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bullet3/examples/SharedMemory/PhysicsServerExample.cpp
erwincoumans 394196e5a2 Update PhysicsServerExample.cpp
2017-01-17 17:38:30 -08:00

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//todo(erwincoumans): re-use the upcoming b3RobotSimAPI here
#include "PhysicsServerExample.h"
#ifdef B3_USE_MIDI
#include "RtMidi.h"
#endif//B3_USE_MIDI
#include "PhysicsServerSharedMemory.h"
#include "Bullet3Common/b3CommandLineArgs.h"
#include "SharedMemoryCommon.h"
#include "Bullet3Common/b3Matrix3x3.h"
#include "../Utils/b3Clock.h"
#include "../MultiThreading/b3ThreadSupportInterface.h"
#include "SharedMemoryPublic.h"
#ifdef BT_ENABLE_VR
#include "../RenderingExamples/TinyVRGui.h"
#endif//BT_ENABLE_VR
#include "../CommonInterfaces/CommonParameterInterface.h"
//@todo(erwincoumans) those globals are hacks for a VR demo, move this to Python/pybullet!
extern btVector3 gLastPickPos;
btVector3 gVRTeleportPosLocal(0,0,0);
btQuaternion gVRTeleportOrnLocal(0,0,0,1);
extern btVector3 gVRTeleportPos1;
extern btQuaternion gVRTeleportOrn;
btScalar gVRTeleportRotZ = 0;
extern btVector3 gVRGripperPos;
extern btQuaternion gVRGripperOrn;
extern btVector3 gVRController2Pos;
extern btQuaternion gVRController2Orn;
extern btScalar gVRGripperAnalog;
extern btScalar gVRGripper2Analog;
extern bool gCloseToKuka;
extern bool gEnableRealTimeSimVR;
extern bool gCreateDefaultRobotAssets;
extern int gInternalSimFlags;
extern int gCreateObjectSimVR;
extern bool gResetSimulation;
extern int gEnableKukaControl;
int gGraspingController = -1;
extern btScalar simTimeScalingFactor;
bool gBatchUserDebugLines = true;
extern bool gVRGripperClosed;
const char* startFileNameVR = "0_VRDemoSettings.txt";
#include <vector>
static void loadCurrentSettingsVR(b3CommandLineArgs& args)
{
//int currentEntry = 0;
FILE* f = fopen(startFileNameVR, "r");
if (f)
{
char oneline[1024];
char* argv[] = { 0,&oneline[0] };
while (fgets(oneline, 1024, f) != NULL)
{
char *pos;
if ((pos = strchr(oneline, '\n')) != NULL)
*pos = '\0';
args.addArgs(2, argv);
}
fclose(f);
}
};
#if B3_USE_MIDI
//remember the settings (you don't want to re-tune again and again...)
static void saveCurrentSettingsVR()
{
FILE* f = fopen(startFileNameVR, "w");
if (f)
{
fprintf(f, "--camPosX= %f\n", gVRTeleportPosLocal[0]);
fprintf(f, "--camPosY= %f\n", gVRTeleportPosLocal[1]);
fprintf(f, "--camPosZ= %f\n", gVRTeleportPosLocal[2]);
fprintf(f, "--camRotZ= %f\n", gVRTeleportRotZ);
fclose(f);
}
};
static float getParamf(float rangeMin, float rangeMax, int midiVal)
{
float v = rangeMin + (rangeMax - rangeMin)* (float(midiVal / 127.));
return v;
}
void midiCallback(double deltatime, std::vector< unsigned char > *message, void *userData)
{
unsigned int nBytes = message->size();
for (unsigned int i = 0; i<nBytes; i++)
std::cout << "Byte " << i << " = " << (int)message->at(i) << ", ";
if (nBytes > 0)
std::cout << "stamp = " << deltatime << std::endl;
if (nBytes > 2)
{
if (message->at(0) == 176)
{
if (message->at(1) == 16)
{
gVRTeleportRotZ= getParamf(-3.1415, 3.1415, message->at(2));
gVRTeleportOrnLocal = btQuaternion(btVector3(0, 0, 1), gVRTeleportRotZ);
saveCurrentSettingsVR();
// b3Printf("gVRTeleportOrnLocal rotZ = %f\n", gVRTeleportRotZ);
}
if (message->at(1) == 32)
{
gCreateDefaultRobotAssets = 1;
}
for (int i = 0; i < 3; i++)
{
if (message->at(1) == i)
{
gVRTeleportPosLocal[i] = getParamf(-2, 2, message->at(2));
saveCurrentSettingsVR();
// b3Printf("gVRTeleportPos[%d] = %f\n", i,gVRTeleportPosLocal[i]);
}
}
}
}
}
#endif //B3_USE_MIDI
bool gDebugRenderToggle = false;
void MotionThreadFunc(void* userPtr,void* lsMemory);
void* MotionlsMemoryFunc();
#define MAX_MOTION_NUM_THREADS 1
enum
{
numCubesX = 20,
numCubesY = 20
};
enum TestExampleBrowserCommunicationEnums
{
eRequestTerminateMotion= 13,
eMotionIsUnInitialized,
eMotionIsInitialized,
eMotionInitializationFailed,
eMotionHasTerminated
};
enum MultiThreadedGUIHelperCommunicationEnums
{
eGUIHelperIdle= 13,
eGUIHelperRegisterTexture,
eGUIHelperRegisterGraphicsShape,
eGUIHelperRegisterGraphicsInstance,
eGUIHelperCreateCollisionShapeGraphicsObject,
eGUIHelperCreateCollisionObjectGraphicsObject,
eGUIHelperCreateRigidBodyGraphicsObject,
eGUIHelperRemoveAllGraphicsInstances,
eGUIHelperCopyCameraImageData,
eGUIHelperAutogenerateGraphicsObjects,
eGUIUserDebugAddText,
eGUIUserDebugAddLine,
eGUIUserDebugAddParameter,
eGUIUserDebugRemoveItem,
eGUIUserDebugRemoveAllItems,
};
#include <stdio.h>
//#include "BulletMultiThreaded/PlatformDefinitions.h"
#ifndef _WIN32
#include "../MultiThreading/b3PosixThreadSupport.h"
b3ThreadSupportInterface* createMotionThreadSupport(int numThreads)
{
b3PosixThreadSupport::ThreadConstructionInfo constructionInfo("MotionThreads",
MotionThreadFunc,
MotionlsMemoryFunc,
numThreads);
b3ThreadSupportInterface* threadSupport = new b3PosixThreadSupport(constructionInfo);
return threadSupport;
}
#elif defined( _WIN32)
#include "../MultiThreading/b3Win32ThreadSupport.h"
b3ThreadSupportInterface* createMotionThreadSupport(int numThreads)
{
b3Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("MotionThreads",MotionThreadFunc,MotionlsMemoryFunc,numThreads);
b3Win32ThreadSupport* threadSupport = new b3Win32ThreadSupport(threadConstructionInfo);
return threadSupport;
}
#endif
enum MyMouseCommandType
{
MyMouseMove = 1,
MyMouseButtonDown,
MyMouseButtonUp
};
struct MyMouseCommand
{
btVector3 m_rayFrom;
btVector3 m_rayTo;
int m_type;
};
struct MotionArgs
{
MotionArgs()
:m_physicsServerPtr(0)
{
for (int i=0;i<MAX_VR_CONTROLLERS;i++)
{
m_vrControllerEvents[i].m_numButtonEvents = 0;
m_vrControllerEvents[i].m_numMoveEvents = 0;
for (int b=0;b<MAX_VR_BUTTONS;b++)
{
m_vrControllerEvents[i].m_buttons[b]=0;
}
m_isVrControllerPicking[i] = false;
m_isVrControllerDragging[i] = false;
m_isVrControllerReleasing[i] = false;
m_isVrControllerTeleporting[i] = false;
}
}
b3CriticalSection* m_cs;
b3CriticalSection* m_cs2;
b3CriticalSection* m_cs3;
b3CriticalSection* m_csGUI;
btAlignedObjectArray<MyMouseCommand> m_mouseCommands;
b3VRControllerEvent m_vrControllerEvents[MAX_VR_CONTROLLERS];
b3VRControllerEvent m_sendVrControllerEvents[MAX_VR_CONTROLLERS];
PhysicsServerSharedMemory* m_physicsServerPtr;
b3AlignedObjectArray<b3Vector3> m_positions;
btVector3 m_vrControllerPos[MAX_VR_CONTROLLERS];
btQuaternion m_vrControllerOrn[MAX_VR_CONTROLLERS];
bool m_isVrControllerPicking[MAX_VR_CONTROLLERS];
bool m_isVrControllerDragging[MAX_VR_CONTROLLERS];
bool m_isVrControllerReleasing[MAX_VR_CONTROLLERS];
bool m_isVrControllerTeleporting[MAX_VR_CONTROLLERS];
};
struct MotionThreadLocalStorage
{
int threadId;
};
float clampedDeltaTime = 0.2;
float sleepTimeThreshold = 8./1000.;
void MotionThreadFunc(void* userPtr,void* lsMemory)
{
printf("MotionThreadFunc thread started\n");
//MotionThreadLocalStorage* localStorage = (MotionThreadLocalStorage*) lsMemory;
MotionArgs* args = (MotionArgs*) userPtr;
//int workLeft = true;
b3Clock clock;
clock.reset();
bool init = true;
if (init)
{
args->m_cs->lock();
args->m_cs->setSharedParam(0,eMotionIsInitialized);
args->m_cs->unlock();
double deltaTimeInSeconds = 0;
double sleepCounter = 0;
do
{
BT_PROFILE("loop");
{
BT_PROFILE("usleep(0)");
b3Clock::usleep(0);
}
double dt = double(clock.getTimeMicroseconds())/1000000.;
sleepCounter+=dt;
if (sleepCounter > sleepTimeThreshold)
{
BT_PROFILE("usleep(100)");
sleepCounter = 0;
b3Clock::usleep(100);
}
deltaTimeInSeconds+= dt;
clock.reset();
{
//process special controller commands, such as
//VR controller button press/release and controller motion
for (int c=0;c<MAX_VR_CONTROLLERS;c++)
{
btVector3 from = args->m_vrControllerPos[c];
btMatrix3x3 mat(args->m_vrControllerOrn[c]);
btScalar pickDistance = 1000.;
btVector3 to = from+mat.getColumn(0)*pickDistance;
// btVector3 toY = from+mat.getColumn(1)*pickDistance;
// btVector3 toZ = from+mat.getColumn(2)*pickDistance;
if (args->m_isVrControllerTeleporting[c])
{
args->m_isVrControllerTeleporting[c] = false;
args->m_physicsServerPtr->pickBody(from, to);
args->m_physicsServerPtr->removePickingConstraint();
}
// if (!gEnableKukaControl)
{
if (args->m_isVrControllerPicking[c])
{
args->m_isVrControllerPicking[c] = false;
args->m_isVrControllerDragging[c] = true;
args->m_physicsServerPtr->pickBody(from, to);
//printf("PICK!\n");
}
}
if (args->m_isVrControllerDragging[c])
{
args->m_physicsServerPtr->movePickedBody(from, to);
// printf(".");
}
if (args->m_isVrControllerReleasing[c])
{
args->m_isVrControllerDragging[c] = false;
args->m_isVrControllerReleasing[c] = false;
args->m_physicsServerPtr->removePickingConstraint();
//printf("Release pick\n");
}
}
//don't simulate over a huge timestep if we had some interruption (debugger breakpoint etc)
if (deltaTimeInSeconds>clampedDeltaTime)
{
deltaTimeInSeconds = clampedDeltaTime;
//b3Warning("Clamp deltaTime from %f to %f",deltaTimeInSeconds, clampedDeltaTime);
}
args->m_csGUI->lock();
int numSendVrControllers = 0;
for (int i=0;i<MAX_VR_CONTROLLERS;i++)
{
if (args->m_vrControllerEvents[i].m_numButtonEvents+args->m_vrControllerEvents[i].m_numMoveEvents)
{
args->m_sendVrControllerEvents[numSendVrControllers++] =
args->m_vrControllerEvents[i];
if (args->m_vrControllerEvents[i].m_numButtonEvents)
{
for (int b=0;b<MAX_VR_BUTTONS;b++)
{
args->m_vrControllerEvents[i].m_buttons[b] &= eButtonIsDown;
}
}
args->m_vrControllerEvents[i].m_numMoveEvents = 0;
args->m_vrControllerEvents[i].m_numButtonEvents = 0;
}
}
args->m_csGUI->unlock();
{
BT_PROFILE("stepSimulationRealTime");
args->m_physicsServerPtr->stepSimulationRealTime(deltaTimeInSeconds, args->m_sendVrControllerEvents,numSendVrControllers);
}
deltaTimeInSeconds = 0;
}
args->m_csGUI->lock();
for (int i = 0; i < args->m_mouseCommands.size(); i++)
{
switch (args->m_mouseCommands[i].m_type)
{
case MyMouseMove:
{
args->m_physicsServerPtr->movePickedBody(args->m_mouseCommands[i].m_rayFrom, args->m_mouseCommands[i].m_rayTo);
break;
};
case MyMouseButtonDown:
{
args->m_physicsServerPtr->pickBody(args->m_mouseCommands[i].m_rayFrom, args->m_mouseCommands[i].m_rayTo);
break;
}
case MyMouseButtonUp:
{
args->m_physicsServerPtr->removePickingConstraint();
break;
}
default:
{
}
}
}
args->m_mouseCommands.clear();
args->m_csGUI->unlock();
{
BT_PROFILE("processClientCommands");
args->m_physicsServerPtr->processClientCommands();
}
} while (args->m_cs->getSharedParam(0)!=eRequestTerminateMotion);
} else
{
args->m_cs->lock();
args->m_cs->setSharedParam(0,eMotionInitializationFailed);
args->m_cs->unlock();
}
//do nothing
}
void* MotionlsMemoryFunc()
{
//don't create local store memory, just return 0
return new MotionThreadLocalStorage;
}
struct UserDebugDrawLine
{
double m_debugLineFromXYZ[3];
double m_debugLineToXYZ[3];
double m_debugLineColorRGB[3];
double m_lineWidth;
double m_lifeTime;
int m_itemUniqueId;
};
struct UserDebugParameter
{
char m_text[1024];
double m_rangeMin;
double m_rangeMax;
btScalar m_value;
int m_itemUniqueId;
};
struct UserDebugText
{
char m_text[1024];
double m_textPositionXYZ[3];
double m_textColorRGB[3];
double textSize;
double m_lifeTime;
int m_itemUniqueId;
};
class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
{
// CommonGraphicsApp* m_app;
b3CriticalSection* m_cs;
b3CriticalSection* m_cs2;
b3CriticalSection* m_cs3;
b3CriticalSection* m_csGUI;
public:
GUIHelperInterface* m_childGuiHelper;
int m_uidGenerator;
const unsigned char* m_texels;
int m_textureWidth;
int m_textureHeight;
int m_shapeIndex;
const float* m_position;
const float* m_quaternion;
const float* m_color;
const float* m_scaling;
const float* m_vertices;
int m_numvertices;
const int* m_indices;
int m_numIndices;
int m_primitiveType;
int m_textureId;
int m_instanceId;
void mainThreadRelease()
{
BT_PROFILE("mainThreadRelease");
getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
getCriticalSection3()->lock();
getCriticalSection2()->unlock();
getCriticalSection()->lock();
getCriticalSection2()->lock();
getCriticalSection()->unlock();
getCriticalSection3()->unlock();
}
void workerThreadWait()
{
BT_PROFILE("workerThreadWait");
m_cs2->lock();
m_cs->unlock();
m_cs2->unlock();
m_cs3->lock();
m_cs3->unlock();
while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
{
b3Clock::usleep(100);
}
}
MultiThreadedOpenGLGuiHelper(CommonGraphicsApp* app, GUIHelperInterface* guiHelper)
:
//m_app(app),
m_cs(0),
m_cs2(0),
m_cs3(0),
m_csGUI(0),
m_uidGenerator(0),
m_texels(0),
m_textureId(-1)
{
m_childGuiHelper = guiHelper;;
}
virtual ~MultiThreadedOpenGLGuiHelper()
{
//delete m_childGuiHelper;
}
void setCriticalSection(b3CriticalSection* cs)
{
m_cs = cs;
}
b3CriticalSection* getCriticalSection()
{
return m_cs;
}
void setCriticalSection2(b3CriticalSection* cs)
{
m_cs2 = cs;
}
b3CriticalSection* getCriticalSection2()
{
return m_cs2;
}
void setCriticalSection3(b3CriticalSection* cs)
{
m_cs3 = cs;
}
void setCriticalSectionGUI(b3CriticalSection* cs)
{
m_csGUI = cs;
}
b3CriticalSection* getCriticalSection3()
{
return m_cs3;
}
btRigidBody* m_body;
btVector3 m_color3;
virtual void createRigidBodyGraphicsObject(btRigidBody* body,const btVector3& color)
{
m_body = body;
m_color3 = color;
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperCreateRigidBodyGraphicsObject);
workerThreadWait();
}
btCollisionObject* m_obj;
btVector3 m_color2;
virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj,const btVector3& color)
{
m_obj = obj;
m_color2 = color;
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperCreateCollisionObjectGraphicsObject);
workerThreadWait();
}
btCollisionShape* m_colShape;
virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
{
m_colShape = collisionShape;
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperCreateCollisionShapeGraphicsObject);
workerThreadWait();
}
virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)
{
//this check is to prevent a crash, in case we removed all graphics instances, but there are still physics objects.
//the check will be obsolete, once we have a better/safer way of synchronizing physics->graphics transforms
if ( m_childGuiHelper->getRenderInterface() && m_childGuiHelper->getRenderInterface()->getTotalNumInstances()>0)
{
m_childGuiHelper->syncPhysicsToGraphics(rbWorld);
}
}
virtual void render(const btDiscreteDynamicsWorld* rbWorld)
{
m_childGuiHelper->render(0);
}
virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld)
{
m_childGuiHelper->createPhysicsDebugDrawer(rbWorld);
}
virtual int registerTexture(const unsigned char* texels, int width, int height)
{
m_texels = texels;
m_textureWidth = width;
m_textureHeight = height;
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperRegisterTexture);
workerThreadWait();
return m_textureId;
}
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
{
m_vertices = vertices;
m_numvertices = numvertices;
m_indices = indices;
m_numIndices = numIndices;
m_primitiveType = primitiveType;
m_textureId = textureId;
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperRegisterGraphicsShape);
workerThreadWait();
return m_shapeIndex;
}
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
{
m_shapeIndex = shapeIndex;
m_position = position;
m_quaternion = quaternion;
m_color = color;
m_scaling = scaling;
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperRegisterGraphicsInstance);
workerThreadWait();
return m_instanceId;
}
virtual void removeAllGraphicsInstances()
{
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperRemoveAllGraphicsInstances);
workerThreadWait();
}
virtual Common2dCanvasInterface* get2dCanvasInterface()
{
return 0;
}
virtual CommonParameterInterface* getParameterInterface()
{
return 0;
}
virtual CommonRenderInterface* getRenderInterface()
{
return m_childGuiHelper->getRenderInterface();
}
virtual CommonGraphicsApp* getAppInterface()
{
return m_childGuiHelper->getAppInterface();
}
virtual void setUpAxis(int axis)
{
m_childGuiHelper->setUpAxis(axis);
}
virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)
{
m_childGuiHelper->resetCamera(camDist,pitch,yaw,camPosX,camPosY,camPosZ);
}
float m_viewMatrix[16];
float m_projectionMatrix[16];
unsigned char* m_pixelsRGBA;
int m_rgbaBufferSizeInPixels;
float* m_depthBuffer;
int m_depthBufferSizeInPixels;
int* m_segmentationMaskBuffer;
int m_segmentationMaskBufferSizeInPixels;
int m_startPixelIndex;
int m_destinationWidth;
int m_destinationHeight;
int* m_numPixelsCopied;
virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
float* depthBuffer, int depthBufferSizeInPixels,
int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
int startPixelIndex, int destinationWidth,
int destinationHeight, int* numPixelsCopied)
{
m_cs->lock();
for (int i=0;i<16;i++)
{
m_viewMatrix[i] = viewMatrix[i];
m_projectionMatrix[i] = projectionMatrix[i];
}
m_pixelsRGBA = pixelsRGBA;
m_rgbaBufferSizeInPixels = rgbaBufferSizeInPixels;
m_depthBuffer = depthBuffer;
m_depthBufferSizeInPixels = depthBufferSizeInPixels;
m_segmentationMaskBuffer = segmentationMaskBuffer;
m_segmentationMaskBufferSizeInPixels = segmentationMaskBufferSizeInPixels;
m_startPixelIndex = startPixelIndex;
m_destinationWidth = destinationWidth;
m_destinationHeight = destinationHeight;
m_numPixelsCopied = numPixelsCopied;
m_cs->setSharedParam(1,eGUIHelperCopyCameraImageData);
workerThreadWait();
}
btDiscreteDynamicsWorld* m_dynamicsWorld;
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
{
m_dynamicsWorld = rbWorld;
m_cs->lock();
m_cs->setSharedParam(1, eGUIHelperAutogenerateGraphicsObjects);
workerThreadWait();
}
virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)
{
}
btAlignedObjectArray<UserDebugText> m_userDebugText;
UserDebugText m_tmpText;
virtual int addUserDebugText3D( const char* txt, const double positionXYZ[3], const double textColorRGB[3], double size, double lifeTime)
{
m_tmpText.m_itemUniqueId = m_uidGenerator++;
m_tmpText.m_lifeTime = lifeTime;
m_tmpText.textSize = size;
//int len = strlen(txt);
strcpy(m_tmpText.m_text,txt);
m_tmpText.m_textPositionXYZ[0] = positionXYZ[0];
m_tmpText.m_textPositionXYZ[1] = positionXYZ[1];
m_tmpText.m_textPositionXYZ[2] = positionXYZ[2];
m_tmpText.m_textColorRGB[0] = textColorRGB[0];
m_tmpText.m_textColorRGB[1] = textColorRGB[1];
m_tmpText.m_textColorRGB[2] = textColorRGB[2];
m_cs->lock();
m_cs->setSharedParam(1, eGUIUserDebugAddText);
workerThreadWait();
return m_userDebugText[m_userDebugText.size()-1].m_itemUniqueId;
}
btAlignedObjectArray<UserDebugParameter*> m_userDebugParams;
UserDebugParameter m_tmpParam;
virtual int readUserDebugParameter(int itemUniqueId, double* value)
{
for (int i=0;i<m_userDebugParams.size();i++)
{
if (m_userDebugParams[i]->m_itemUniqueId == itemUniqueId)
{
*value = m_userDebugParams[i]->m_value;
return 1;
}
}
return 0;
}
virtual int addUserDebugParameter(const char* txt, double rangeMin, double rangeMax, double startValue)
{
strcpy(m_tmpParam.m_text,txt);
m_tmpParam.m_rangeMin = rangeMin;
m_tmpParam.m_rangeMax = rangeMax;
m_tmpParam.m_value = startValue;
m_tmpParam.m_itemUniqueId = m_uidGenerator++;
m_cs->lock();
m_cs->setSharedParam(1, eGUIUserDebugAddParameter);
workerThreadWait();
return (*m_userDebugParams[m_userDebugParams.size()-1]).m_itemUniqueId;
}
btAlignedObjectArray<UserDebugDrawLine> m_userDebugLines;
UserDebugDrawLine m_tmpLine;
virtual int addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime )
{
m_tmpLine.m_lifeTime = lifeTime;
m_tmpLine.m_lineWidth = lineWidth;
m_tmpLine.m_itemUniqueId = m_uidGenerator++;
m_tmpLine.m_debugLineFromXYZ[0] = debugLineFromXYZ[0];
m_tmpLine.m_debugLineFromXYZ[1] = debugLineFromXYZ[1];
m_tmpLine.m_debugLineFromXYZ[2] = debugLineFromXYZ[2];
m_tmpLine.m_debugLineToXYZ[0] = debugLineToXYZ[0];
m_tmpLine.m_debugLineToXYZ[1] = debugLineToXYZ[1];
m_tmpLine.m_debugLineToXYZ[2] = debugLineToXYZ[2];
m_tmpLine.m_debugLineColorRGB[0] = debugLineColorRGB[0];
m_tmpLine.m_debugLineColorRGB[1] = debugLineColorRGB[1];
m_tmpLine.m_debugLineColorRGB[2] = debugLineColorRGB[2];
m_cs->lock();
m_cs->setSharedParam(1, eGUIUserDebugAddLine);
workerThreadWait();
return m_userDebugLines[m_userDebugLines.size()-1].m_itemUniqueId;
}
int m_removeDebugItemUid;
virtual void removeUserDebugItem( int debugItemUniqueId)
{
m_removeDebugItemUid = debugItemUniqueId;
m_cs->lock();
m_cs->setSharedParam(1, eGUIUserDebugRemoveItem);
workerThreadWait();
}
virtual void removeAllUserDebugItems( )
{
m_cs->lock();
m_cs->setSharedParam(1, eGUIUserDebugRemoveAllItems);
workerThreadWait();
}
};
class PhysicsServerExample : public SharedMemoryCommon
{
PhysicsServerSharedMemory m_physicsServer;
b3ThreadSupportInterface* m_threadSupport;
MotionArgs m_args[MAX_MOTION_NUM_THREADS];
MultiThreadedOpenGLGuiHelper* m_multiThreadedHelper;
bool m_wantsShutdown;
#ifdef B3_USE_MIDI
RtMidiIn* m_midi;
#endif
bool m_isConnected;
btClock m_clock;
bool m_replay;
// int m_options;
#ifdef BT_ENABLE_VR
TinyVRGui* m_tinyVrGui;
#endif
public:
PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper, SharedMemoryInterface* sharedMem=0, int options=0);
virtual ~PhysicsServerExample();
virtual void initPhysics();
virtual void stepSimulation(float deltaTime);
void enableCommandLogging()
{
m_physicsServer.enableCommandLogging(true,"BulletPhysicsCommandLog.bin");
}
void replayFromLogFile()
{
m_replay = true;
m_physicsServer.replayFromLogFile("BulletPhysicsCommandLog.bin");
}
virtual void resetCamera()
{
float dist = 5;
float pitch = 50;
float yaw = 35;
float targetPos[3]={0,0,0};//-3,2.8,-2.5};
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
virtual bool wantsTermination();
virtual bool isConnected();
virtual void renderScene();
void drawUserDebugLines();
virtual void exitPhysics();
virtual void physicsDebugDraw(int debugFlags);
btVector3 getRayTo(int x,int y);
virtual void vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orientation[4]);
virtual void vrControllerMoveCallback(int controllerId, float pos[4], float orientation[4], float analogAxis);
virtual bool mouseMoveCallback(float x,float y)
{
if (m_replay)
return false;
CommonRenderInterface* renderer = m_multiThreadedHelper->m_childGuiHelper->getRenderInterface();// m_guiHelper->getRenderInterface();
if (!renderer)
{
return false;
}
btVector3 rayTo = getRayTo(int(x), int(y));
btVector3 rayFrom;
renderer->getActiveCamera()->getCameraPosition(rayFrom);
MyMouseCommand cmd;
cmd.m_rayFrom = rayFrom;
cmd.m_rayTo = rayTo;
cmd.m_type = MyMouseMove;
m_args[0].m_csGUI->lock();
m_args[0].m_mouseCommands.push_back(cmd);
m_args[0].m_csGUI->unlock();
return false;
};
virtual bool mouseButtonCallback(int button, int state, float x, float y)
{
if (m_replay)
return false;
CommonRenderInterface* renderer = m_guiHelper->getRenderInterface();
if (!renderer)
{
return false;
}
CommonWindowInterface* window = m_guiHelper->getAppInterface()->m_window;
if (state==1)
{
if(button==0 && (!window->isModifierKeyPressed(B3G_ALT) && !window->isModifierKeyPressed(B3G_CONTROL) ))
{
btVector3 camPos;
renderer->getActiveCamera()->getCameraPosition(camPos);
btVector3 rayFrom = camPos;
btVector3 rayTo = getRayTo(int(x),int(y));
MyMouseCommand cmd;
cmd.m_rayFrom = rayFrom;
cmd.m_rayTo = rayTo;
cmd.m_type = MyMouseButtonDown;
m_args[0].m_csGUI->lock();
m_args[0].m_mouseCommands.push_back(cmd);
m_args[0].m_csGUI->unlock();
}
} else
{
if (button==0)
{
//m_physicsServer.removePickingConstraint();
MyMouseCommand cmd;
cmd.m_rayFrom.setValue(0,0,0);
cmd.m_rayTo.setValue(0, 0, 0);
cmd.m_type = MyMouseButtonUp;
m_args[0].m_csGUI->lock();
m_args[0].m_mouseCommands.push_back(cmd);
m_args[0].m_csGUI->unlock();
//remove p2p
}
}
//printf("button=%d, state=%d\n",button,state);
return false;
}
virtual bool keyboardCallback(int key, int state){return false;}
virtual void setSharedMemoryKey(int key)
{
m_physicsServer.setSharedMemoryKey(key);
}
virtual void processCommandLineArgs(int argc, char* argv[])
{
b3CommandLineArgs args(argc,argv);
loadCurrentSettingsVR(args);
int shmemKey;
if (args.GetCmdLineArgument("sharedMemoryKey", shmemKey))
{
setSharedMemoryKey(shmemKey);
}
if (args.GetCmdLineArgument("camPosX", gVRTeleportPosLocal[0]))
{
printf("camPosX=%f\n", gVRTeleportPosLocal[0]);
}
if (args.GetCmdLineArgument("camPosY", gVRTeleportPosLocal[1]))
{
printf("camPosY=%f\n", gVRTeleportPosLocal[1]);
}
if (args.GetCmdLineArgument("camPosZ", gVRTeleportPosLocal[2]))
{
printf("camPosZ=%f\n", gVRTeleportPosLocal[2]);
}
float camRotZ = 0.f;
if (args.GetCmdLineArgument("camRotZ", camRotZ))
{
printf("camRotZ = %f\n", camRotZ);
btQuaternion ornZ(btVector3(0, 0, 1), camRotZ);
gVRTeleportOrnLocal = ornZ;
}
if (args.CheckCmdLineFlag("robotassets"))
{
gCreateDefaultRobotAssets = true;
}
if (args.CheckCmdLineFlag("norobotassets"))
{
// gCreateDefaultRobotAssets = false;
}
}
};
#ifdef B3_USE_MIDI
static bool chooseMidiPort(RtMidiIn *rtmidi)
{
/*
std::cout << "\nWould you like to open a virtual input port? [y/N] ";
std::string keyHit;
std::getline( std::cin, keyHit );
if ( keyHit == "y" ) {
rtmidi->openVirtualPort();
return true;
}
*/
std::string portName;
unsigned int i = 0, nPorts = rtmidi->getPortCount();
if (nPorts == 0) {
std::cout << "No midi input ports available!" << std::endl;
return false;
}
if (nPorts > 0) {
std::cout << "\nOpening midi input port " << rtmidi->getPortName() << std::endl;
}
// std::getline( std::cin, keyHit ); // used to clear out stdin
rtmidi->openPort(i);
return true;
}
#endif //B3_USE_MIDI
PhysicsServerExample::PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper, SharedMemoryInterface* sharedMem, int options)
:SharedMemoryCommon(helper),
m_physicsServer(sharedMem),
m_wantsShutdown(false),
m_isConnected(false),
m_replay(false)
//m_options(options)
#ifdef BT_ENABLE_VR
,m_tinyVrGui(0)
#endif
{
#ifdef B3_USE_MIDI
m_midi = new RtMidiIn();
chooseMidiPort(m_midi);
m_midi->setCallback(&midiCallback);
// Don't ignore sysex, timing, or active sensing messages.
m_midi->ignoreTypes(false, false, false);
#endif
m_multiThreadedHelper = helper;
// b3Printf("Started PhysicsServer\n");
}
PhysicsServerExample::~PhysicsServerExample()
{
#ifdef B3_USE_MIDI
delete m_midi;
m_midi = 0;
#endif
#ifdef BT_ENABLE_VR
delete m_tinyVrGui;
#endif
bool deInitializeSharedMemory = true;
m_physicsServer.disconnectSharedMemory(deInitializeSharedMemory);
m_isConnected = false;
delete m_multiThreadedHelper;
}
bool PhysicsServerExample::isConnected()
{
return m_isConnected;
}
void PhysicsServerExample::initPhysics()
{
///for this testing we use Z-axis up
int upAxis = 2;
m_guiHelper->setUpAxis(upAxis);
m_threadSupport = createMotionThreadSupport(MAX_MOTION_NUM_THREADS);
for (int i=0;i<m_threadSupport->getNumTasks();i++)
{
MotionThreadLocalStorage* storage = (MotionThreadLocalStorage*) m_threadSupport->getThreadLocalMemory(i);
b3Assert(storage);
storage->threadId = i;
//storage->m_sharedMem = data->m_sharedMem;
}
for (int w=0;w<MAX_MOTION_NUM_THREADS;w++)
{
m_args[w].m_cs = m_threadSupport->createCriticalSection();
m_args[w].m_cs2 = m_threadSupport->createCriticalSection();
m_args[w].m_cs3 = m_threadSupport->createCriticalSection();
m_args[w].m_csGUI = m_threadSupport->createCriticalSection();
m_args[w].m_cs->setSharedParam(0,eMotionIsUnInitialized);
int numMoving = 0;
m_args[w].m_positions.resize(numMoving);
m_args[w].m_physicsServerPtr = &m_physicsServer;
//int index = 0;
m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*) &this->m_args[w], w);
while (m_args[w].m_cs->getSharedParam(0)==eMotionIsUnInitialized)
{
b3Clock::usleep(1000);
}
}
m_args[0].m_cs->setSharedParam(1,eGUIHelperIdle);
m_multiThreadedHelper->setCriticalSection(m_args[0].m_cs);
m_multiThreadedHelper->setCriticalSection2(m_args[0].m_cs2);
m_multiThreadedHelper->setCriticalSection3(m_args[0].m_cs3);
m_multiThreadedHelper->setCriticalSectionGUI(m_args[0].m_csGUI);
m_args[0].m_cs2->lock();
m_isConnected = m_physicsServer.connectSharedMemory( m_guiHelper);
}
void PhysicsServerExample::exitPhysics()
{
for (int i=0;i<MAX_MOTION_NUM_THREADS;i++)
{
m_args[i].m_cs->lock();
m_args[i].m_cs->setSharedParam(0,eRequestTerminateMotion);
m_args[i].m_cs->unlock();
}
int numActiveThreads = MAX_MOTION_NUM_THREADS;
while (numActiveThreads)
{
int arg0,arg1;
if (m_threadSupport->isTaskCompleted(&arg0,&arg1,0))
{
numActiveThreads--;
printf("numActiveThreads = %d\n",numActiveThreads);
} else
{
b3Clock::usleep(1000);
}
//we need to call 'stepSimulation' to make sure that
//other threads get out of blocking state (workerThreadWait)
stepSimulation(0);
};
printf("stopping threads\n");
m_threadSupport->deleteCriticalSection(m_args[0].m_cs);
m_threadSupport->deleteCriticalSection(m_args[0].m_cs2);
m_threadSupport->deleteCriticalSection(m_args[0].m_cs3);
m_threadSupport->deleteCriticalSection(m_args[0].m_csGUI);
delete m_threadSupport;
m_threadSupport = 0;
//m_physicsServer.resetDynamicsWorld();
}
bool PhysicsServerExample::wantsTermination()
{
return m_wantsShutdown;
}
void PhysicsServerExample::stepSimulation(float deltaTime)
{
BT_PROFILE("PhysicsServerExample::stepSimulation");
//this->m_physicsServer.processClientCommands();
for (int i = m_multiThreadedHelper->m_userDebugLines.size()-1;i>=0;i--)
{
if (m_multiThreadedHelper->m_userDebugLines[i].m_lifeTime)
{
m_multiThreadedHelper->m_userDebugLines[i].m_lifeTime -= deltaTime;
if (m_multiThreadedHelper->m_userDebugLines[i].m_lifeTime<=0)
{
m_multiThreadedHelper->m_userDebugLines.swap(i,m_multiThreadedHelper->m_userDebugLines.size()-1);
m_multiThreadedHelper->m_userDebugLines.pop_back();
}
}
}
for (int i = m_multiThreadedHelper->m_userDebugText.size()-1;i>=0;i--)
{
if (m_multiThreadedHelper->m_userDebugText[i].m_lifeTime)
{
m_multiThreadedHelper->m_userDebugText[i].m_lifeTime -= deltaTime;
if (m_multiThreadedHelper->m_userDebugText[i].m_lifeTime<=0)
{
m_multiThreadedHelper->m_userDebugText.swap(i,m_multiThreadedHelper->m_userDebugText.size()-1);
m_multiThreadedHelper->m_userDebugText.pop_back();
}
}
}
//check if any graphics related tasks are requested
switch (m_multiThreadedHelper->getCriticalSection()->getSharedParam(1))
{
case eGUIHelperCreateCollisionShapeGraphicsObject:
{
m_multiThreadedHelper->m_childGuiHelper->createCollisionShapeGraphicsObject(m_multiThreadedHelper->m_colShape);
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIHelperCreateCollisionObjectGraphicsObject:
{
m_multiThreadedHelper->m_childGuiHelper->createCollisionObjectGraphicsObject(m_multiThreadedHelper->m_obj,
m_multiThreadedHelper->m_color2);
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIHelperCreateRigidBodyGraphicsObject:
{
m_multiThreadedHelper->m_childGuiHelper->createRigidBodyGraphicsObject(m_multiThreadedHelper->m_body,m_multiThreadedHelper->m_color3);
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIHelperRegisterTexture:
{
m_multiThreadedHelper->m_textureId = m_multiThreadedHelper->m_childGuiHelper->registerTexture(m_multiThreadedHelper->m_texels,
m_multiThreadedHelper->m_textureWidth,m_multiThreadedHelper->m_textureHeight);
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIHelperRegisterGraphicsShape:
{
m_multiThreadedHelper->m_shapeIndex = m_multiThreadedHelper->m_childGuiHelper->registerGraphicsShape(
m_multiThreadedHelper->m_vertices,
m_multiThreadedHelper->m_numvertices,
m_multiThreadedHelper->m_indices,
m_multiThreadedHelper->m_numIndices,
m_multiThreadedHelper->m_primitiveType,
m_multiThreadedHelper->m_textureId);
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIHelperRegisterGraphicsInstance:
{
m_multiThreadedHelper->m_instanceId = m_multiThreadedHelper->m_childGuiHelper->registerGraphicsInstance(
m_multiThreadedHelper->m_shapeIndex,
m_multiThreadedHelper->m_position,
m_multiThreadedHelper->m_quaternion,
m_multiThreadedHelper->m_color,
m_multiThreadedHelper->m_scaling);
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIHelperRemoveAllGraphicsInstances:
{
m_multiThreadedHelper->m_childGuiHelper->removeAllGraphicsInstances();
if (m_multiThreadedHelper->m_childGuiHelper->getRenderInterface())
{
int numRenderInstances;
numRenderInstances = m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->getTotalNumInstances();
b3Assert(numRenderInstances==0);
}
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIHelperCopyCameraImageData:
{
m_multiThreadedHelper->m_childGuiHelper->copyCameraImageData(m_multiThreadedHelper->m_viewMatrix,
m_multiThreadedHelper->m_projectionMatrix,
m_multiThreadedHelper->m_pixelsRGBA,
m_multiThreadedHelper->m_rgbaBufferSizeInPixels,
m_multiThreadedHelper->m_depthBuffer,
m_multiThreadedHelper->m_depthBufferSizeInPixels,
m_multiThreadedHelper->m_segmentationMaskBuffer,
m_multiThreadedHelper->m_segmentationMaskBufferSizeInPixels,
m_multiThreadedHelper->m_startPixelIndex,
m_multiThreadedHelper->m_destinationWidth,
m_multiThreadedHelper->m_destinationHeight,
m_multiThreadedHelper->m_numPixelsCopied);
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIHelperAutogenerateGraphicsObjects:
{
m_multiThreadedHelper->m_childGuiHelper->autogenerateGraphicsObjects(m_multiThreadedHelper->m_dynamicsWorld);
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIUserDebugAddText:
{
m_multiThreadedHelper->m_userDebugText.push_back(m_multiThreadedHelper->m_tmpText);
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIUserDebugAddParameter:
{
UserDebugParameter* param = new UserDebugParameter(m_multiThreadedHelper->m_tmpParam);
m_multiThreadedHelper->m_userDebugParams.push_back(param);
{
SliderParams slider(param->m_text,&param->m_value);
slider.m_minVal=param->m_rangeMin;
slider.m_maxVal=param->m_rangeMax;
if (m_multiThreadedHelper->m_childGuiHelper->getParameterInterface())
m_multiThreadedHelper->m_childGuiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
//also add actual menu
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIUserDebugAddLine:
{
m_multiThreadedHelper->m_userDebugLines.push_back(m_multiThreadedHelper->m_tmpLine);
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIUserDebugRemoveItem:
{
for (int i=0;i<m_multiThreadedHelper->m_userDebugLines.size();i++)
{
if (m_multiThreadedHelper->m_userDebugLines[i].m_itemUniqueId == m_multiThreadedHelper->m_removeDebugItemUid)
{
m_multiThreadedHelper->m_userDebugLines.swap(i,m_multiThreadedHelper->m_userDebugLines.size()-1);
m_multiThreadedHelper->m_userDebugLines.pop_back();
break;
}
}
for (int i=0;i<m_multiThreadedHelper->m_userDebugText.size();i++)
{
if (m_multiThreadedHelper->m_userDebugText[i].m_itemUniqueId == m_multiThreadedHelper->m_removeDebugItemUid)
{
m_multiThreadedHelper->m_userDebugText.swap(i,m_multiThreadedHelper->m_userDebugText.size()-1);
m_multiThreadedHelper->m_userDebugText.pop_back();
break;
}
}
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIUserDebugRemoveAllItems:
{
m_multiThreadedHelper->m_userDebugLines.clear();
m_multiThreadedHelper->m_userDebugText.clear();
m_multiThreadedHelper->m_uidGenerator = 0;
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIHelperIdle:
{
break;
}
default:
{
btAssert(0);
}
}
{
if (m_multiThreadedHelper->m_childGuiHelper->getRenderInterface())
{
m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->writeTransforms();
}
}
}
static float vrOffset[16]={1,0,0,0,
0,1,0,0,
0,0,1,0,
0,0,0,0};
extern int gDroppedSimulationSteps;
extern int gNumSteps;
extern double gDtInSec;
extern double gSubStep;
extern int gVRTrackingObjectUniqueId;
extern btTransform gVRTrackingObjectTr;
struct LineSegment
{
btVector3 m_from;
btVector3 m_to;
};
struct ColorWidth
{
btVector3FloatData m_color;
int width;
int getHash() const
{
unsigned char r = (unsigned char) m_color.m_floats[0]*255;
unsigned char g = (unsigned char) m_color.m_floats[1]*255;
unsigned char b = (unsigned char) m_color.m_floats[2]*255;
unsigned char w = width;
return r+(256*g)+(256*256*b)+(256*256*256*w);
}
bool equals(const ColorWidth& other) const
{
bool same = ((width == other.width) && (m_color.m_floats[0] == other.m_color.m_floats[0]) &&
(m_color.m_floats[1] == other.m_color.m_floats[1]) &&
(m_color.m_floats[2] == other.m_color.m_floats[2]));
return same;
}
};
void PhysicsServerExample::drawUserDebugLines()
{
//static char line0[1024];
//static char line1[1024];
//draw all user-debug-lines
//add array of lines
//draw all user- 'text3d' messages
if (m_multiThreadedHelper)
{
//if gBatchUserDebugLines is true, batch lines based on color+width, to reduce line draw calls
btAlignedObjectArray< btAlignedObjectArray<unsigned int> > sortedIndices;
btAlignedObjectArray< btAlignedObjectArray<btVector3FloatData> > sortedLines;
btHashMap<ColorWidth,int> hashedLines;
for (int i = 0; i<m_multiThreadedHelper->m_userDebugLines.size(); i++)
{
btVector3 from;
from.setValue(m_multiThreadedHelper->m_userDebugLines[i].m_debugLineFromXYZ[0],
m_multiThreadedHelper->m_userDebugLines[i].m_debugLineFromXYZ[1],
m_multiThreadedHelper->m_userDebugLines[i].m_debugLineFromXYZ[2]);
btVector3 toX;
toX.setValue(m_multiThreadedHelper->m_userDebugLines[i].m_debugLineToXYZ[0],
m_multiThreadedHelper->m_userDebugLines[i].m_debugLineToXYZ[1],
m_multiThreadedHelper->m_userDebugLines[i].m_debugLineToXYZ[2]);
btVector3 color;
color.setValue(m_multiThreadedHelper->m_userDebugLines[i].m_debugLineColorRGB[0],
m_multiThreadedHelper->m_userDebugLines[i].m_debugLineColorRGB[1],
m_multiThreadedHelper->m_userDebugLines[i].m_debugLineColorRGB[2]);
ColorWidth cw;
color.serializeFloat(cw.m_color);
cw.width = m_multiThreadedHelper->m_userDebugLines[i].m_lineWidth;
int index = -1;
if (gBatchUserDebugLines)
{
int* indexPtr = hashedLines.find(cw);
if (indexPtr)
{
index = *indexPtr;
} else
{
index = sortedLines.size();
sortedLines.expand();
sortedIndices.expand();
hashedLines.insert(cw,index);
}
btAssert(index>=0);
if (index>=0)
{
btVector3FloatData from1,toX1;
sortedIndices[index].push_back(sortedLines[index].size());
from.serializeFloat(from1);
sortedLines[index].push_back(from1);
sortedIndices[index].push_back(sortedLines[index].size());
toX.serializeFloat(toX1);
sortedLines[index].push_back(toX1);
}
}
else
{
m_guiHelper->getAppInterface()->m_renderer->drawLine(from, toX, color, m_multiThreadedHelper->m_userDebugLines[i].m_lineWidth);
}
}
if (gBatchUserDebugLines)
{
for (int i=0;i<hashedLines.size();i++)
{
ColorWidth cw = hashedLines.getKeyAtIndex(i);
int index = *hashedLines.getAtIndex(i);
int stride = sizeof(btVector3FloatData);
const float* positions = &sortedLines[index][0].m_floats[0];
int numPoints = sortedLines[index].size();
const unsigned int* indices = &sortedIndices[index][0];
int numIndices = sortedIndices[index].size();
m_guiHelper->getAppInterface()->m_renderer->drawLines(positions,cw.m_color.m_floats,numPoints, stride, indices,numIndices,cw.width);
}
}
for (int i = 0; i<m_multiThreadedHelper->m_userDebugText.size(); i++)
{
m_guiHelper->getAppInterface()->drawText3D(m_multiThreadedHelper->m_userDebugText[i].m_text,
m_multiThreadedHelper->m_userDebugText[i].m_textPositionXYZ[0],
m_multiThreadedHelper->m_userDebugText[i].m_textPositionXYZ[1],
m_multiThreadedHelper->m_userDebugText[i].m_textPositionXYZ[2],
m_multiThreadedHelper->m_userDebugText[i].textSize);
}
}
}
void PhysicsServerExample::renderScene()
{
btTransform vrTrans;
gVRTeleportPos1 = gVRTeleportPosLocal;
gVRTeleportOrn = gVRTeleportOrnLocal;
///little VR test to follow/drive Husky vehicle
if (gVRTrackingObjectUniqueId >= 0)
{
btTransform vrTrans;
vrTrans.setOrigin(gVRTeleportPosLocal);
vrTrans.setRotation(gVRTeleportOrnLocal);
vrTrans = vrTrans * gVRTrackingObjectTr;
gVRTeleportPos1 = vrTrans.getOrigin();
gVRTeleportOrn = vrTrans.getRotation();
}
B3_PROFILE("PhysicsServerExample::RenderScene");
drawUserDebugLines();
if (gEnableRealTimeSimVR)
{
static int frameCount=0;
//static btScalar prevTime = m_clock.getTimeSeconds();
frameCount++;
#if 0
static btScalar worseFps = 1000000;
int numFrames = 200;
static int count = 0;
count++;
if (0 == (count & 1))
{
btScalar curTime = m_clock.getTimeSeconds();
btScalar fps = 1. / (curTime - prevTime);
prevTime = curTime;
if (fps < worseFps)
{
worseFps = fps;
}
if (count > numFrames)
{
count = 0;
sprintf(line0, "fps:%f frame:%d", worseFps, frameCount / 2);
sprintf(line1, "drop:%d tscale:%f dt:%f, substep %f)", gDroppedSimulationSteps, simTimeScalingFactor,gDtInSec, gSubStep);
gDroppedSimulationSteps = 0;
worseFps = 1000000;
}
}
#endif
#ifdef BT_ENABLE_VR
if ((gInternalSimFlags&2 ) && m_tinyVrGui==0)
{
ComboBoxParams comboParams;
comboParams.m_comboboxId = 0;
comboParams.m_numItems = 0;
comboParams.m_startItem = 0;
comboParams.m_callback = 0;//MyComboBoxCallback;
comboParams.m_userPointer = 0;//this;
m_tinyVrGui = new TinyVRGui(comboParams,this->m_multiThreadedHelper->m_childGuiHelper->getRenderInterface());
m_tinyVrGui->init();
}
if (m_tinyVrGui)
{
b3Transform tr;tr.setIdentity();
tr.setOrigin(b3MakeVector3(gVRController2Pos[0],gVRController2Pos[1],gVRController2Pos[2]));
tr.setRotation(b3Quaternion(gVRController2Orn[0],gVRController2Orn[1],gVRController2Orn[2],gVRController2Orn[3]));
tr = tr*b3Transform(b3Quaternion(0,0,-SIMD_HALF_PI),b3MakeVector3(0,0,0));
b3Scalar dt = 0.01;
m_tinyVrGui->clearTextArea();
static char line0[1024];
static char line1[1024];
m_tinyVrGui->grapicalPrintf(line0,0,0,0,0,0,255);
m_tinyVrGui->grapicalPrintf(line1,0,16,255,255,255,255);
m_tinyVrGui->tick(dt,tr);
}
#endif//BT_ENABLE_VR
}
///debug rendering
//m_args[0].m_cs->lock();
//gVRTeleportPos[0] += 0.01;
btTransform tr2a, tr2;
tr2a.setIdentity();
tr2.setIdentity();
tr2.setOrigin(gVRTeleportPos1);
tr2a.setRotation(gVRTeleportOrn);
btTransform trTotal = tr2*tr2a;
btTransform trInv = trTotal.inverse();
btMatrix3x3 vrOffsetRot;
vrOffsetRot.setRotation(trInv.getRotation());
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
vrOffset[i + 4 * j] = vrOffsetRot[i][j];
}
}
vrOffset[12]= trInv.getOrigin()[0];
vrOffset[13]= trInv.getOrigin()[1];
vrOffset[14]= trInv.getOrigin()[2];
if (m_multiThreadedHelper->m_childGuiHelper->getRenderInterface())
{
m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->
getActiveCamera()->setVRCameraOffsetTransform(vrOffset);
}
m_physicsServer.renderScene();
for (int i=0;i<MAX_VR_CONTROLLERS;i++)
{
if (m_args[0].m_isVrControllerPicking[i] || m_args[0].m_isVrControllerDragging[i])
{
btVector3 from = m_args[0].m_vrControllerPos[i];
btMatrix3x3 mat(m_args[0].m_vrControllerOrn[i]);
btVector3 toX = from+mat.getColumn(0);
btVector3 toY = from+mat.getColumn(1);
btVector3 toZ = from+mat.getColumn(2);
int width = 2;
btVector4 color;
color=btVector4(1,0,0,1);
m_guiHelper->getAppInterface()->m_renderer->drawLine(from,toX,color,width);
color=btVector4(0,1,0,1);
m_guiHelper->getAppInterface()->m_renderer->drawLine(from,toY,color,width);
color=btVector4(0,0,1,1);
m_guiHelper->getAppInterface()->m_renderer->drawLine(from,toZ,color,width);
}
}
if (m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->isVRCamera())
{
if (!gEnableRealTimeSimVR)
{
gEnableRealTimeSimVR = true;
m_physicsServer.enableRealTimeSimulation(1);
}
}
//m_args[0].m_cs->unlock();
}
void PhysicsServerExample::physicsDebugDraw(int debugDrawFlags)
{
drawUserDebugLines();
///debug rendering
m_physicsServer.physicsDebugDraw(debugDrawFlags);
}
btVector3 PhysicsServerExample::getRayTo(int x,int y)
{
CommonRenderInterface* renderer = m_guiHelper->getRenderInterface();
if (!renderer)
{
btAssert(0);
return btVector3(0,0,0);
}
float top = 1.f;
float bottom = -1.f;
float nearPlane = 1.f;
float tanFov = (top-bottom)*0.5f / nearPlane;
float fov = btScalar(2.0) * btAtan(tanFov);
btVector3 camPos,camTarget;
renderer->getActiveCamera()->getCameraPosition(camPos);
renderer->getActiveCamera()->getCameraTargetPosition(camTarget);
btVector3 rayFrom = camPos;
btVector3 rayForward = (camTarget-camPos);
rayForward.normalize();
float farPlane = 10000.f;
rayForward*= farPlane;
btVector3 rightOffset;
btVector3 cameraUp=btVector3(0,0,0);
cameraUp[m_guiHelper->getAppInterface()->getUpAxis()]=1;
btVector3 vertical = cameraUp;
btVector3 hor;
hor = rayForward.cross(vertical);
hor.normalize();
vertical = hor.cross(rayForward);
vertical.normalize();
float tanfov = tanf(0.5f*fov);
hor *= 2.f * farPlane * tanfov;
vertical *= 2.f * farPlane * tanfov;
btScalar aspect;
float width = float(renderer->getScreenWidth());
float height = float (renderer->getScreenHeight());
aspect = width / height;
hor*=aspect;
btVector3 rayToCenter = rayFrom + rayForward;
btVector3 dHor = hor * 1.f/width;
btVector3 dVert = vertical * 1.f/height;
btVector3 rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
rayTo += btScalar(x) * dHor;
rayTo -= btScalar(y) * dVert;
return rayTo;
}
extern int gSharedMemoryKey;
class CommonExampleInterface* PhysicsServerCreateFunc(struct CommonExampleOptions& options)
{
MultiThreadedOpenGLGuiHelper* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper(options.m_guiHelper->getAppInterface(),options.m_guiHelper);
PhysicsServerExample* example = new PhysicsServerExample(guiHelperWrapper,
options.m_sharedMem,
options.m_option);
if (gSharedMemoryKey>=0)
{
example->setSharedMemoryKey(gSharedMemoryKey);
}
if (options.m_option & PHYSICS_SERVER_ENABLE_COMMAND_LOGGING)
{
example->enableCommandLogging();
}
if (options.m_option & PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG)
{
example->replayFromLogFile();
}
return example;
}
void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orn[4])
{
//printf("controllerId %d, button=%d\n",controllerId, button);
if (controllerId<0 || controllerId>=MAX_VR_CONTROLLERS)
return;
if (gGraspingController < 0)
{
gGraspingController = controllerId;
gEnableKukaControl = true;
}
btTransform trLocal;
trLocal.setIdentity();
trLocal.setRotation(btQuaternion(btVector3(0, 0, 1), SIMD_HALF_PI)*btQuaternion(btVector3(0, 1, 0), SIMD_HALF_PI));
btTransform trOrg;
trOrg.setIdentity();
trOrg.setOrigin(btVector3(pos[0], pos[1], pos[2]));
trOrg.setRotation(btQuaternion(orn[0], orn[1], orn[2], orn[3]));
btTransform tr2a;
tr2a.setIdentity();
btTransform tr2;
tr2.setIdentity();
tr2.setOrigin(gVRTeleportPos1);
tr2a.setRotation(gVRTeleportOrn);
btTransform trTotal = tr2*tr2a*trOrg*trLocal;
if (controllerId != gGraspingController)
{
if (button == 1 && state == 0)
{
//gResetSimulation = true;
gVRTeleportPos1 = gLastPickPos;
}
} else
{
if (button == 1)
{
if (state == 1)
{
gDebugRenderToggle = 1;
} else
{
gDebugRenderToggle = 0;
#if 0//it confuses people, make it into a debug option in a VR GUI?
if (simTimeScalingFactor==0)
{
simTimeScalingFactor = 1;
} else
{
if (simTimeScalingFactor==1)
{
simTimeScalingFactor = 0.25;
}
else
{
simTimeScalingFactor = 0;
}
}
#endif
}
} else
{
}
}
if (button==32 && state==0)
{
if (controllerId == gGraspingController)
{
gCreateObjectSimVR = 1;
}
else
{
// gEnableKukaControl = !gEnableKukaControl;
}
}
if (button==1)
{
m_args[0].m_isVrControllerTeleporting[controllerId] = true;
}
if (controllerId == gGraspingController && (button == 33))
{
gVRGripperClosed =(state!=0);
}
else
{
if (button == 33)
{
m_args[0].m_isVrControllerPicking[controllerId] = (state != 0);
m_args[0].m_isVrControllerReleasing[controllerId] = (state == 0);
}
if ((button == 33) || (button == 1))
{
// m_args[0].m_vrControllerPos[controllerId].setValue(pos[0] + gVRTeleportPos[0], pos[1] + gVRTeleportPos[1], pos[2] + gVRTeleportPos[2]);
// m_args[0].m_vrControllerOrn[controllerId].setValue(orn[0], orn[1], orn[2], orn[3]);
m_args[0].m_vrControllerPos[controllerId] = trTotal.getOrigin();
m_args[0].m_vrControllerOrn[controllerId] = trTotal.getRotation();
}
}
m_args[0].m_csGUI->lock();
m_args[0].m_vrControllerEvents[controllerId].m_controllerId = controllerId;
m_args[0].m_vrControllerEvents[controllerId].m_pos[0] = trTotal.getOrigin()[0];
m_args[0].m_vrControllerEvents[controllerId].m_pos[1] = trTotal.getOrigin()[1];
m_args[0].m_vrControllerEvents[controllerId].m_pos[2] = trTotal.getOrigin()[2];
m_args[0].m_vrControllerEvents[controllerId].m_orn[0] = trTotal.getRotation()[0];
m_args[0].m_vrControllerEvents[controllerId].m_orn[1] = trTotal.getRotation()[1];
m_args[0].m_vrControllerEvents[controllerId].m_orn[2] = trTotal.getRotation()[2];
m_args[0].m_vrControllerEvents[controllerId].m_orn[3] = trTotal.getRotation()[3];
m_args[0].m_vrControllerEvents[controllerId].m_numButtonEvents++;
if (state)
{
m_args[0].m_vrControllerEvents[controllerId].m_buttons[button]|=eButtonIsDown+eButtonTriggered;
} else
{
m_args[0].m_vrControllerEvents[controllerId].m_buttons[button]|=eButtonReleased;
m_args[0].m_vrControllerEvents[controllerId].m_buttons[button] &= ~eButtonIsDown;
}
m_args[0].m_csGUI->unlock();
}
void PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[4], float orn[4], float analogAxis)
{
if (controllerId <= 0 || controllerId >= MAX_VR_CONTROLLERS)
{
printf("Controller Id exceeds max: %d > %d", controllerId, MAX_VR_CONTROLLERS);
return;
}
btTransform trLocal;
trLocal.setIdentity();
trLocal.setRotation(btQuaternion(btVector3(0, 0, 1), SIMD_HALF_PI)*btQuaternion(btVector3(0, 1, 0), SIMD_HALF_PI));
btTransform trOrg;
trOrg.setIdentity();
trOrg.setOrigin(btVector3(pos[0], pos[1], pos[2]));
trOrg.setRotation(btQuaternion(orn[0], orn[1], orn[2], orn[3]));
btTransform tr2a;
tr2a.setIdentity();
btTransform tr2;
tr2.setIdentity();
tr2.setOrigin(gVRTeleportPos1);
tr2a.setRotation(gVRTeleportOrn);
btTransform trTotal = tr2*tr2a*trOrg*trLocal;
if (controllerId == gGraspingController)
{
gVRGripperAnalog = analogAxis;
gVRGripperPos = trTotal.getOrigin();
gVRGripperOrn = trTotal.getRotation();
}
else
{
gVRGripper2Analog = analogAxis;
gVRController2Pos = trTotal.getOrigin();
gVRController2Orn = trTotal.getRotation();
m_args[0].m_vrControllerPos[controllerId] = trTotal.getOrigin();
m_args[0].m_vrControllerOrn[controllerId] = trTotal.getRotation();
}
m_args[0].m_csGUI->lock();
m_args[0].m_vrControllerEvents[controllerId].m_controllerId = controllerId;
m_args[0].m_vrControllerEvents[controllerId].m_pos[0] = trTotal.getOrigin()[0];
m_args[0].m_vrControllerEvents[controllerId].m_pos[1] = trTotal.getOrigin()[1];
m_args[0].m_vrControllerEvents[controllerId].m_pos[2] = trTotal.getOrigin()[2];
m_args[0].m_vrControllerEvents[controllerId].m_orn[0] = trTotal.getRotation()[0];
m_args[0].m_vrControllerEvents[controllerId].m_orn[1] = trTotal.getRotation()[1];
m_args[0].m_vrControllerEvents[controllerId].m_orn[2] = trTotal.getRotation()[2];
m_args[0].m_vrControllerEvents[controllerId].m_orn[3] = trTotal.getRotation()[3];
m_args[0].m_vrControllerEvents[controllerId].m_numMoveEvents++;
m_args[0].m_vrControllerEvents[controllerId].m_analogAxis = analogAxis;
m_args[0].m_csGUI->unlock();
}
B3_STANDALONE_EXAMPLE(PhysicsServerCreateFunc)
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