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expose some sleep timeout pybullet.setPhysicsEngineParameter(maxNumCmdPer1ms=100) or b3PhysicsParamSetMaxNumCommandsPer1ms,

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if more commands than those are processed per millisecond, a 1ms sleep will follow, to avoid other threads being stalled.
This commit is contained in:
Erwin Coumans 2017-03-01 13:48:57 -08:00
parent ac28f50fa5
commit 2f3ba49357
7 changed files with 50 additions and 9 deletions
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10
examples/SharedMemory/PhysicsClientC_API.cpp
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@ -347,6 +347,16 @@ int b3PhysicsParamSetContactBreakingThreshold(b3SharedMemoryCommandHandle comman
command->m_updateFlags |= SIM_PARAM_UPDATE_CONTACT_BREAKING_THRESHOLD;
return 0;
}
int b3PhysicsParamSetMaxNumCommandsPer1ms(b3SharedMemoryCommandHandle commandHandle, int maxNumCmdPer1ms)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_maxNumCmdPer1ms = maxNumCmdPer1ms;
command->m_updateFlags |= SIM_PARAM_MAX_CMD_PER_1MS;
return 0;
}
int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations)
{

1
examples/SharedMemory/PhysicsClientC_API.h
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@ -198,6 +198,7 @@ int b3PhysicsParamSetCollisionFilterMode(b3SharedMemoryCommandHandle commandHand
int b3PhysicsParamSetUseSplitImpulse(b3SharedMemoryCommandHandle commandHandle, int useSplitImpulse);
int b3PhysicsParamSetSplitImpulsePenetrationThreshold(b3SharedMemoryCommandHandle commandHandle, double splitImpulsePenetrationThreshold);
int b3PhysicsParamSetContactBreakingThreshold(b3SharedMemoryCommandHandle commandHandle, double contactBreakingThreshold);
int b3PhysicsParamSetMaxNumCommandsPer1ms(b3SharedMemoryCommandHandle commandHandle, int maxNumCmdPer1ms);
//b3PhysicsParamSetInternalSimFlags is for internal/temporary/easter-egg/experimental demo purposes
//Use at own risk: magic things may or my not happen when calling this API

6
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -48,6 +48,7 @@ bool gResetSimulation = 0;
int gVRTrackingObjectUniqueId = -1;
btTransform gVRTrackingObjectTr = btTransform::getIdentity();
int gMaxNumCmdPer1ms = 100;//experiment: add some delay to avoid threads starving other threads
int gCreateObjectSimVR = -1;
int gEnableKukaControl = 0;
btVector3 gVRTeleportPos1(0,0,0);
@ -3161,6 +3162,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
gContactBreakingThreshold = clientCmd.m_physSimParamArgs.m_contactBreakingThreshold;
}
if (clientCmd.m_updateFlags&SIM_PARAM_MAX_CMD_PER_1MS)
{
gMaxNumCmdPer1ms = clientCmd.m_physSimParamArgs.m_maxNumCmdPer1ms;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_COLLISION_FILTER_MODE)
{
m_data->m_broadphaseCollisionFilterCallback->m_filterMode = clientCmd.m_physSimParamArgs.m_collisionFilterMode;

19
examples/SharedMemory/PhysicsServerExample.cpp
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@ -277,7 +277,7 @@ struct MotionThreadLocalStorage
float clampedDeltaTime = 0.2;
float sleepTimeThreshold = 8./1000.;
extern int gMaxNumCmdPer1ms;
void MotionThreadFunc(void* userPtr,void* lsMemory)
@ -289,6 +289,7 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
//int workLeft = true;
b3Clock clock;
clock.reset();
b3Clock sleepClock;
bool init = true;
if (init)
{
@ -299,6 +300,8 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
double deltaTimeInSeconds = 0;
int numCmdSinceSleep1ms = 0;
do
{
BT_PROFILE("loop");
@ -307,6 +310,19 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
BT_PROFILE("usleep(0)");
b3Clock::usleep(0);
}
if (numCmdSinceSleep1ms>gMaxNumCmdPer1ms)
{
BT_PROFILE("usleep(1000)");
b3Clock::usleep(1000);
numCmdSinceSleep1ms = 0;
sleepClock.reset();
}
if (sleepClock.getTimeMilliseconds()>1)
{
sleepClock.reset();
numCmdSinceSleep1ms = 0;
}
double dt = double(clock.getTimeMicroseconds())/1000000.;
clock.reset();
deltaTimeInSeconds+= dt;
@ -434,6 +450,7 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
{
BT_PROFILE("processClientCommands");
args->m_physicsServerPtr->processClientCommands();
numCmdSinceSleep1ms++;
}
} while (args->m_cs->getSharedParam(0)!=eRequestTerminateMotion);

2
examples/SharedMemory/SharedMemoryCommands.h
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@ -315,6 +315,7 @@ enum EnumSimParamUpdateFlags
SIM_PARAM_UPDATE_SPLIT_IMPULSE_PENETRATION_THRESHOLD = 256,
SIM_PARAM_UPDATE_COLLISION_FILTER_MODE=512,
SIM_PARAM_UPDATE_CONTACT_BREAKING_THRESHOLD = 1024,
SIM_PARAM_MAX_CMD_PER_1MS = 2048,
};
enum EnumLoadBunnyUpdateFlags
@ -342,6 +343,7 @@ struct SendPhysicsSimulationParameters
int m_useSplitImpulse;
double m_splitImpulsePenetrationThreshold;
double m_contactBreakingThreshold;
int m_maxNumCmdPer1ms;
int m_internalSimFlags;
double m_defaultContactERP;
int m_collisionFilterMode;

8
examples/StandaloneMain/hellovr_opengl_main.cpp
View File

@ -659,9 +659,11 @@ void CMainApplication::Shutdown()
}
}
sExample->exitPhysics();
delete sExample;
if (sExample)
{
sExample->exitPhysics();
delete sExample;
}
delete m_app;
m_app=0;

13
examples/pybullet/pybullet.c
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@ -606,14 +606,14 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
int numSubSteps = -1;
int collisionFilterMode = -1;
double contactBreakingThreshold = -1;
int maxNumCmdPer1ms = -1;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char *kwlist[] = { "fixedTimeStep", "numSolverIterations","useSplitImpulse","splitImpulsePenetrationThreshold", "numSubSteps","collisionFilterMode", "contactBreakingThreshold", "physicsClientId", NULL };
static char *kwlist[] = { "fixedTimeStep", "numSolverIterations","useSplitImpulse","splitImpulsePenetrationThreshold", "numSubSteps","collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidi", kwlist,&fixedTimeStep,&numSolverIterations,&useSplitImpulse,&splitImpulsePenetrationThreshold,&numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidii", kwlist,&fixedTimeStep,&numSolverIterations,&useSplitImpulse,&splitImpulsePenetrationThreshold,&numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &physicsClientId))
{
return NULL;
}
@ -658,7 +658,10 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
{
b3PhysicsParamSetContactBreakingThreshold(command,contactBreakingThreshold);
}
if (maxNumCmdPer1ms>=0)
{
b3PhysicsParamSetMaxNumCommandsPer1ms(command,maxNumCmdPer1ms);
}
//ret = b3PhysicsParamSetRealTimeSimulation(command, enableRealTimeSimulation);