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Code Issues Releases Wiki Activity

PyBullet: Fix syncBodyInfo for over 512 bodies.

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PyBullet: Fix issue related to recent change in drawDebugDrawerLines (soft body)
This commit is contained in:
Erwin Coumans 2019-09-09 14:56:26 -07:00
parent 4515fcbfaf
commit 5a3c60c709
4 changed files with 117 additions and 33 deletions
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40
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@ -1529,19 +1529,45 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus()
{
B3_PROFILE("CMD_LOADING_COMPLETED");
int numConstraints = serverCmd.m_sdfLoadedArgs.m_numUserConstraints;
for (int i = 0; i < numConstraints; i++)
{
int constraintUid = serverCmd.m_sdfLoadedArgs.m_userConstraintUniqueIds[i];
m_data->m_constraintIdsRequestInfo.push_back(constraintUid);
}
int numBodies = serverCmd.m_sdfLoadedArgs.m_numBodies;
if (serverCmd.m_type == CMD_SYNC_BODY_INFO_COMPLETED)
{
int* ids = (int*)m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor;
int* constraintUids = ids + numBodies;
for (int i = 0; i < numConstraints; i++)
{
int constraintUid = constraintUids[i];
m_data->m_constraintIdsRequestInfo.push_back(constraintUid);
}
}
else
{
for (int i = 0; i < numConstraints; i++)
{
int constraintUid = serverCmd.m_sdfLoadedArgs.m_userConstraintUniqueIds[i];
m_data->m_constraintIdsRequestInfo.push_back(constraintUid);
}
}
if (numBodies > 0)
{
m_data->m_tempBackupServerStatus = m_data->m_lastServerStatus;
for (int i = 0; i < numBodies; i++)
if (serverCmd.m_type == CMD_SYNC_BODY_INFO_COMPLETED)
{
m_data->m_bodyIdsRequestInfo.push_back(serverCmd.m_sdfLoadedArgs.m_bodyUniqueIds[i]);
int* bodyIds = (int*)m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor;
for (int i = 0; i < numBodies; i++)
{
m_data->m_bodyIdsRequestInfo.push_back(bodyIds[i]);
}
}
else
{
for (int i = 0; i < numBodies; i++)
{
m_data->m_bodyIdsRequestInfo.push_back(serverCmd.m_sdfLoadedArgs.m_bodyUniqueIds[i]);
}
}
int bodyId = m_data->m_bodyIdsRequestInfo[m_data->m_bodyIdsRequestInfo.size() - 1];

56
examples/SharedMemory/PhysicsDirect.cpp
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@ -688,7 +688,10 @@ void PhysicsDirect::processBodyJointInfo(int bodyUniqueId, const SharedMemorySta
{
bf.setFileDNAisMemoryDNA();
}
bf.parse(false);
{
BT_PROFILE("bf.parse");
bf.parse(false);
}
BodyJointInfoCache2* bodyJoints = new BodyJointInfoCache2;
m_data->m_bodyJointMap.insert(bodyUniqueId, bodyJoints);
@ -718,7 +721,8 @@ void PhysicsDirect::processBodyJointInfo(int bodyUniqueId, const SharedMemorySta
bodyJoints->m_baseName = mb->m_baseName;
}
addJointInfoFromMultiBodyData(mb, bodyJoints, m_data->m_verboseOutput);
}
}
}
if (bf.ok())
{
@ -919,17 +923,57 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
break;
}
case CMD_SYNC_BODY_INFO_COMPLETED:
clearCachedBodies();
case CMD_MJCF_LOADING_COMPLETED:
case CMD_SDF_LOADING_COMPLETED:
{
//we'll stream further info from the physics server
//so serverCmd will be invalid, make a copy
btAlignedObjectArray<int> bodyIdArray;
btAlignedObjectArray<int> constraintIdArray;
int numConstraints = serverCmd.m_sdfLoadedArgs.m_numUserConstraints;
int numBodies = serverCmd.m_sdfLoadedArgs.m_numBodies;
bodyIdArray.reserve(numBodies);
constraintIdArray.reserve(numConstraints);
if (serverCmd.m_type == CMD_SYNC_BODY_INFO_COMPLETED)
{
clearCachedBodies();
const int* bodyIds = (int*)m_data->m_bulletStreamDataServerToClient;
const int* constaintIds = bodyIds + numBodies;
for (int i = 0; i < numConstraints; i++)
{
int constraintUid = constaintIds[i];
constraintIdArray.push_back(constraintUid);
}
for (int i = 0; i < numBodies; i++)
{
int bodyUid = bodyIds[i];
bodyIdArray.push_back(bodyUid);
}
}
else
{
for (int i = 0; i < numConstraints; i++)
{
int constraintUid = serverCmd.m_sdfLoadedArgs.m_userConstraintUniqueIds[i];
constraintIdArray.push_back(constraintUid);
}
for (int i = 0; i < numBodies; i++)
{
int bodyUid = serverCmd.m_sdfLoadedArgs.m_bodyUniqueIds[i];
bodyIdArray.push_back(bodyUid);
}
}
for (int i = 0; i < numConstraints; i++)
{
int constraintUid = serverCmd.m_sdfLoadedArgs.m_userConstraintUniqueIds[i];
int constraintUid = constraintIdArray[i];
m_data->m_tmpInfoRequestCommand.m_type = CMD_USER_CONSTRAINT;
m_data->m_tmpInfoRequestCommand.m_updateFlags = USER_CONSTRAINT_REQUEST_INFO;
@ -953,10 +997,10 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
}
}
int numBodies = serverCmd.m_sdfLoadedArgs.m_numBodies;
for (int i = 0; i < numBodies; i++)
{
int bodyUniqueId = serverCmd.m_sdfLoadedArgs.m_bodyUniqueIds[i];
int bodyUniqueId = bodyIdArray[i];
m_data->m_tmpInfoRequestCommand.m_type = CMD_REQUEST_BODY_INFO;
m_data->m_tmpInfoRequestCommand.m_sdfRequestInfoArgs.m_bodyUniqueId = bodyUniqueId;

41
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@ -5996,6 +5996,8 @@ bool PhysicsServerCommandProcessor::processSyncBodyInfoCommand(const struct Shar
b3AlignedObjectArray<int> usedHandles;
m_data->m_bodyHandles.getUsedHandles(usedHandles);
int actualNumBodies = 0;
int* bodyIds = (int*) bufferServerToClient;
for (int i = 0; i < usedHandles.size(); i++)
{
int usedHandle = usedHandles[i];
@ -6006,18 +6008,19 @@ bool PhysicsServerCommandProcessor::processSyncBodyInfoCommand(const struct Shar
if (body && (body->m_multiBody || body->m_rigidBody))
#endif
{
serverStatusOut.m_sdfLoadedArgs.m_bodyUniqueIds[actualNumBodies++] = usedHandle;
bodyIds[actualNumBodies++] = usedHandle;
}
}
serverStatusOut.m_sdfLoadedArgs.m_numBodies = actualNumBodies;
int usz = m_data->m_userConstraints.size();
serverStatusOut.m_sdfLoadedArgs.m_numUserConstraints = usz;
int* constraintIds = bodyIds + actualNumBodies;
for (int i = 0; i < usz; i++)
{
int key = m_data->m_userConstraints.getKeyAtIndex(i).getUid1();
// int uid = m_data->m_userConstraints.getAtIndex(i)->m_userConstraintData.m_userConstraintUniqueId;
serverStatusOut.m_sdfLoadedArgs.m_userConstraintUniqueIds[i] = key;
//int uid = m_data->m_userConstraints.getAtIndex(i)->m_userConstraintData.m_userConstraintUniqueId;
constraintIds[i] = key;
}
serverStatusOut.m_type = CMD_SYNC_BODY_INFO_COMPLETED;
@ -7755,8 +7758,11 @@ bool PhysicsServerCommandProcessor::processRequestBodyInfoCommand(const struct S
const SdfRequestInfoArgs& sdfInfoArgs = clientCmd.m_sdfRequestInfoArgs;
//stream info into memory
int streamSizeInBytes = createBodyInfoStream(sdfInfoArgs.m_bodyUniqueId, bufferServerToClient, bufferSizeInBytes);
{
BT_PROFILE("createBodyInfoStream");
int streamSizeInBytes = createBodyInfoStream(sdfInfoArgs.m_bodyUniqueId, bufferServerToClient, bufferSizeInBytes);
serverStatusOut.m_numDataStreamBytes = streamSizeInBytes;
}
serverStatusOut.m_type = CMD_BODY_INFO_COMPLETED;
serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = sdfInfoArgs.m_bodyUniqueId;
serverStatusOut.m_dataStreamArguments.m_bodyName[0] = 0;
@ -7767,7 +7773,7 @@ bool PhysicsServerCommandProcessor::processRequestBodyInfoCommand(const struct S
strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, bodyHandle->m_bodyName.c_str());
}
serverStatusOut.m_numDataStreamBytes = streamSizeInBytes;
return hasStatus;
}
@ -12830,16 +12836,19 @@ void PhysicsServerCommandProcessor::renderScene(int renderFlags)
m_data->m_guiHelper->render(m_data->m_dynamicsWorld);
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
#ifndef SKIP_DEFORMABLE_BODY
for (int i = 0; i < m_data->m_dynamicsWorld->getSoftBodyArray().size(); i++)
{
btSoftBody* psb = (btSoftBody*)m_data->m_dynamicsWorld->getSoftBodyArray()[i];
{
btSoftBodyHelpers::DrawFrame(psb, m_data->m_dynamicsWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(psb, m_data->m_dynamicsWorld->getDebugDrawer(), m_data->m_dynamicsWorld->getDrawFlags());
}
}
m_data->m_guiHelper->drawDebugDrawerLines();
m_data->m_guiHelper->clearLines();
if (m_data->m_dynamicsWorld->getSoftBodyArray().size())
{
for (int i = 0; i < m_data->m_dynamicsWorld->getSoftBodyArray().size(); i++)
{
btSoftBody* psb = (btSoftBody*)m_data->m_dynamicsWorld->getSoftBodyArray()[i];
{
btSoftBodyHelpers::DrawFrame(psb, m_data->m_dynamicsWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(psb, m_data->m_dynamicsWorld->getDebugDrawer(), m_data->m_dynamicsWorld->getDrawFlags());
}
}
m_data->m_guiHelper->drawDebugDrawerLines();
m_data->m_guiHelper->clearLines();
}
#endif
#endif
}

13
examples/SharedMemory/PhysicsServerExample.cpp
View File

@ -654,16 +654,21 @@ public:
{
if (m_debugDraw)
{
m_csGUI->lock();
//draw stuff and flush?
m_debugDraw->drawDebugDrawerLines();
m_csGUI->unlock();
}
}
virtual void clearLines()
{
if (m_debugDraw)
{
m_debugDraw->clearLines();
m_csGUI->lock();
if (m_debugDraw)
{
m_debugDraw->clearLines();
}
m_csGUI->unlock();
}
}
GUIHelperInterface* m_childGuiHelper;