Merge remote-tracking branch 'bp/master'

examples/SharedMemory/PhysicsClientSharedMemory.cpp

@@ -1385,6 +1385,15 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
 
 		if (serverCmd.m_type == CMD_SYNC_USER_DATA_COMPLETED) {
 			B3_PROFILE("CMD_SYNC_USER_DATA_COMPLETED");
+			// Remove all cached user data entries.
+			for(int i=0; i<m_data->m_bodyJointMap.size(); i++)
+			{
+				BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap.getAtIndex(i);
+				if (bodyJointsPtr && *bodyJointsPtr)
+				{
+					(*bodyJointsPtr)->m_jointToUserDataMap.clear();
+				}
+			}
 			const int numIdentifiers = serverCmd.m_syncUserDataArgs.m_numUserDataIdentifiers;
 			if (numIdentifiers > 0) {
 				m_data->m_tempBackupServerStatus = m_data->m_lastServerStatus;

examples/SharedMemory/PhysicsDirect.cpp

@@ -695,6 +695,7 @@ void PhysicsDirect::processAddUserData(const struct SharedMemoryStatus& serverCm
 			(userDataCachePtr)->m_userDataMap.insert(userDataGlobalId.m_userDataId, SharedMemoryUserData(serverCmd.m_userDataResponseArgs.m_key));
 			userDataPtr = (userDataCachePtr)->m_userDataMap[userDataGlobalId.m_userDataId];
 			userDataPtr->replaceValue(dataStream,serverCmd.m_userDataResponseArgs.m_valueLength,userDataValue.m_type);
+			(userDataCachePtr)->m_keyToUserDataIdMap.insert(serverCmd.m_userDataResponseArgs.m_key, userDataGlobalId.m_userDataId);
 		}
 	}
 }
@@ -1127,6 +1128,15 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
 	case CMD_SYNC_USER_DATA_COMPLETED:
 	{
 		B3_PROFILE("CMD_SYNC_USER_DATA_COMPLETED");
+		// Remove all cached user data entries.
+		for(int i=0; i<m_data->m_bodyJointMap.size(); i++)
+		{
+			BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap.getAtIndex(i);
+			if (bodyJointsPtr && *bodyJointsPtr)
+			{
+				(*bodyJointsPtr)->m_jointToUserDataMap.clear();
+			}
+		}
 		const int numIdentifiers = serverCmd.m_syncUserDataArgs.m_numUserDataIdentifiers;
 		b3UserDataGlobalIdentifier *identifiers = new b3UserDataGlobalIdentifier[numIdentifiers];
 		memcpy(identifiers, &m_data->m_bulletStreamDataServerToClient[0], numIdentifiers * sizeof(b3UserDataGlobalIdentifier));

examples/pybullet/unittests/userDataTest.py

@@ -0,0 +1,239 @@
+import unittest
+import pybullet
+
+from pybullet_utils import bullet_client
+
+PLANE_PATH = "plane.urdf"
+ROBOT_PATH = "r2d2.urdf"
+
+
+class TestUserDataMethods(unittest.TestCase):
+
+	@classmethod
+	def setUpClass(cls):
+		TestUserDataMethods.server = bullet_client.BulletClient(connection_mode=pybullet.SHARED_MEMORY_SERVER)
+
+	@classmethod
+	def tearDownClass(cls):
+		del TestUserDataMethods.server
+
+	def setUp(self):
+		self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY)
+
+	def tearDown(self):
+		self.client.resetSimulation()
+		del self.client
+
+	def testAddUserData(self):
+		plane_id = self.client.loadURDF(PLANE_PATH)
+		uid1 = self.client.addUserData(plane_id, 0, "MyKey1", "MyValue1")
+		uid2 = self.client.addUserData(plane_id, 0, "MyKey2", "MyValue2")
+		uid3 = self.client.addUserData(plane_id, 0, "MyKey3", "MyValue3")
+		uid4 = self.client.addUserData(plane_id, 0, "MyKey4", "MyValue4")
+
+		# Retrieve user data and make sure it's correct.
+		self.assertEqual(b"MyValue1", self.client.getUserData(plane_id, 0, uid1))
+		self.assertEqual(b"MyValue2", self.client.getUserData(plane_id, 0, uid2))
+		self.assertEqual(b"MyValue3", self.client.getUserData(plane_id, 0, uid3))
+		self.assertEqual(b"MyValue4", self.client.getUserData(plane_id, 0, uid4))
+
+		# Disconnect/reconnect and make sure that the user data is synced back.
+		del self.client
+		self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY)
+
+		self.assertEqual(b"MyValue1", self.client.getUserData(plane_id, 0, uid1))
+		self.assertEqual(b"MyValue2", self.client.getUserData(plane_id, 0, uid2))
+		self.assertEqual(b"MyValue3", self.client.getUserData(plane_id, 0, uid3))
+		self.assertEqual(b"MyValue4", self.client.getUserData(plane_id, 0, uid4))
+
+		self.client.resetSimulation()
+		self.assertEqual(None, self.client.getUserData(plane_id, 0, uid1))
+		self.assertEqual(None, self.client.getUserData(plane_id, 0, uid2))
+		self.assertEqual(None, self.client.getUserData(plane_id, 0, uid3))
+		self.assertEqual(None, self.client.getUserData(plane_id, 0, uid4))
+
+
+	def testGetNumUserData(self):
+		plane_id = self.client.loadURDF(PLANE_PATH)
+		uid1 = self.client.addUserData(plane_id, 0, "MyKey1", "MyValue1")
+		uid2 = self.client.addUserData(plane_id, 0, "MyKey2", "MyValue2")
+		uid3 = self.client.addUserData(plane_id, 0, "MyKey3", "MyValue3")
+		uid4 = self.client.addUserData(plane_id, 0, "MyKey4", "MyValue4")
+
+		self.assertEqual(4, self.client.getNumUserData(plane_id, 0))
+		
+		del self.client
+		self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY)
+
+		self.assertEqual(4, self.client.getNumUserData(plane_id, 0))
+
+
+	def testReplaceUserData(self):
+		plane_id = self.client.loadURDF(PLANE_PATH)
+		uid = self.client.addUserData(plane_id, 0, "MyKey", "MyValue")
+
+		self.assertEqual(b"MyValue", self.client.getUserData(plane_id, 0, uid))
+		
+		new_uid = self.client.addUserData(plane_id, 0, "MyKey", "MyNewValue")
+		self.assertEqual(uid, new_uid)
+		self.assertEqual(b"MyNewValue", self.client.getUserData(plane_id, 0, uid))
+
+		del self.client
+		self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY)
+
+		self.assertEqual(b"MyNewValue", self.client.getUserData(plane_id, 0, uid))
+
+	def testGetUserDataId(self):
+		plane_id = self.client.loadURDF(PLANE_PATH)
+		uid1 = self.client.addUserData(plane_id, 0, "MyKey1", "MyValue1")
+		uid2 = self.client.addUserData(plane_id, 0, "MyKey2", "MyValue2")
+		uid3 = self.client.addUserData(plane_id, 0, "MyKey3", "MyValue3")
+		uid4 = self.client.addUserData(plane_id, 0, "MyKey4", "MyValue4")
+
+		self.assertEqual(uid1, self.client.getUserDataId(plane_id, 0, "MyKey1"))
+		self.assertEqual(uid2, self.client.getUserDataId(plane_id, 0, "MyKey2"))
+		self.assertEqual(uid3, self.client.getUserDataId(plane_id, 0, "MyKey3"))
+		self.assertEqual(uid4, self.client.getUserDataId(plane_id, 0, "MyKey4"))
+
+		del self.client
+		self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY)
+
+		self.assertEqual(uid1, self.client.getUserDataId(plane_id, 0, "MyKey1"))
+		self.assertEqual(uid2, self.client.getUserDataId(plane_id, 0, "MyKey2"))
+		self.assertEqual(uid3, self.client.getUserDataId(plane_id, 0, "MyKey3"))
+		self.assertEqual(uid4, self.client.getUserDataId(plane_id, 0, "MyKey4"))
+
+
+	def testRemoveUserData(self):
+		plane_id = self.client.loadURDF(PLANE_PATH)
+		uid1 = self.client.addUserData(plane_id, 0, "MyKey1", "MyValue1")
+		uid2 = self.client.addUserData(plane_id, 0, "MyKey2", "MyValue2")
+		uid3 = self.client.addUserData(plane_id, 0, "MyKey3", "MyValue3")
+		uid4 = self.client.addUserData(plane_id, 0, "MyKey4", "MyValue4")
+
+		self.client.removeUserData(plane_id, 0, uid2)
+
+		self.assertEqual(3, self.client.getNumUserData(plane_id, 0))
+		self.assertEqual(-1, self.client.getUserDataId(plane_id, 0, "MyKey2"))
+		self.assertEqual(None, self.client.getUserData(plane_id, 0, uid2))
+		self.assertEqual(b"MyValue1", self.client.getUserData(plane_id, 0, uid1))
+		self.assertEqual(b"MyValue3", self.client.getUserData(plane_id, 0, uid3))
+		self.assertEqual(b"MyValue4", self.client.getUserData(plane_id, 0, uid4))
+
+		del self.client
+		self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY)
+
+		self.assertEqual(3, self.client.getNumUserData(plane_id, 0))
+		self.assertEqual(-1, self.client.getUserDataId(plane_id, 0, "MyKey2"))
+		self.assertEqual(None, self.client.getUserData(plane_id, 0, uid2))
+		self.assertEqual(b"MyValue1", self.client.getUserData(plane_id, 0, uid1))
+		self.assertEqual(b"MyValue3", self.client.getUserData(plane_id, 0, uid3))
+		self.assertEqual(b"MyValue4", self.client.getUserData(plane_id, 0, uid4))
+
+
+	def testIterateAllUserData(self):
+		plane_id = self.client.loadURDF(PLANE_PATH)
+		uid1 = self.client.addUserData(plane_id, 0, "MyKey1", "MyValue1")
+		uid2 = self.client.addUserData(plane_id, 0, "MyKey2", "MyValue2")
+		uid3 = self.client.addUserData(plane_id, 0, "MyKey3", "MyValue3")
+		uid4 = self.client.addUserData(plane_id, 0, "MyKey4", "MyValue4")
+
+		entries = set()
+		for i in range(self.client.getNumUserData(plane_id, 0)):
+			userDataId, key = self.client.getUserDataInfo(plane_id, 0, i)
+			value = self.client.getUserData(plane_id, 0, userDataId);
+			entries.add((userDataId, key, value))
+
+		self.assertTrue((uid1, b"MyKey1", b"MyValue1") in entries)
+		self.assertTrue((uid2, b"MyKey2", b"MyValue2") in entries)
+		self.assertTrue((uid3, b"MyKey3", b"MyValue3") in entries)
+		self.assertTrue((uid4, b"MyKey4", b"MyValue4") in entries)
+		self.assertEqual(4, len(entries))
+
+
+	def testRemoveBody(self):
+		plane_id = self.client.loadURDF(PLANE_PATH)
+		uid1 = self.client.addUserData(plane_id, 0, "MyKey1", "MyValue1")
+		uid2 = self.client.addUserData(plane_id, 0, "MyKey2", "MyValue2")
+		uid3 = self.client.addUserData(plane_id, 0, "MyKey3", "MyValue3")
+		uid4 = self.client.addUserData(plane_id, 0, "MyKey4", "MyValue4")
+
+		self.client.removeBody(plane_id)
+		self.assertEqual(None, self.client.getUserData(plane_id, 0, uid1))
+		self.assertEqual(None, self.client.getUserData(plane_id, 0, uid2))
+		self.assertEqual(None, self.client.getUserData(plane_id, 0, uid3))
+		self.assertEqual(None, self.client.getUserData(plane_id, 0, uid4))
+
+		del self.client
+		self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY)
+
+		self.assertEqual(None, self.client.getUserData(plane_id, 0, uid1))
+		self.assertEqual(None, self.client.getUserData(plane_id, 0, uid2))
+		self.assertEqual(None, self.client.getUserData(plane_id, 0, uid3))
+		self.assertEqual(None, self.client.getUserData(plane_id, 0, uid4))
+
+	def testMultipleBodies(self):
+		plane1 = self.client.loadURDF(PLANE_PATH)
+		plane2 = self.client.loadURDF(PLANE_PATH)
+		
+		uid1 = self.client.addUserData(plane1, 0, "MyKey1", "This is plane 1 - 1")
+		uid2 = self.client.addUserData(plane1, 0, "MyKey2", "This is plane 1 - 2")
+
+		uid3 = self.client.addUserData(plane2, 0, "MyKey1", "This is plane 2 - 1")
+		uid4 = self.client.addUserData(plane2, 0, "MyKey2", "This is plane 2 - 2")
+		uid5 = self.client.addUserData(plane2, 0, "MyKey3", "This is plane 2 - 3")
+
+		self.assertEqual(b"This is plane 1 - 1", self.client.getUserData(plane1, 0, self.client.getUserDataId(plane1, 0, "MyKey1")))
+		self.assertEqual(b"This is plane 1 - 2", self.client.getUserData(plane1, 0, self.client.getUserDataId(plane1, 0, "MyKey2")))
+
+		self.assertEqual(b"This is plane 2 - 1", self.client.getUserData(plane2, 0, self.client.getUserDataId(plane2, 0, "MyKey1")))
+		self.assertEqual(b"This is plane 2 - 2", self.client.getUserData(plane2, 0, self.client.getUserDataId(plane2, 0, "MyKey2")))
+		self.assertEqual(b"This is plane 2 - 3", self.client.getUserData(plane2, 0, self.client.getUserDataId(plane2, 0, "MyKey3")))
+
+
+	def testMultipleLinks(self):
+		body_id = self.client.loadURDF(ROBOT_PATH)
+		num_links = self.client.getNumJoints(body_id)
+
+		self.assertTrue(num_links > 1)
+
+		for link_index in range(num_links):
+			uid1 = self.client.addUserData(body_id, link_index, "MyKey1", "Value1 for link %s" % link_index)
+			uid2 = self.client.addUserData(body_id, link_index, "MyKey2", "Value2 for link %s" % link_index)
+
+		for link_index in range(num_links):
+			uid1 = self.client.getUserDataId(body_id, link_index, "MyKey1")
+			uid2 = self.client.getUserDataId(body_id, link_index, "MyKey2")
+			self.assertEqual(("Value1 for link %s" % link_index).encode(), self.client.getUserData(body_id, link_index, uid1))
+			self.assertEqual(("Value2 for link %s" % link_index).encode(), self.client.getUserData(body_id, link_index, uid2))
+
+	def testMultipleClients(self):
+		client1 = self.client
+		client2 = bullet_client.BulletClient(pybullet.SHARED_MEMORY)
+
+		plane_id = client1.loadURDF(PLANE_PATH)
+		client2.syncBodyInfo()
+
+		# Add user data on client 1, check on client 1
+		uid = client1.addUserData(plane_id, 0, "MyKey", "MyValue")
+		self.assertEqual(None, client2.getUserData(plane_id, 0, uid))
+		client2.syncUserData()
+		self.assertEqual(b"MyValue", client2.getUserData(plane_id, 0, uid))
+
+		# Overwrite the value on client 2, check on client 1
+		client2.addUserData(plane_id, 0, "MyKey", "MyNewValue")
+		self.assertEqual(b"MyValue", client1.getUserData(plane_id, 0, uid))
+		client1.syncUserData()
+		self.assertEqual(b"MyNewValue", client1.getUserData(plane_id, 0, uid))
+
+		# Remove user data on client 1, check on client 2
+		client1.removeUserData(plane_id, 0, uid)
+		self.assertEqual(b"MyNewValue", client2.getUserData(plane_id, 0, uid))
+		client2.syncUserData()
+		self.assertEqual(None, client2.getUserData(plane_id, 0, uid))
+
+		del client2
+
+
+if __name__ == "__main__":
+    unittest.main()

src/LinearMath/btHashMap.h

@@ -17,12 +17,13 @@ subject to the following restrictions:
 #ifndef BT_HASH_MAP_H
 #define BT_HASH_MAP_H
 
+#include <string>
 #include "btAlignedObjectArray.h"
 
 ///very basic hashable string implementation, compatible with btHashMap
 struct btHashString
 {
-	const char* m_string;
+	std::string m_string;
 	unsigned int	m_hash;
 
 	SIMD_FORCE_INLINE	unsigned int getHash()const
@@ -71,7 +72,7 @@ struct btHashString
 	bool equals(const btHashString& other) const
 	{
 		return (m_string == other.m_string) ||
-			(0==portableStringCompare(m_string,other.m_string));
+			(0==portableStringCompare(m_string.c_str(),other.m_string.c_str()));
 
 	}