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Merge pull request #1675 from erwincoumans/master

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expose PyBullet.SHARED_MEMORY_SERVER
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erwincoumans 2018-05-07 17:31:13 -07:00 committed by GitHub
commit c76f888366
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6 changed files with 119 additions and 20 deletions
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6
examples/CommonInterfaces/CommonExampleInterface.h
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@ -19,13 +19,15 @@ struct CommonExampleOptions
const char* m_fileName;
class SharedMemoryInterface* m_sharedMem;
CommandProcessorCreationInterface* m_commandProcessorCreation;
bool m_skipGraphicsUpdate;
CommonExampleOptions(struct GUIHelperInterface* helper, int option=0)
:m_guiHelper(helper),
m_option(option),
m_fileName(0),
m_sharedMem(0),
m_commandProcessorCreation(0)
m_commandProcessorCreation(0),
m_skipGraphicsUpdate(false)
{
}

28
examples/SharedMemory/PhysicsServerExample.cpp
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@ -708,7 +708,8 @@ public:
int m_primitiveType;
int m_textureId;
int m_instanceId;
bool m_skipGraphicsUpdate;
void mainThreadRelease()
{
BT_PROFILE("mainThreadRelease");
@ -725,7 +726,14 @@ public:
void workerThreadWait()
{
BT_PROFILE("workerThreadWait");
BT_PROFILE("workerThreadWait");
if (m_skipGraphicsUpdate)
{
getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
m_cs->unlock();
return;
}
m_cs2->lock();
m_cs->unlock();
m_cs2->unlock();
@ -740,7 +748,7 @@ public:
}
}
MultiThreadedOpenGLGuiHelper(CommonGraphicsApp* app, GUIHelperInterface* guiHelper)
MultiThreadedOpenGLGuiHelper(CommonGraphicsApp* app, GUIHelperInterface* guiHelper, int skipGraphicsUpdate)
:
//m_app(app),
m_cs(0),
@ -750,7 +758,10 @@ public:
m_debugDraw(0),
m_uidGenerator(0),
m_texels(0),
m_textureId(-1)
m_shapeIndex(-1),
m_textureId(-1),
m_instanceId(-1),
m_skipGraphicsUpdate(skipGraphicsUpdate)
{
m_childGuiHelper = guiHelper;
@ -971,6 +982,7 @@ public:
m_getShapeIndex_instance = instance;
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperGetShapeIndexFromInstance);
getShapeIndex_shapeIndex=-1;
workerThreadWait();
return getShapeIndex_shapeIndex;
}
@ -1205,6 +1217,7 @@ public:
m_cs->lock();
m_cs->setSharedParam(1, eGUIUserDebugAddText);
m_resultUserDebugTextUid=-1;
workerThreadWait();
return m_resultUserDebugTextUid;
@ -1237,6 +1250,7 @@ public:
m_cs->lock();
m_cs->setSharedParam(1, eGUIUserDebugAddParameter);
m_userDebugParamUid=-1;
workerThreadWait();
return m_userDebugParamUid;
@ -1265,6 +1279,7 @@ public:
m_tmpLine.m_trackingVisualShapeIndex = trackingVisualShapeIndex;
m_cs->lock();
m_cs->setSharedParam(1, eGUIUserDebugAddLine);
m_resultDebugLineUid=-1;
workerThreadWait();
return m_resultDebugLineUid;
}
@ -1729,9 +1744,6 @@ void PhysicsServerExample::initPhysics()
m_guiHelper->setUpAxis(upAxis);
m_threadSupport = createMotionThreadSupport(MAX_MOTION_NUM_THREADS);
@ -3226,7 +3238,7 @@ extern int gSharedMemoryKey;
class CommonExampleInterface* PhysicsServerCreateFuncInternal(struct CommonExampleOptions& options)
{
MultiThreadedOpenGLGuiHelper* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper(options.m_guiHelper->getAppInterface(),options.m_guiHelper);
MultiThreadedOpenGLGuiHelper* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper(options.m_guiHelper->getAppInterface(),options.m_guiHelper, options.m_skipGraphicsUpdate);
PhysicsServerExample* example = new PhysicsServerExample(guiHelperWrapper,

51
examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
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@ -7,7 +7,7 @@
#include <stdio.h>
#include <string.h>
#include "PhysicsServerExampleBullet2.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "../CommonInterfaces/CommonExampleInterface.h"
#include "InProcessMemory.h"
@ -158,15 +158,19 @@ class InProcessPhysicsClientExistingExampleBrowser : public PhysicsClientSharedM
b3Clock m_clock;
unsigned long long int m_prevTime;
public:
InProcessPhysicsClientExistingExampleBrowser (struct GUIHelperInterface* guiHelper)
InProcessPhysicsClientExistingExampleBrowser (struct GUIHelperInterface* guiHelper, bool useInProcessMemory, bool skipGraphicsUpdate)
{
m_sharedMem = new InProcessMemory;
m_sharedMem=0;
CommonExampleOptions options(guiHelper);
options.m_sharedMem = m_sharedMem;
m_physicsServerExample = PhysicsServerCreateFuncBullet2(options);
if (useInProcessMemory)
{
m_sharedMem = new InProcessMemory;
options.m_sharedMem = m_sharedMem;
}
options.m_skipGraphicsUpdate = skipGraphicsUpdate;
m_physicsServerExample = PhysicsServerCreateFuncBullet2(options);
m_physicsServerExample ->initPhysics();
m_physicsServerExample ->resetCamera();
setSharedMemoryInterface(m_sharedMem);
@ -251,9 +255,36 @@ int b3InProcessMouseButtonCallback(b3PhysicsClientHandle clientHandle, int butto
B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect(void* guiHelperPtr)
{
static DummyGUIHelper noGfx;
GUIHelperInterface* guiHelper = (GUIHelperInterface*) guiHelperPtr;
InProcessPhysicsClientExistingExampleBrowser* cl = new InProcessPhysicsClientExistingExampleBrowser(guiHelper);
//InProcessPhysicsClientFromGuiHelper* cl = new InProcessPhysicsClientFromGuiHelper(guiHelper);
if (!guiHelper)
{
guiHelper = &noGfx;
}
bool useInprocessMemory = true;
bool skipGraphicsUpdate = false;
InProcessPhysicsClientExistingExampleBrowser* cl = new InProcessPhysicsClientExistingExampleBrowser(guiHelper,useInprocessMemory,skipGraphicsUpdate);
cl->connect();
return (b3PhysicsClientHandle ) cl;
}
B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect2(void* guiHelperPtr)
{
static DummyGUIHelper noGfx;
GUIHelperInterface* guiHelper = (GUIHelperInterface*) guiHelperPtr;
if (!guiHelper)
{
guiHelper = &noGfx;
}
bool useInprocessMemory = false;
bool skipGraphicsUpdate = true;
InProcessPhysicsClientExistingExampleBrowser* cl = new InProcessPhysicsClientExistingExampleBrowser(guiHelper, useInprocessMemory, skipGraphicsUpdate);
cl->setSharedMemoryKey(SHARED_MEMORY_KEY+1);
cl->connect();
return (b3PhysicsClientHandle ) cl;
}

2
examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h
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@ -17,6 +17,8 @@ B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMain
B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThreadSharedMemory(int argc, char* argv[]);
B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect(void* guiHelperPtr);
//create a shared memory physics server, with a DummyGUIHelper (no graphics)
B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect2(void* guiHelperPtr);
///ignore the following APIs, they are for internal use for example browser
void b3InProcessRenderSceneInternal(b3PhysicsClientHandle clientHandle);

1
examples/SharedMemory/SharedMemoryPublic.h
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@ -668,6 +668,7 @@ enum eCONNECT_METHOD {
eCONNECT_EXISTING_EXAMPLE_BROWSER=6,
eCONNECT_GUI_SERVER=7,
eCONNECT_GUI_MAIN_THREAD=8,
eCONNECT_SHARED_MEMORY_SERVER=9,
};
enum eURDF_Flags

51
examples/pybullet/pybullet.c
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@ -397,6 +397,11 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
#endif
break;
}
case eCONNECT_SHARED_MEMORY_SERVER:
{
sm = b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect2(0);
break;
}
case eCONNECT_DIRECT:
{
sm = b3ConnectPhysicsDirect();
@ -594,6 +599,42 @@ static PyObject* pybullet_getConnectionInfo(PyObject* self, PyObject* args, PyOb
}
static PyObject* pybullet_syncBodyInfo(PyObject* self, PyObject* args, PyObject* keywds)
{
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|i", kwlist, &physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
command = b3InitSyncBodyInfoCommand(sm);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_SYNC_BODY_INFO_COMPLETED)
{
PyErr_SetString(SpamError, "Error in syncBodyzInfo command.");
return NULL;
}
Py_INCREF(Py_None);
return Py_None;
}
static PyObject* pybullet_saveWorld(PyObject* self, PyObject* args, PyObject* keywds)
{
const char* worldFileName = "";
@ -8611,6 +8652,8 @@ static PyMethodDef SpamMethods[] = {
"disconnect(physicsClientId=0)\n"
"Disconnect from the physics server."},
{"getConnectionInfo", (PyCFunction)pybullet_getConnectionInfo, METH_VARARGS | METH_KEYWORDS,
"getConnectionInfo(physicsClientId=0)\n"
"Return if a given client id is connected, and using what method."},
@ -8725,6 +8768,10 @@ static PyMethodDef SpamMethods[] = {
{"getBodyInfo", (PyCFunction)pybullet_getBodyInfo, METH_VARARGS | METH_KEYWORDS,
"Get the body info, given a body unique id."},
{"syncBodyInfo", (PyCFunction)pybullet_syncBodyInfo, METH_VARARGS | METH_KEYWORDS,
"syncBodyInfo(physicsClientId=0)\n"
"Update body and constraint/joint information, in case other clients made changes."},
{"removeBody", (PyCFunction)pybullet_removeBody, METH_VARARGS | METH_KEYWORDS,
"Remove a body by its body unique id."},
@ -9113,7 +9160,11 @@ initpybullet(void)
PyModule_AddIntConstant(m, "TCP", eCONNECT_TCP); // user read
PyModule_AddIntConstant(m, "GUI_SERVER", eCONNECT_GUI_SERVER); // user read
PyModule_AddIntConstant(m, "GUI_MAIN_THREAD", eCONNECT_GUI_MAIN_THREAD); // user read
PyModule_AddIntConstant(m, "SHARED_MEMORY_SERVER", eCONNECT_SHARED_MEMORY_SERVER); // user read
PyModule_AddIntConstant(m, "SHARED_MEMORY_KEY", SHARED_MEMORY_KEY);
PyModule_AddIntConstant(m, "SHARED_MEMORY_KEY2", SHARED_MEMORY_KEY+1);
PyModule_AddIntConstant(m, "JOINT_REVOLUTE", eRevoluteType); // user read
PyModule_AddIntConstant(m, "JOINT_PRISMATIC", ePrismaticType); // user read
PyModule_AddIntConstant(m, "JOINT_SPHERICAL", eSphericalType); // user read