mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 06:00:12 +00:00
463 lines
14 KiB
C++
463 lines
14 KiB
C++
#include "PhysicsDirect.h"
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#include "PhysicsClientSharedMemory.h"
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#include "../CommonInterfaces/CommonGUIHelperInterface.h"
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#include "SharedMemoryCommands.h"
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#include "PhysicsServerCommandProcessor.h"
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#include "LinearMath/btHashMap.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include "../../Extras/Serialize/BulletFileLoader/btBulletFile.h"
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#include "../../Extras/Serialize/BulletFileLoader/autogenerated/bullet.h"
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#include "BodyJointInfoUtility.h"
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struct BodyJointInfoCache2
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{
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btAlignedObjectArray<b3JointInfo> m_jointInfo;
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};
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struct PhysicsDirectInternalData
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{
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DummyGUIHelper m_noGfx;
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SharedMemoryCommand m_command;
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SharedMemoryStatus m_serverStatus;
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bool m_hasStatus;
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bool m_verboseOutput;
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btAlignedObjectArray<TmpFloat3> m_debugLinesFrom;
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btAlignedObjectArray<TmpFloat3> m_debugLinesTo;
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btAlignedObjectArray<TmpFloat3> m_debugLinesColor;
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btHashMap<btHashInt,BodyJointInfoCache2*> m_bodyJointMap;
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char m_bulletStreamDataServerToClient[SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE];
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int m_cachedCameraPixelsWidth;
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int m_cachedCameraPixelsHeight;
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btAlignedObjectArray<unsigned char> m_cachedCameraPixelsRGBA;
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btAlignedObjectArray<float> m_cachedCameraDepthBuffer;
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PhysicsServerCommandProcessor* m_commandProcessor;
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PhysicsDirectInternalData()
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:m_hasStatus(false),
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m_verboseOutput(false)
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{
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}
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};
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PhysicsDirect::PhysicsDirect()
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{
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m_data = new PhysicsDirectInternalData;
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m_data->m_commandProcessor = new PhysicsServerCommandProcessor;
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}
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PhysicsDirect::~PhysicsDirect()
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{
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delete m_data->m_commandProcessor;
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delete m_data;
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}
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// return true if connection succesfull, can also check 'isConnected'
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bool PhysicsDirect::connect()
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{
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m_data->m_commandProcessor->setGuiHelper(&m_data->m_noGfx);
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return true;
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}
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////todo: rename to 'disconnect'
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void PhysicsDirect::disconnectSharedMemory()
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{
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m_data->m_commandProcessor->setGuiHelper(0);
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}
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bool PhysicsDirect::isConnected() const
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{
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return true;
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}
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// return non-null if there is a status, nullptr otherwise
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const SharedMemoryStatus* PhysicsDirect::processServerStatus()
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{
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SharedMemoryStatus* stat = 0;
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if (m_data->m_hasStatus)
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{
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stat = &m_data->m_serverStatus;
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m_data->m_hasStatus = false;
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}
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return stat;
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}
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SharedMemoryCommand* PhysicsDirect::getAvailableSharedMemoryCommand()
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{
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return &m_data->m_command;
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}
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bool PhysicsDirect::canSubmitCommand() const
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{
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return true;
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}
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bool PhysicsDirect::processDebugLines(const struct SharedMemoryCommand& orgCommand)
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{
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SharedMemoryCommand command = orgCommand;
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const SharedMemoryStatus& serverCmd = m_data->m_serverStatus;
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do
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{
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bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
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m_data->m_hasStatus = hasStatus;
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if (hasStatus)
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{
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btAssert(m_data->m_serverStatus.m_type == CMD_DEBUG_LINES_COMPLETED);
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if (m_data->m_verboseOutput)
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{
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b3Printf("Success receiving %d debug lines",
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serverCmd.m_sendDebugLinesArgs.m_numDebugLines);
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}
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int numLines = serverCmd.m_sendDebugLinesArgs.m_numDebugLines;
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float* linesFrom =
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(float*)&m_data->m_bulletStreamDataServerToClient[0];
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float* linesTo =
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(float*)(&m_data->m_bulletStreamDataServerToClient[0] +
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numLines * 3 * sizeof(float));
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float* linesColor =
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(float*)(&m_data->m_bulletStreamDataServerToClient[0] +
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2 * numLines * 3 * sizeof(float));
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m_data->m_debugLinesFrom.resize(serverCmd.m_sendDebugLinesArgs.m_startingLineIndex +
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numLines);
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m_data->m_debugLinesTo.resize(serverCmd.m_sendDebugLinesArgs.m_startingLineIndex +
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numLines);
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m_data->m_debugLinesColor.resize(
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serverCmd.m_sendDebugLinesArgs.m_startingLineIndex + numLines);
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for (int i = 0; i < numLines; i++)
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{
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TmpFloat3 from = CreateTmpFloat3(linesFrom[i * 3], linesFrom[i * 3 + 1],
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linesFrom[i * 3 + 2]);
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TmpFloat3 to =
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CreateTmpFloat3(linesTo[i * 3], linesTo[i * 3 + 1], linesTo[i * 3 + 2]);
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TmpFloat3 color = CreateTmpFloat3(linesColor[i * 3], linesColor[i * 3 + 1],
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linesColor[i * 3 + 2]);
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m_data
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->m_debugLinesFrom[serverCmd.m_sendDebugLinesArgs.m_startingLineIndex + i] =
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from;
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m_data->m_debugLinesTo[serverCmd.m_sendDebugLinesArgs.m_startingLineIndex + i] =
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to;
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m_data->m_debugLinesColor[serverCmd.m_sendDebugLinesArgs.m_startingLineIndex +
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i] = color;
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}
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if (serverCmd.m_sendDebugLinesArgs.m_numRemainingDebugLines > 0)
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{
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command.m_type = CMD_REQUEST_DEBUG_LINES;
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command.m_requestDebugLinesArguments.m_startingLineIndex =
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serverCmd.m_sendDebugLinesArgs.m_numDebugLines +
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serverCmd.m_sendDebugLinesArgs.m_startingLineIndex;
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}
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}
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} while (serverCmd.m_sendDebugLinesArgs.m_numRemainingDebugLines > 0);
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return m_data->m_hasStatus;
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}
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bool PhysicsDirect::processCamera(const struct SharedMemoryCommand& orgCommand)
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{
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SharedMemoryCommand command = orgCommand;
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const SharedMemoryStatus& serverCmd = m_data->m_serverStatus;
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do
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{
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bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
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m_data->m_hasStatus = hasStatus;
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if (hasStatus)
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{
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btAssert(m_data->m_serverStatus.m_type == CMD_CAMERA_IMAGE_COMPLETED);
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if (m_data->m_verboseOutput)
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{
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b3Printf("Camera image OK\n");
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}
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int numBytesPerPixel = 4;//RGBA
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int numTotalPixels = serverCmd.m_sendPixelDataArguments.m_startingPixelIndex+
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serverCmd.m_sendPixelDataArguments.m_numPixelsCopied+
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serverCmd.m_sendPixelDataArguments.m_numRemainingPixels;
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m_data->m_cachedCameraPixelsWidth = 0;
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m_data->m_cachedCameraPixelsHeight = 0;
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int numPixels = serverCmd.m_sendPixelDataArguments.m_imageWidth*serverCmd.m_sendPixelDataArguments.m_imageHeight;
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m_data->m_cachedCameraPixelsRGBA.reserve(numPixels*numBytesPerPixel);
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m_data->m_cachedCameraDepthBuffer.resize(numTotalPixels);
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m_data->m_cachedCameraPixelsRGBA.resize(numTotalPixels*numBytesPerPixel);
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unsigned char* rgbaPixelsReceived =
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(unsigned char*)&m_data->m_bulletStreamDataServerToClient[0];
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float* depthBuffer = (float*)&(m_data->m_bulletStreamDataServerToClient[serverCmd.m_sendPixelDataArguments.m_numPixelsCopied*4]);
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// printf("pixel = %d\n", rgbaPixelsReceived[0]);
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for (int i=0;i<serverCmd.m_sendPixelDataArguments.m_numPixelsCopied;i++)
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{
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m_data->m_cachedCameraDepthBuffer[i + serverCmd.m_sendPixelDataArguments.m_startingPixelIndex] = depthBuffer[i];
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}
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for (int i=0;i<serverCmd.m_sendPixelDataArguments.m_numPixelsCopied*numBytesPerPixel;i++)
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{
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m_data->m_cachedCameraPixelsRGBA[i + serverCmd.m_sendPixelDataArguments.m_startingPixelIndex*numBytesPerPixel]
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= rgbaPixelsReceived[i];
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}
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if (serverCmd.m_sendPixelDataArguments.m_numRemainingPixels > 0)
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{
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// continue requesting remaining pixels
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command.m_type = CMD_REQUEST_CAMERA_IMAGE_DATA;
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command.m_requestPixelDataArguments.m_startPixelIndex =
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serverCmd.m_sendPixelDataArguments.m_startingPixelIndex +
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serverCmd.m_sendPixelDataArguments.m_numPixelsCopied;
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} else
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{
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m_data->m_cachedCameraPixelsWidth = serverCmd.m_sendPixelDataArguments.m_imageWidth;
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m_data->m_cachedCameraPixelsHeight = serverCmd.m_sendPixelDataArguments.m_imageHeight;
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}
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}
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} while (serverCmd.m_sendPixelDataArguments.m_numRemainingPixels > 0);
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return m_data->m_hasStatus;
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}
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void PhysicsDirect::processBodyJointInfo(int bodyUniqueId, const SharedMemoryStatus& serverCmd)
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{
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bParse::btBulletFile bf(
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&m_data->m_bulletStreamDataServerToClient[0],
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serverCmd.m_dataStreamArguments.m_streamChunkLength);
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bf.setFileDNAisMemoryDNA();
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bf.parse(false);
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BodyJointInfoCache2* bodyJoints = new BodyJointInfoCache2;
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m_data->m_bodyJointMap.insert(bodyUniqueId,bodyJoints);
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for (int i = 0; i < bf.m_multiBodies.size(); i++)
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{
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int flag = bf.getFlags();
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if ((flag & bParse::FD_DOUBLE_PRECISION) != 0)
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{
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Bullet::btMultiBodyDoubleData* mb =
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(Bullet::btMultiBodyDoubleData*)bf.m_multiBodies[i];
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addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
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} else
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{
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Bullet::btMultiBodyFloatData* mb =
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(Bullet::btMultiBodyFloatData*)bf.m_multiBodies[i];
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addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
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}
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}
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if (bf.ok()) {
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if (m_data->m_verboseOutput)
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{
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b3Printf("Received robot description ok!\n");
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}
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} else
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{
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b3Warning("Robot description not received");
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}
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}
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bool PhysicsDirect::submitClientCommand(const struct SharedMemoryCommand& command)
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{
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if (command.m_type==CMD_REQUEST_DEBUG_LINES)
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{
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return processDebugLines(command);
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}
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if (command.m_type==CMD_REQUEST_CAMERA_IMAGE_DATA)
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{
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return processCamera(command);
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}
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bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
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m_data->m_hasStatus = hasStatus;
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if (hasStatus)
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{
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const SharedMemoryStatus& serverCmd = m_data->m_serverStatus;
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switch (m_data->m_serverStatus.m_type)
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{
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case CMD_RESET_SIMULATION_COMPLETED:
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{
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m_data->m_debugLinesFrom.clear();
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m_data->m_debugLinesTo.clear();
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m_data->m_debugLinesColor.clear();
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for (int i=0;i<m_data->m_bodyJointMap.size();i++)
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{
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BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap.getAtIndex(i);
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if (bodyJointsPtr && *bodyJointsPtr)
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{
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BodyJointInfoCache2* bodyJoints = *bodyJointsPtr;
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for (int j=0;j<bodyJoints->m_jointInfo.size();j++) {
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if (bodyJoints->m_jointInfo[j].m_jointName)
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{
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free(bodyJoints->m_jointInfo[j].m_jointName);
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}
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if (bodyJoints->m_jointInfo[j].m_linkName)
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{
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free(bodyJoints->m_jointInfo[j].m_linkName);
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}
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}
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delete (*bodyJointsPtr);
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}
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}
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m_data->m_bodyJointMap.clear();
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break;
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}
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case CMD_SDF_LOADING_COMPLETED:
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{
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//we'll stream further info from the physics server
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//so serverCmd will be invalid, make a copy
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int numBodies = serverCmd.m_sdfLoadedArgs.m_numBodies;
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for (int i=0;i<numBodies;i++)
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{
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int bodyUniqueId = serverCmd.m_sdfLoadedArgs.m_bodyUniqueIds[i];
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SharedMemoryCommand infoRequestCommand;
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infoRequestCommand.m_type = CMD_REQUEST_BODY_INFO;
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infoRequestCommand.m_sdfRequestInfoArgs.m_bodyUniqueId = bodyUniqueId;
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SharedMemoryStatus infoStatus;
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bool hasStatus = m_data->m_commandProcessor->processCommand(infoRequestCommand,infoStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
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if (hasStatus)
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{
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processBodyJointInfo(bodyUniqueId, infoStatus);
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}
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}
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break;
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}
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case CMD_URDF_LOADING_COMPLETED:
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{
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if (serverCmd.m_dataStreamArguments.m_streamChunkLength > 0)
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{
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int bodyIndex = serverCmd.m_dataStreamArguments.m_bodyUniqueId;
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processBodyJointInfo(bodyIndex,serverCmd);
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}
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break;
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}
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default:
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{
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// b3Error("Unknown server status type");
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}
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};
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}
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return hasStatus;
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}
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int PhysicsDirect::getNumJoints(int bodyIndex) const
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{
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BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyIndex];
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if (bodyJointsPtr && *bodyJointsPtr)
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{
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BodyJointInfoCache2* bodyJoints = *bodyJointsPtr;
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return bodyJoints->m_jointInfo.size();
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}
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btAssert(0);
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return 0;
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}
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bool PhysicsDirect::getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const
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{
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BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyIndex];
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if (bodyJointsPtr && *bodyJointsPtr)
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{
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BodyJointInfoCache2* bodyJoints = *bodyJointsPtr;
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if (jointIndex < bodyJoints->m_jointInfo.size())
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{
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info = bodyJoints->m_jointInfo[jointIndex];
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return true;
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}
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}
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return false;
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}
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///todo: move this out of the
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void PhysicsDirect::setSharedMemoryKey(int key)
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{
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//m_data->m_physicsServer->setSharedMemoryKey(key);
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//m_data->m_physicsClient->setSharedMemoryKey(key);
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}
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void PhysicsDirect::uploadBulletFileToSharedMemory(const char* data, int len)
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{
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//m_data->m_physicsClient->uploadBulletFileToSharedMemory(data,len);
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}
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int PhysicsDirect::getNumDebugLines() const
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{
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return m_data->m_debugLinesFrom.size();
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}
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const float* PhysicsDirect::getDebugLinesFrom() const
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{
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if (getNumDebugLines())
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{
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return &m_data->m_debugLinesFrom[0].m_x;
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}
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return 0;
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}
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const float* PhysicsDirect::getDebugLinesTo() const
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{
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if (getNumDebugLines())
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{
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return &m_data->m_debugLinesTo[0].m_x;
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}
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return 0;
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}
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const float* PhysicsDirect::getDebugLinesColor() const
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{
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if (getNumDebugLines())
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{
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return &m_data->m_debugLinesColor[0].m_x;
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}
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return 0;
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}
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void PhysicsDirect::getCachedCameraImage(b3CameraImageData* cameraData)
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{
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if (cameraData)
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{
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cameraData->m_pixelWidth = m_data->m_cachedCameraPixelsWidth;
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cameraData->m_pixelHeight = m_data->m_cachedCameraPixelsHeight;
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cameraData->m_depthValues = m_data->m_cachedCameraDepthBuffer.size() ? &m_data->m_cachedCameraDepthBuffer[0] : 0;
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cameraData->m_rgbColorData = m_data->m_cachedCameraPixelsRGBA.size() ? &m_data->m_cachedCameraPixelsRGBA[0] : 0;
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}
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}
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