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Code Issues Releases Wiki Activity

Adds extra information about the UserData in the notifications.

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When using the USER_DATA_ADDED and USER_DATA_REMOVED notifications, some
more information is necessary than just the user data id, especially
when a user data entry has been removed.
This commit is contained in:
Tigran Gasparian 2019-02-12 12:02:20 +01:00
parent 12e6478689
commit d9e36935e6
3 changed files with 44 additions and 29 deletions
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60
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@ -5599,22 +5599,23 @@ bool PhysicsServerCommandProcessor::processAddUserDataCommand(const struct Share
BT_PROFILE("CMD_ADD_USER_DATA");
serverStatusOut.m_type = CMD_ADD_USER_DATA_FAILED;
if (clientCmd.m_addUserDataRequestArgs.m_bodyUniqueId < 0 || clientCmd.m_addUserDataRequestArgs.m_bodyUniqueId >= m_data->m_bodyHandles.getNumHandles())
const AddUserDataRequestArgs &addUserDataArgs = clientCmd.m_addUserDataRequestArgs;
if (addUserDataArgs.m_bodyUniqueId < 0 || addUserDataArgs.m_bodyUniqueId >= m_data->m_bodyHandles.getNumHandles())
{
return hasStatus;
}
InternalBodyData* body = m_data->m_bodyHandles.getHandle(clientCmd.m_addUserDataRequestArgs.m_bodyUniqueId);
InternalBodyData* body = m_data->m_bodyHandles.getHandle(addUserDataArgs.m_bodyUniqueId);
if (!body)
{
return hasStatus;
}
SharedMemoryUserDataHashKey userDataIdentifier(
clientCmd.m_addUserDataRequestArgs.m_key,
clientCmd.m_addUserDataRequestArgs.m_bodyUniqueId,
clientCmd.m_addUserDataRequestArgs.m_linkIndex,
clientCmd.m_addUserDataRequestArgs.m_visualShapeIndex);
addUserDataArgs.m_key,
addUserDataArgs.m_bodyUniqueId,
addUserDataArgs.m_linkIndex,
addUserDataArgs.m_visualShapeIndex);
int* userDataHandlePtr = m_data->m_userDataHandleLookup.find(userDataIdentifier);
int userDataHandle = userDataHandlePtr ? *userDataHandlePtr : m_data->m_userDataHandles.allocHandle();
@ -5627,29 +5628,33 @@ bool PhysicsServerCommandProcessor::processAddUserDataCommand(const struct Share
if (!userDataHandlePtr)
{
userData->m_key = clientCmd.m_addUserDataRequestArgs.m_key;
userData->m_bodyUniqueId = clientCmd.m_addUserDataRequestArgs.m_bodyUniqueId;
userData->m_linkIndex = clientCmd.m_addUserDataRequestArgs.m_linkIndex;
userData->m_visualShapeIndex = clientCmd.m_addUserDataRequestArgs.m_visualShapeIndex;
userData->m_key = addUserDataArgs.m_key;
userData->m_bodyUniqueId = addUserDataArgs.m_bodyUniqueId;
userData->m_linkIndex = addUserDataArgs.m_linkIndex;
userData->m_visualShapeIndex = addUserDataArgs.m_visualShapeIndex;
m_data->m_userDataHandleLookup.insert(userDataIdentifier, userDataHandle);
body->m_userDataHandles.push_back(userDataHandle);
}
userData->replaceValue(bufferServerToClient,
clientCmd.m_addUserDataRequestArgs.m_valueLength,
clientCmd.m_addUserDataRequestArgs.m_valueType);
userData->replaceValue(bufferServerToClient, addUserDataArgs.m_valueLength, addUserDataArgs.m_valueType);
serverStatusOut.m_type = CMD_ADD_USER_DATA_COMPLETED;
serverStatusOut.m_userDataResponseArgs.m_userDataId = userDataHandle;
serverStatusOut.m_userDataResponseArgs.m_bodyUniqueId = clientCmd.m_addUserDataRequestArgs.m_bodyUniqueId;
serverStatusOut.m_userDataResponseArgs.m_linkIndex = clientCmd.m_addUserDataRequestArgs.m_linkIndex;
serverStatusOut.m_userDataResponseArgs.m_visualShapeIndex = clientCmd.m_addUserDataRequestArgs.m_visualShapeIndex;
serverStatusOut.m_userDataResponseArgs.m_valueLength = clientCmd.m_addUserDataRequestArgs.m_valueLength;
serverStatusOut.m_userDataResponseArgs.m_valueType = clientCmd.m_addUserDataRequestArgs.m_valueType;
strcpy(serverStatusOut.m_userDataResponseArgs.m_key, clientCmd.m_addUserDataRequestArgs.m_key);
UserDataResponseArgs &userDataResponseArgs = serverStatusOut.m_userDataResponseArgs;
userDataResponseArgs.m_userDataId = userDataHandle;
userDataResponseArgs.m_bodyUniqueId = addUserDataArgs.m_bodyUniqueId;
userDataResponseArgs.m_linkIndex = addUserDataArgs.m_linkIndex;
userDataResponseArgs.m_visualShapeIndex = addUserDataArgs.m_visualShapeIndex;
userDataResponseArgs.m_valueLength = addUserDataArgs.m_valueLength;
userDataResponseArgs.m_valueType = addUserDataArgs.m_valueType;
strcpy(userDataResponseArgs.m_key, addUserDataArgs.m_key);
b3Notification notification;
notification.m_notificationType = USER_DATA_ADDED;
notification.m_userDataArgs.m_userDataId = userDataHandle;
b3UserDataNotificationArgs &userDataArgs = notification.m_userDataArgs;
userDataArgs.m_userDataId = userDataHandle;
userDataArgs.m_bodyUniqueId = addUserDataArgs.m_bodyUniqueId;
userDataArgs.m_linkIndex = addUserDataArgs.m_linkIndex;
userDataArgs.m_visualShapeIndex = addUserDataArgs.m_visualShapeIndex;
strcpy(userDataArgs.m_key, addUserDataArgs.m_key);
m_data->m_pluginManager.addNotification(notification);
// Keep bufferServerToClient as-is.
@ -5766,17 +5771,22 @@ bool PhysicsServerCommandProcessor::processRemoveUserDataCommand(const struct Sh
}
body->m_userDataHandles.remove(clientCmd.m_removeUserDataRequestArgs.m_userDataId);
b3Notification notification;
notification.m_notificationType = USER_DATA_REMOVED;
b3UserDataNotificationArgs &userDataArgs = notification.m_userDataArgs;
userDataArgs.m_userDataId = clientCmd.m_removeUserDataRequestArgs.m_userDataId;
userDataArgs.m_bodyUniqueId = userData->m_bodyUniqueId;
userDataArgs.m_linkIndex = userData->m_linkIndex;
userDataArgs.m_visualShapeIndex = userData->m_visualShapeIndex;
strcpy(userDataArgs.m_key, userData->m_key.c_str());
m_data->m_userDataHandleLookup.remove(SharedMemoryUserDataHashKey(userData));
m_data->m_userDataHandles.freeHandle(clientCmd.m_removeUserDataRequestArgs.m_userDataId);
serverStatusOut.m_removeUserDataResponseArgs = clientCmd.m_removeUserDataRequestArgs;
serverStatusOut.m_type = CMD_REMOVE_USER_DATA_COMPLETED;
b3Notification notification;
notification.m_notificationType = USER_DATA_REMOVED;
notification.m_userDataArgs.m_userDataId = clientCmd.m_removeUserDataRequestArgs.m_userDataId;
m_data->m_pluginManager.addNotification(notification);
return hasStatus;
}

1
examples/SharedMemory/SharedMemoryCommands.h
View File

@ -36,7 +36,6 @@ typedef unsigned long long int smUint64_t;
#define MAX_SDF_FILENAME_LENGTH 1024
#define MAX_FILENAME_LENGTH MAX_URDF_FILENAME_LENGTH
#define MAX_NUM_LINKS MAX_DEGREE_OF_FREEDOM
#define MAX_USER_DATA_KEY_LENGTH MAX_URDF_FILENAME_LENGTH
struct TmpFloat3

12
examples/SharedMemory/SharedMemoryPublic.h
View File

@ -8,8 +8,9 @@
//instead, only ADD a new one at the top, comment-out previous one
#define SHARED_MEMORY_MAGIC_NUMBER 201811260
//#define SHARED_MEMORY_MAGIC_NUMBER 201810250
#define SHARED_MEMORY_MAGIC_NUMBER 201902120
//#define SHARED_MEMORY_MAGIC_NUMBER 201811260
//#define SHARED_MEMORY_MAGIC_NUMBER 201810250
//#define SHARED_MEMORY_MAGIC_NUMBER 201809030
//#define SHARED_MEMORY_MAGIC_NUMBER 201809010
//#define SHARED_MEMORY_MAGIC_NUMBER 201807040
@ -292,7 +293,7 @@ struct b3UserDataValue
{
int m_type;
int m_length;
char* m_data1;
const char* m_data1;
};
struct b3UserConstraint
@ -441,6 +442,7 @@ enum b3VREventType
#define MAX_MOUSE_EVENTS 256
#define MAX_SDF_BODIES 512
#define MAX_USER_DATA_KEY_LENGTH 256
enum b3VRButtonInfo
{
@ -535,7 +537,11 @@ struct b3BodyNotificationArgs
struct b3UserDataNotificationArgs
{
int m_bodyUniqueId;
int m_linkIndex;
int m_visualShapeIndex;
int m_userDataId;
char m_key[MAX_USER_DATA_KEY_LENGTH];
};
struct b3LinkNotificationArgs