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Merge pull request #2594 from RanTig/SyncSingleBodyUserData

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Adds an option to syncUserData to specify the bodies for which to sync.
This commit is contained in:
erwincoumans 2020-01-29 19:23:44 -08:00 committed by GitHub
commit 7380a55ba7
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7 changed files with 68 additions and 9 deletions
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11
examples/SharedMemory/PhysicsClientC_API.cpp
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@ -3714,9 +3714,20 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitSyncUserDataCommand(b3PhysicsCli
b3Assert(command);
command->m_type = CMD_SYNC_USER_DATA;
command->m_syncUserDataRequestArgs.m_numRequestedBodies = 0;
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API void b3AddBodyToSyncUserDataRequest(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_SYNC_USER_DATA);
command->m_syncUserDataRequestArgs.m_requestedBodyIds[command->m_syncUserDataRequestArgs.m_numRequestedBodies++] = bodyUniqueId;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitAddUserDataCommand(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex, int visualShapeIndex, const char* key, UserDataValueType valueType, int valueLength, const void* valueData)
{
PhysicsClient* cl = (PhysicsClient*)physClient;

1
examples/SharedMemory/PhysicsClientC_API.h
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@ -130,6 +130,7 @@ extern "C"
///user data handling
B3_SHARED_API b3SharedMemoryCommandHandle b3InitSyncUserDataCommand(b3PhysicsClientHandle physClient);
B3_SHARED_API void b3AddBodyToSyncUserDataRequest(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitAddUserDataCommand(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex, int visualShapeIndex, const char* key, enum UserDataValueType valueType, int valueLength, const void* valueData);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRemoveUserDataCommand(b3PhysicsClientHandle physClient, int userDataId);

19
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -6139,7 +6139,24 @@ bool PhysicsServerCommandProcessor::processSyncUserDataCommand(const struct Shar
BT_PROFILE("CMD_SYNC_USER_DATA");
b3AlignedObjectArray<int> userDataHandles;
m_data->m_userDataHandles.getUsedHandles(userDataHandles);
if (clientCmd.m_syncUserDataRequestArgs.m_numRequestedBodies == 0)
{
m_data->m_userDataHandles.getUsedHandles(userDataHandles);
}
else
{
for (int i=0; i<clientCmd.m_syncUserDataRequestArgs.m_numRequestedBodies; ++i) {
const int bodyUniqueId = clientCmd.m_syncUserDataRequestArgs.m_requestedBodyIds[i];
InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
if (!body)
{
return hasStatus;
}
for (int j=0; j < body->m_userDataHandles.size(); ++j) {
userDataHandles.push_back(body->m_userDataHandles[j]);
}
}
}
if (userDataHandles.size())
{
memcpy(bufferServerToClient, &userDataHandles[0], sizeof(int) * userDataHandles.size());

9
examples/SharedMemory/SharedMemoryCommands.h
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@ -1044,6 +1044,14 @@ struct b3StateSerializationArguments
int m_stateId;
};
struct SyncUserDataRequestArgs
{
// The number of bodies for which we'd like to sync the user data of. When 0, all bodies are synced.
int m_numRequestedBodies;
// The body IDs for which we'd like to sync the user data of.
int m_requestedBodyIds[MAX_REQUESTED_BODIES_LENGTH];
};
struct SyncUserDataArgs
{
// User data identifiers stored in m_bulletStreamDataServerToClientRefactor
@ -1148,6 +1156,7 @@ struct SharedMemoryCommand
struct b3CustomCommand m_customCommandArgs;
struct b3StateSerializationArguments m_loadStateArguments;
struct RequestCollisionShapeDataArgs m_requestCollisionShapeDataArguments;
struct SyncUserDataRequestArgs m_syncUserDataRequestArgs;
struct UserDataRequestArgs m_userDataRequestArgs;
struct AddUserDataRequestArgs m_addUserDataRequestArgs;
struct UserDataRequestArgs m_removeUserDataRequestArgs;

4
examples/SharedMemory/SharedMemoryPublic.h
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@ -7,7 +7,8 @@
//Please don't replace an existing magic number:
//instead, only ADD a new one at the top, comment-out previous one
#define SHARED_MEMORY_MAGIC_NUMBER 201911280
#define SHARED_MEMORY_MAGIC_NUMBER 202001230
//#define SHARED_MEMORY_MAGIC_NUMBER 201911280
//#define SHARED_MEMORY_MAGIC_NUMBER 201911180
//#define SHARED_MEMORY_MAGIC_NUMBER 201909030
//#define SHARED_MEMORY_MAGIC_NUMBER 201908110
@ -494,6 +495,7 @@ enum b3VREventType
#define MAX_SDF_BODIES 512
#define MAX_USER_DATA_KEY_LENGTH 256
#define MAX_REQUESTED_BODIES_LENGTH 256
enum b3VRButtonInfo
{

31
examples/pybullet/pybullet.c
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@ -752,14 +752,19 @@ static PyObject* pybullet_syncUserData(PyObject* self, PyObject* args, PyObject*
{
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"physicsClientId", NULL};
static char* kwlistSingleBody[] = {"bodyUniqueId", "physicsClientId", NULL};
static char* kwlistMultipleBodies[] = {"bodyUniqueIds", "physicsClientId", NULL};
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|i", kwlist, &physicsClientId))
{
return NULL;
PyObject* bodyUniqueIdsObj = 0;
int requestedBodyUniqueId = -1;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|ii", kwlistSingleBody, &requestedBodyUniqueId, &physicsClientId)) {
PyErr_Clear();
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|Oi", kwlistMultipleBodies, &bodyUniqueIdsObj, &physicsClientId))
{
return NULL;
}
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
@ -769,6 +774,20 @@ static PyObject* pybullet_syncUserData(PyObject* self, PyObject* args, PyObject*
}
command = b3InitSyncUserDataCommand(sm);
if (bodyUniqueIdsObj)
{
PyObject *seq = PySequence_Fast(bodyUniqueIdsObj, "expected a sequence");
int len = PySequence_Size(bodyUniqueIdsObj);
for (int i=0; i < len; ++i)
{
b3AddBodyToSyncUserDataRequest(command, pybullet_internalGetIntFromSequence(seq, i));
}
}
else if (requestedBodyUniqueId != -1)
{
b3AddBodyToSyncUserDataRequest(command, requestedBodyUniqueId);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
@ -11932,7 +11951,7 @@ static PyMethodDef SpamMethods[] = {
"Update body and constraint/joint information, in case other clients made changes."},
{"syncUserData", (PyCFunction)pybullet_syncUserData, METH_VARARGS | METH_KEYWORDS,
"syncUserData(physicsClientId=0)\n"
"syncUserData(bodyUniqueIds=[], physicsClientId=0)\n"
"Update user data, in case other clients made changes."},
{"addUserData", (PyCFunction)pybullet_addUserData, METH_VARARGS | METH_KEYWORDS,

2
examples/pybullet/unittests/userDataTest.py
View File

@ -28,7 +28,7 @@ class TestUserDataMethods(unittest.TestCase):
def testLoadingUserDataFromURDF(self):
body_id = self.client.loadURDF(OBJECT_WITH_USER_DATA_PATH)
self.client.syncUserData()
self.client.syncUserData(body_id)
num_user_data = self.client.getNumUserData(body_id)
self.assertEqual(num_user_data, 7)