNotifications and only calls the processNotifications function on the plugins when there are actually notifications available. tickPlugins will to into a separate PR.
2018-07-25 12:47:34 +00:00
PFN_TICK m_processNotificationsFunc;
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
PFN_TICK m_processClientCommandsFunc;
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
PyBullet: move TinyRenderer into a plugin, default statically loaded. You can also dynamically load a render plugin, as shown in renderPlugin.py example. premake has a way to compile the tinyRendererPlugin.
2018-01-17 20:48:48 +00:00
PFN_GET_RENDER_INTERFACE m_getRendererFunc;
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
void* m_userPointer;
PyBullet: move TinyRenderer into a plugin, default statically loaded. You can also dynamically load a render plugin, as shown in renderPlugin.py example. premake has a way to compile the tinyRendererPlugin.
2018-01-17 20:48:48 +00:00
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
b3Plugin()
:m_pluginHandle(0),
m_ownsPluginHandle(false),
PyBullet setup.py: only enable BT_USE_EGL on Linux, but allow to run the eglPlugin on Windows and Mac as well (using their default opengl window). postpone the 'loadPlugin' for static eglPlugin, so that the init and exit happen in the same thread. When you don't call unloadPlugin, the program may crash when exiting in SHARED_MEMORY_SERVER mode.
2018-09-10 04:08:47 +00:00
m_isInitialized(false),
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
m_pluginUniqueId(-1),
m_initFunc(0),
m_exitFunc(0),
m_executeCommandFunc(0),
m_preTickFunc(0),
Update b3PluginManager.cpp pre/post tick were wrong order in initializer list
2017-09-25 05:39:20 +00:00
m_postTickFunc(0),
Changes tickPlugins to reportNotifications and only calls the processNotifications function on the plugins when there are actually notifications available. tickPlugins will to into a separate PR.
2018-07-25 12:47:34 +00:00
m_processNotificationsFunc(0),
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
m_processClientCommandsFunc(0),
PyBullet: move TinyRenderer into a plugin, default statically loaded. You can also dynamically load a render plugin, as shown in renderPlugin.py example. premake has a way to compile the tinyRendererPlugin.
2018-01-17 20:48:48 +00:00
m_getRendererFunc(0),
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
m_userPointer(0)
{
}
create a C/C++ plugin system for pybullet / C-API.
2017-09-23 02:17:57 +00:00
void clear()
{
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
if (m_ownsPluginHandle)
{
B3_DYNLIB_CLOSE(m_pluginHandle);
}
create a C/C++ plugin system for pybullet / C-API.
2017-09-23 02:17:57 +00:00
m_pluginHandle = 0;
m_initFunc = 0;
m_exitFunc = 0;
m_executeCommandFunc = 0;
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
m_preTickFunc = 0;
m_postTickFunc = 0;
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
m_processNotificationsFunc = 0;
m_processClientCommandsFunc = 0;
PyBullet: move TinyRenderer into a plugin, default statically loaded. You can also dynamically load a render plugin, as shown in renderPlugin.py example. premake has a way to compile the tinyRendererPlugin.
2018-01-17 20:48:48 +00:00
m_getRendererFunc = 0;
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
m_userPointer = 0;
PyBullet setup.py: only enable BT_USE_EGL on Linux, but allow to run the eglPlugin on Windows and Mac as well (using their default opengl window). postpone the 'loadPlugin' for static eglPlugin, so that the init and exit happen in the same thread. When you don't call unloadPlugin, the program may crash when exiting in SHARED_MEMORY_SERVER mode.
2018-09-10 04:08:47 +00:00
m_isInitialized = false;
create a C/C++ plugin system for pybullet / C-API.
2017-09-23 02:17:57 +00:00
}
};
typedef b3PoolBodyHandle<b3Plugin> b3PluginHandle;
struct b3PluginManagerInternalData
{
b3ResizablePool<b3PluginHandle> m_plugins;
fix issue with plugin manager (store plugin uid instead of pointer)
2018-02-06 16:56:24 +00:00
b3HashMap<b3HashString, int> m_pluginMap;
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
PhysicsDirect* m_physicsDirect;
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
PhysicsCommandProcessorInterface* m_rpcCommandProcessorInterface;
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
b3AlignedObjectArray<b3KeyboardEvent> m_keyEvents;
b3AlignedObjectArray<b3VRControllerEvent> m_vrEvents;
b3AlignedObjectArray<b3MouseEvent> m_mouseEvents;
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
b3AlignedObjectArray<b3Notification> m_notifications[2];
int m_activeNotificationsBufferIndex;
PyBullet: move TinyRenderer into a plugin, default statically loaded. You can also dynamically load a render plugin, as shown in renderPlugin.py example. premake has a way to compile the tinyRendererPlugin.
2018-01-17 20:48:48 +00:00
int m_activeRendererPluginUid;
only add notifications if there is a plugin that needs them call the 'reportNotifications' in GRPC server main
2018-09-05 02:24:31 +00:00
int m_numNotificationPlugins;
PyBullet: move TinyRenderer into a plugin, default statically loaded. You can also dynamically load a render plugin, as shown in renderPlugin.py example. premake has a way to compile the tinyRendererPlugin.
2018-01-17 20:48:48 +00:00
b3PluginManagerInternalData()
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
:m_rpcCommandProcessorInterface(0), m_activeNotificationsBufferIndex(0), m_activeRendererPluginUid(-1),
only add notifications if there is a plugin that needs them call the 'reportNotifications' in GRPC server main
2018-09-05 02:24:31 +00:00
m_numNotificationPlugins(0)
PyBullet: move TinyRenderer into a plugin, default statically loaded. You can also dynamically load a render plugin, as shown in renderPlugin.py example. premake has a way to compile the tinyRendererPlugin.
2018-01-17 20:48:48 +00:00
{
}
create a C/C++ plugin system for pybullet / C-API.
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};
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)
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b3PluginManager::b3PluginManager(class PhysicsCommandProcessorInterface* physSdk)
create a C/C++ plugin system for pybullet / C-API.
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{
m_data = new b3PluginManagerInternalData;
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
m_data->m_rpcCommandProcessorInterface = physSdk;
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)
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m_data->m_physicsDirect = new PhysicsDirect(physSdk,false);
create a C/C++ plugin system for pybullet / C-API.
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}
b3PluginManager::~b3PluginManager()
{
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
while (m_data->m_pluginMap.size())
{
fix issue with plugin manager (store plugin uid instead of pointer)
2018-02-06 16:56:24 +00:00
int* pluginUidPtr = m_data->m_pluginMap.getAtIndex(0);
if (pluginUidPtr)
{
int pluginUid = *pluginUidPtr;
unloadPlugin(*pluginUidPtr);
}
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
}
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
delete m_data->m_physicsDirect;
create a C/C++ plugin system for pybullet / C-API.
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m_data->m_pluginMap.clear();
m_data->m_plugins.exitHandles();
delete m_data;
}
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
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
void b3PluginManager::addEvents(const struct b3VRControllerEvent* vrControllerEvents, int numVRControllerEvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents, const struct b3MouseEvent* mouseEvents, int numMouseEvents)
{
for (int i = 0; i < numKeyEvents; i++)
{
m_data->m_keyEvents.push_back(keyEvents[i]);
}
for (int i = 0; i < numVRControllerEvents; i++)
{
m_data->m_vrEvents.push_back(vrControllerEvents[i]);
}
for (int i = 0; i < numMouseEvents; i++)
{
m_data->m_mouseEvents.push_back(mouseEvents[i]);
}
}
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
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
void b3PluginManager::clearEvents()
{
m_data->m_keyEvents.resize(0);
m_data->m_vrEvents.resize(0);
m_data->m_mouseEvents.resize(0);
}
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
void b3PluginManager::addNotification(const struct b3Notification& notification)
{
only add notifications if there is a plugin that needs them call the 'reportNotifications' in GRPC server main
2018-09-05 02:24:31 +00:00
if (m_data->m_numNotificationPlugins>0)
{
m_data->m_notifications[m_data->m_activeNotificationsBufferIndex].push_back(notification);
}
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
}
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
int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
create a C/C++ plugin system for pybullet / C-API.
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{
int pluginUniqueId = -1;
fix issue with plugin manager (store plugin uid instead of pointer)
2018-02-06 16:56:24 +00:00
int* pluginUidPtr = m_data->m_pluginMap.find(pluginPath);
if (pluginUidPtr)
create a C/C++ plugin system for pybullet / C-API.
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{
PyBullet setup.py: only enable BT_USE_EGL on Linux, but allow to run the eglPlugin on Windows and Mac as well (using their default opengl window). postpone the 'loadPlugin' for static eglPlugin, so that the init and exit happen in the same thread. When you don't call unloadPlugin, the program may crash when exiting in SHARED_MEMORY_SERVER mode.
2018-09-10 04:08:47 +00:00
create a C/C++ plugin system for pybullet / C-API.
2017-09-23 02:17:57 +00:00
//already loaded
fix issue with plugin manager (store plugin uid instead of pointer)
2018-02-06 16:56:24 +00:00
pluginUniqueId = *pluginUidPtr;
PyBullet setup.py: only enable BT_USE_EGL on Linux, but allow to run the eglPlugin on Windows and Mac as well (using their default opengl window). postpone the 'loadPlugin' for static eglPlugin, so that the init and exit happen in the same thread. When you don't call unloadPlugin, the program may crash when exiting in SHARED_MEMORY_SERVER mode.
2018-09-10 04:08:47 +00:00
b3PluginHandle* plugin = m_data->m_plugins.getHandle(pluginUniqueId);
if (!plugin->m_isInitialized)
{
b3PluginContext context = {0};
context.m_userPointer = 0;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
context.m_rpcCommandProcessorInterface = m_data->m_rpcCommandProcessorInterface;
int result = plugin->m_initFunc(&context);
plugin->m_isInitialized = true;
plugin->m_userPointer = context.m_userPointer;
}
create a C/C++ plugin system for pybullet / C-API.
2017-09-23 02:17:57 +00:00
}
else
{
pluginUniqueId = m_data->m_plugins.allocHandle();
b3PluginHandle* plugin = m_data->m_plugins.getHandle(pluginUniqueId);
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->m_pluginUniqueId = pluginUniqueId;
create a C/C++ plugin system for pybullet / C-API.
2017-09-23 02:17:57 +00:00
B3_DYNLIB_HANDLE pluginHandle = B3_DYNLIB_OPEN(pluginPath);
bool ok = false;
if (pluginHandle)
{
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
std::string postFix = postFixStr;
std::string initStr = std::string("initPlugin") + postFix;
std::string exitStr = std::string("exitPlugin") + postFix;
std::string executePluginCommandStr = std::string("executePluginCommand") + postFix;
std::string preTickPluginCallbackStr = std::string("preTickPluginCallback") + postFix;
std::string postTickPluginCallback = std::string("postTickPluginCallback") + postFix;
Changes tickPlugins to reportNotifications and only calls the processNotifications function on the plugins when there are actually notifications available. tickPlugins will to into a separate PR.
2018-07-25 12:47:34 +00:00
std::string processNotificationsStr = std::string("processNotifications") + postFix;
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
std::string processClientCommandsStr = std::string("processClientCommands") + postFix;
PyBullet: move TinyRenderer into a plugin, default statically loaded. You can also dynamically load a render plugin, as shown in renderPlugin.py example. premake has a way to compile the tinyRendererPlugin.
2018-01-17 20:48:48 +00:00
std::string getRendererStr = std::string("getRenderInterface") + postFix;
Changes tickPlugins to reportNotifications and only calls the processNotifications function on the plugins when there are actually notifications available. tickPlugins will to into a separate PR.
2018-07-25 12:47:34 +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
plugin->m_initFunc = (PFN_INIT)B3_DYNLIB_IMPORT(pluginHandle, initStr.c_str());
plugin->m_exitFunc = (PFN_EXIT)B3_DYNLIB_IMPORT(pluginHandle, exitStr.c_str());
plugin->m_executeCommandFunc = (PFN_EXECUTE)B3_DYNLIB_IMPORT(pluginHandle, executePluginCommandStr.c_str());
plugin->m_preTickFunc = (PFN_TICK)B3_DYNLIB_IMPORT(pluginHandle, preTickPluginCallbackStr.c_str());
plugin->m_postTickFunc = (PFN_TICK)B3_DYNLIB_IMPORT(pluginHandle, postTickPluginCallback.c_str());
Changes tickPlugins to reportNotifications and only calls the processNotifications function on the plugins when there are actually notifications available. tickPlugins will to into a separate PR.
2018-07-25 12:47:34 +00:00
plugin->m_processNotificationsFunc = (PFN_TICK)B3_DYNLIB_IMPORT(pluginHandle, processNotificationsStr.c_str());
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 add notifications if there is a plugin that needs them call the 'reportNotifications' in GRPC server main
2018-09-05 02:24:31 +00:00
if (plugin->m_processNotificationsFunc)
{
m_data->m_numNotificationPlugins++;
}
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
plugin->m_processClientCommandsFunc = (PFN_TICK)B3_DYNLIB_IMPORT(pluginHandle, processClientCommandsStr.c_str());
PyBullet: move TinyRenderer into a plugin, default statically loaded. You can also dynamically load a render plugin, as shown in renderPlugin.py example. premake has a way to compile the tinyRendererPlugin.
2018-01-17 20:48:48 +00:00
plugin->m_getRendererFunc = (PFN_GET_RENDER_INTERFACE)B3_DYNLIB_IMPORT(pluginHandle, getRendererStr.c_str());
only add notifications if there is a plugin that needs them call the 'reportNotifications' in GRPC server main
2018-09-05 02:24:31 +00:00
create a C/C++ plugin system for pybullet / C-API.
2017-09-23 02:17:57 +00:00
if (plugin->m_initFunc && plugin->m_exitFunc && plugin->m_executeCommandFunc)
{
PyBullet setup.py: only enable BT_USE_EGL on Linux, but allow to run the eglPlugin on Windows and Mac as well (using their default opengl window). postpone the 'loadPlugin' for static eglPlugin, so that the init and exit happen in the same thread. When you don't call unloadPlugin, the program may crash when exiting in SHARED_MEMORY_SERVER mode.
2018-09-10 04:08:47 +00:00
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
b3PluginContext context;
context.m_userPointer = plugin->m_userPointer;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
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
context.m_rpcCommandProcessorInterface = m_data->m_rpcCommandProcessorInterface;
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
int version = plugin->m_initFunc(&context);
PyBullet setup.py: only enable BT_USE_EGL on Linux, but allow to run the eglPlugin on Windows and Mac as well (using their default opengl window). postpone the 'loadPlugin' for static eglPlugin, so that the init and exit happen in the same thread. When you don't call unloadPlugin, the program may crash when exiting in SHARED_MEMORY_SERVER mode.
2018-09-10 04:08:47 +00:00
plugin->m_isInitialized = true;
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
//keep the user pointer persistent
plugin->m_userPointer = context.m_userPointer;
create a C/C++ plugin system for pybullet / C-API.
2017-09-23 02:17:57 +00:00
if (version == SHARED_MEMORY_MAGIC_NUMBER)
{
PyBullet setup.py: only enable BT_USE_EGL on Linux, but allow to run the eglPlugin on Windows and Mac as well (using their default opengl window). postpone the 'loadPlugin' for static eglPlugin, so that the init and exit happen in the same thread. When you don't call unloadPlugin, the program may crash when exiting in SHARED_MEMORY_SERVER mode.
2018-09-10 04:08:47 +00:00
create a C/C++ plugin system for pybullet / C-API.
2017-09-23 02:17:57 +00:00
ok = true;
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->m_ownsPluginHandle = true;
create a C/C++ plugin system for pybullet / C-API.
2017-09-23 02:17:57 +00:00
plugin->m_pluginHandle = pluginHandle;
plugin->m_pluginPath = pluginPath;
fix issue with plugin manager (store plugin uid instead of pointer)
2018-02-06 16:56:24 +00:00
m_data->m_pluginMap.insert(pluginPath, pluginUniqueId);
create a C/C++ plugin system for pybullet / C-API.
2017-09-23 02:17:57 +00:00
}
else
{
int expect = SHARED_MEMORY_MAGIC_NUMBER;
b3Warning("Warning: plugin is wrong version: expected %d, got %d\n", expect, version);
}
}
else
{
b3Warning("Loaded plugin but couldn't bind functions");
}
if (!ok)
{
B3_DYNLIB_CLOSE(pluginHandle);
}
}
else
{
added egl plugin commit
2018-07-02 17:35:55 +00:00
create a C/C++ plugin system for pybullet / C-API.
2017-09-23 02:17:57 +00:00
b3Warning("Warning: couldn't load plugin %s\n", pluginPath);
added egl plugin commit
2018-07-02 17:35:55 +00:00
#ifdef _WIN32
#else
b3Warning("Error: %s\n", dlerror() );
#endif
create a C/C++ plugin system for pybullet / C-API.
2017-09-23 02:17:57 +00:00
}
if (!ok)
{
m_data->m_plugins.freeHandle(pluginUniqueId);
pluginUniqueId = -1;
}
}
PyBullet: move TinyRenderer into a plugin, default statically loaded. You can also dynamically load a render plugin, as shown in renderPlugin.py example. premake has a way to compile the tinyRendererPlugin.
2018-01-17 20:48:48 +00:00
//for now, automatically select the loaded plugin as active renderer. If wanted, we can add some 'select' mechanism.
if (pluginUniqueId>=0)
{
b3PluginHandle* plugin = m_data->m_plugins.getHandle(pluginUniqueId);
if (plugin && plugin->m_getRendererFunc)
{
selectPluginRenderer(pluginUniqueId);
}
}
create a C/C++ plugin system for pybullet / C-API.
2017-09-23 02:17:57 +00:00
return pluginUniqueId;
}
void b3PluginManager::unloadPlugin(int pluginUniqueId)
{
b3PluginHandle* plugin = m_data->m_plugins.getHandle(pluginUniqueId);
if (plugin)
{
only add notifications if there is a plugin that needs them call the 'reportNotifications' in GRPC server main
2018-09-05 02:24:31 +00:00
if (plugin->m_processNotificationsFunc)
{
m_data->m_numNotificationPlugins--;
}
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
b3PluginContext context = {0};
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
context.m_userPointer = plugin->m_userPointer;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
PyBullet setup.py: only enable BT_USE_EGL on Linux, but allow to run the eglPlugin on Windows and Mac as well (using their default opengl window). postpone the 'loadPlugin' for static eglPlugin, so that the init and exit happen in the same thread. When you don't call unloadPlugin, the program may crash when exiting in SHARED_MEMORY_SERVER mode.
2018-09-10 04:08:47 +00:00
if (plugin->m_isInitialized)
{
plugin->m_exitFunc(&context);
plugin->m_userPointer = 0;
plugin->m_isInitialized = false;
}
create a C/C++ plugin system for pybullet / C-API.
2017-09-23 02:17:57 +00:00
m_data->m_pluginMap.remove(plugin->m_pluginPath.c_str());
m_data->m_plugins.freeHandle(pluginUniqueId);
}
}
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
void b3PluginManager::tickPlugins(double timeStep, b3PluginManagerTickMode tickMode)
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
{
for (int i=0;i<m_data->m_pluginMap.size();i++)
{
fix issue with plugin manager (store plugin uid instead of pointer)
2018-02-06 16:56:24 +00:00
int* pluginUidPtr = m_data->m_pluginMap.getAtIndex(i);
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
b3PluginHandle* plugin = 0;
fix issue with plugin manager (store plugin uid instead of pointer)
2018-02-06 16:56:24 +00:00
if (pluginUidPtr)
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
{
fix issue with plugin manager (store plugin uid instead of pointer)
2018-02-06 16:56:24 +00:00
int pluginUid = *pluginUidPtr;
plugin = m_data->m_plugins.getHandle(pluginUid);
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
}
else
{
continue;
}
fix issue with plugin manager (store plugin uid instead of pointer)
2018-02-06 16:56:24 +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
PFN_TICK tick = 0;
switch (tickMode)
{
case B3_PRE_TICK_MODE:
{
tick = plugin->m_preTickFunc;
break;
}
case B3_POST_TICK_MODE:
{
tick = plugin->m_postTickFunc;
break;
}
case B3_PROCESS_CLIENT_COMMANDS_TICK:
{
tick = plugin->m_processClientCommandsFunc;
break;
}
default:
{
}
}
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
if (tick)
{
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
b3PluginContext context = { 0 };
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
context.m_userPointer = plugin->m_userPointer;
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
context.m_physClient = (b3PhysicsClientHandle)m_data->m_physicsDirect;
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
context.m_numMouseEvents = m_data->m_mouseEvents.size();
context.m_mouseEvents = m_data->m_mouseEvents.size() ? &m_data->m_mouseEvents[0] : 0;
context.m_numKeyEvents = m_data->m_keyEvents.size();
context.m_keyEvents = m_data->m_keyEvents.size() ? &m_data->m_keyEvents[0] : 0;
context.m_numVRControllerEvents = m_data->m_vrEvents.size();
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
context.m_vrControllerEvents = m_data->m_vrEvents.size() ? &m_data->m_vrEvents[0] : 0;
if (tickMode == B3_PROCESS_CLIENT_COMMANDS_TICK)
{
context.m_rpcCommandProcessorInterface = m_data->m_rpcCommandProcessorInterface;
}
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
int result = tick(&context);
plugin->m_userPointer = context.m_userPointer;
}
}
}
Changes tickPlugins to reportNotifications and only calls the processNotifications function on the plugins when there are actually notifications available. tickPlugins will to into a separate PR.
2018-07-25 12:47:34 +00:00
void b3PluginManager::reportNotifications()
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
{
b3AlignedObjectArray<b3Notification> &notifications = m_data->m_notifications[m_data->m_activeNotificationsBufferIndex];
Changes tickPlugins to reportNotifications and only calls the processNotifications function on the plugins when there are actually notifications available. tickPlugins will to into a separate PR.
2018-07-25 12:47:34 +00:00
if (notifications.size() == 0)
{
return;
}
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
// Swap notification buffers.
m_data->m_activeNotificationsBufferIndex = 1 - m_data->m_activeNotificationsBufferIndex;
for (int i=0;i<m_data->m_pluginMap.size();i++)
{
int* pluginUidPtr = m_data->m_pluginMap.getAtIndex(i);
b3PluginHandle* plugin = 0;
if (pluginUidPtr)
{
int pluginUid = *pluginUidPtr;
plugin = m_data->m_plugins.getHandle(pluginUid);
}
else
{
continue;
}
Changes tickPlugins to reportNotifications and only calls the processNotifications function on the plugins when there are actually notifications available. tickPlugins will to into a separate PR.
2018-07-25 12:47:34 +00:00
if (plugin->m_processNotificationsFunc) {
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
b3PluginContext context = {0};
context.m_userPointer = plugin->m_userPointer;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
context.m_numNotifications = notifications.size();
context.m_notifications = notifications.size() ? &notifications[0] : 0;
Changes tickPlugins to reportNotifications and only calls the processNotifications function on the plugins when there are actually notifications available. tickPlugins will to into a separate PR.
2018-07-25 12:47:34 +00:00
plugin->m_processNotificationsFunc(&context);
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
}
}
bump up pybullet version
2018-08-04 16:58:15 +00:00
notifications.resize(0);
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
}
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
int b3PluginManager::executePluginCommand(int pluginUniqueId, const b3PluginArguments* arguments)
create a C/C++ plugin system for pybullet / C-API.
2017-09-23 02:17:57 +00:00
{
int result = -1;
b3PluginHandle* plugin = m_data->m_plugins.getHandle(pluginUniqueId);
if (plugin)
{
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
b3PluginContext context = {0};
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
context.m_userPointer = plugin->m_userPointer;
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
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
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
context.m_rpcCommandProcessorInterface = m_data->m_rpcCommandProcessorInterface;
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
result = plugin->m_executeCommandFunc(&context, arguments);
plugin->m_userPointer = context.m_userPointer;
create a C/C++ plugin system for pybullet / C-API.
2017-09-23 02:17:57 +00:00
}
return result;
}
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
PyBullet setup.py: only enable BT_USE_EGL on Linux, but allow to run the eglPlugin on Windows and Mac as well (using their default opengl window). postpone the 'loadPlugin' for static eglPlugin, so that the init and exit happen in the same thread. When you don't call unloadPlugin, the program may crash when exiting in SHARED_MEMORY_SERVER mode.
2018-09-10 04:08:47 +00:00
int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc,PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc, PFN_GET_RENDER_INTERFACE getRendererFunc, PFN_TICK processClientCommandsFunc, bool initPlugin)
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
{
b3Plugin orgPlugin;
int pluginUniqueId = m_data->m_plugins.allocHandle();
b3PluginHandle* pluginHandle = m_data->m_plugins.getHandle(pluginUniqueId);
pluginHandle->m_pluginHandle = 0;
pluginHandle->m_ownsPluginHandle =false;
pluginHandle->m_pluginUniqueId = pluginUniqueId;
pluginHandle->m_executeCommandFunc = executeCommandFunc;
pluginHandle->m_exitFunc = exitFunc;
pluginHandle->m_initFunc = initFunc;
pluginHandle->m_preTickFunc = preTickFunc;
pluginHandle->m_postTickFunc = postTickFunc;
PyBullet: move TinyRenderer into a plugin, default statically loaded. You can also dynamically load a render plugin, as shown in renderPlugin.py example. premake has a way to compile the tinyRendererPlugin.
2018-01-17 20:48:48 +00:00
pluginHandle->m_getRendererFunc = getRendererFunc;
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
pluginHandle->m_processClientCommandsFunc = processClientCommandsFunc;
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
pluginHandle->m_pluginHandle = 0;
pluginHandle->m_pluginPath = pluginPath;
pluginHandle->m_userPointer = 0;
PyBullet: move TinyRenderer into a plugin, default statically loaded. You can also dynamically load a render plugin, as shown in renderPlugin.py example. premake has a way to compile the tinyRendererPlugin.
2018-01-17 20:48:48 +00:00
only add notifications if there is a plugin that needs them call the 'reportNotifications' in GRPC server main
2018-09-05 02:24:31 +00:00
if (pluginHandle->m_processNotificationsFunc)
{
m_data->m_numNotificationPlugins++;
}
fix issue with plugin manager (store plugin uid instead of pointer)
2018-02-06 16:56:24 +00:00
m_data->m_pluginMap.insert(pluginPath, pluginUniqueId);
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
PyBullet setup.py: only enable BT_USE_EGL on Linux, but allow to run the eglPlugin on Windows and Mac as well (using their default opengl window). postpone the 'loadPlugin' for static eglPlugin, so that the init and exit happen in the same thread. When you don't call unloadPlugin, the program may crash when exiting in SHARED_MEMORY_SERVER mode.
2018-09-10 04:08:47 +00:00
if (initPlugin)
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
{
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
b3PluginContext context = {0};
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
context.m_userPointer = 0;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
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
context.m_rpcCommandProcessorInterface = m_data->m_rpcCommandProcessorInterface;
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
int result = pluginHandle->m_initFunc(&context);
PyBullet setup.py: only enable BT_USE_EGL on Linux, but allow to run the eglPlugin on Windows and Mac as well (using their default opengl window). postpone the 'loadPlugin' for static eglPlugin, so that the init and exit happen in the same thread. When you don't call unloadPlugin, the program may crash when exiting in SHARED_MEMORY_SERVER mode.
2018-09-10 04:08:47 +00:00
pluginHandle->m_isInitialized = true;
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
pluginHandle->m_userPointer = context.m_userPointer;
}
return pluginUniqueId;
}
PyBullet: move TinyRenderer into a plugin, default statically loaded. You can also dynamically load a render plugin, as shown in renderPlugin.py example. premake has a way to compile the tinyRendererPlugin.
2018-01-17 20:48:48 +00:00
void b3PluginManager::selectPluginRenderer(int pluginUniqueId)
{
m_data->m_activeRendererPluginUid = pluginUniqueId;
}
UrdfRenderingInterface* b3PluginManager::getRenderInterface()
{
UrdfRenderingInterface* renderer = 0;
if (m_data->m_activeRendererPluginUid>=0)
{
b3PluginHandle* plugin = m_data->m_plugins.getHandle(m_data->m_activeRendererPluginUid);
if (plugin)
{
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
b3PluginContext context = {0};
PyBullet: move TinyRenderer into a plugin, default statically loaded. You can also dynamically load a render plugin, as shown in renderPlugin.py example. premake has a way to compile the tinyRendererPlugin.
2018-01-17 20:48:48 +00:00
context.m_userPointer = plugin->m_userPointer;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
renderer = plugin->m_getRendererFunc(&context);
}
}
return renderer;
}
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