bullet3/examples/SharedMemory/PhysicsClient.cpp

493 lines
14 KiB
C++

#include "PhysicsClient.h"
#include "../CommonInterfaces/CommonMultiBodyBase.h"
#include "PosixSharedMemory.h"
#include "Win32SharedMemory.h"
#include "SharedMemoryCommon.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
#include "../Utils/b3ResourcePath.h"
#include "../Extras/Serialize/BulletFileLoader/btBulletFile.h"
class PhysicsClient : public SharedMemoryCommon
{
protected:
SharedMemoryInterface* m_sharedMemory;
SharedMemoryExampleData* m_testBlock1;
int m_counter;
bool m_wantsTermination;
btAlignedObjectArray<int> m_userCommandRequests;
bool m_serverLoadUrdfOK;
bool m_waitingForServer;
void processServerCommands();
void createClientCommand();
void createButton(const char* name, int id, bool isTrigger );
public:
PhysicsClient(GUIHelperInterface* helper);
virtual ~PhysicsClient();
virtual void initPhysics();
virtual void stepSimulation(float deltaTime);
virtual void resetCamera()
{
float dist = 1;
float pitch = 50;
float yaw = 35;
float targetPos[3]={-3,2.8,-2.5};
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
virtual bool wantsTermination()
{
return m_wantsTermination;
}
void submitCommand(int command);
};
void MyCallback(int buttonId, bool buttonState, void* userPtr)
{
PhysicsClient* cl = (PhysicsClient*) userPtr;
switch (buttonId)
{
case CMD_LOAD_URDF:
case CMD_CREATE_BOX_COLLISION_SHAPE:
case CMD_REQUEST_ACTUAL_STATE:
case CMD_STEP_FORWARD_SIMULATION:
case CMD_SHUTDOWN:
case CMD_SEND_BULLET_DATA_STREAM:
{
cl->submitCommand(buttonId);
break;
}
default:
{
b3Error("Unknown buttonId");
btAssert(0);
}
};
}
void PhysicsClient::submitCommand(int command)
{
m_userCommandRequests.push_back(command);
b3Printf("User submitted command request %d (outstanding %d)\n",command, m_userCommandRequests.size());
}
PhysicsClient::PhysicsClient(GUIHelperInterface* helper)
:SharedMemoryCommon(helper),
m_testBlock1(0),
m_counter(0),
m_wantsTermination(false),
m_serverLoadUrdfOK(false),
m_waitingForServer(false)
{
b3Printf("Started PhysicsClient\n");
#ifdef _WIN32
m_sharedMemory = new Win32SharedMemoryClient();
#else
m_sharedMemory = new PosixSharedMemory();
#endif
}
PhysicsClient::~PhysicsClient()
{
b3Printf("~PhysicsClient\n");
m_sharedMemory->releaseSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
delete m_sharedMemory;
}
void PhysicsClient::createButton(const char* name, int buttonId, bool isTrigger )
{
ButtonParams button(name,buttonId, isTrigger);
button.m_callback = MyCallback;
button.m_userPointer = this;
m_guiHelper->getParameterInterface()->registerButtonParameter(button);
}
void PhysicsClient::initPhysics()
{
if (m_guiHelper && m_guiHelper->getParameterInterface())
{
bool isTrigger = false;
createButton("Load URDF",CMD_LOAD_URDF, isTrigger);
createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION, isTrigger);
createButton("Send Bullet Stream",CMD_SEND_BULLET_DATA_STREAM, isTrigger);
createButton("Get State",CMD_REQUEST_ACTUAL_STATE, isTrigger);
createButton("Send Desired State",CMD_SEND_DESIRED_STATE, isTrigger);
createButton("Create Box Collider",CMD_CREATE_BOX_COLLISION_SHAPE,isTrigger);
} else
{
m_userCommandRequests.push_back(CMD_LOAD_URDF);
m_userCommandRequests.push_back(CMD_REQUEST_ACTUAL_STATE);
//m_userCommandRequests.push_back(CMD_SEND_DESIRED_STATE);
m_userCommandRequests.push_back(CMD_REQUEST_ACTUAL_STATE);
//m_userCommandRequests.push_back(CMD_SET_JOINT_FEEDBACK);
m_userCommandRequests.push_back(CMD_CREATE_BOX_COLLISION_SHAPE);
//m_userCommandRequests.push_back(CMD_CREATE_RIGID_BODY);
m_userCommandRequests.push_back(CMD_STEP_FORWARD_SIMULATION);
m_userCommandRequests.push_back(CMD_REQUEST_ACTUAL_STATE);
m_userCommandRequests.push_back(CMD_SHUTDOWN);
}
m_testBlock1 = (SharedMemoryExampleData*)m_sharedMemory->allocateSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
if (m_testBlock1)
{
// btAssert(m_testBlock1->m_magicId == SHARED_MEMORY_MAGIC_NUMBER);
if (m_testBlock1->m_magicId !=SHARED_MEMORY_MAGIC_NUMBER)
{
b3Error("Error: please start server before client\n");
m_sharedMemory->releaseSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
m_testBlock1 = 0;
} else
{
b3Printf("Shared Memory status is OK\n");
}
} else
{
m_wantsTermination = true;
}
}
void PhysicsClient::processServerCommands()
{
btAssert(m_testBlock1);
if (m_testBlock1->m_numServerCommands> m_testBlock1->m_numProcessedServerCommands)
{
btAssert(m_testBlock1->m_numServerCommands==m_testBlock1->m_numProcessedServerCommands+1);
const SharedMemoryCommand& serverCmd =m_testBlock1->m_serverCommands[0];
//consume the command
switch (serverCmd.m_type)
{
case CMD_URDF_LOADING_COMPLETED:
{
m_serverLoadUrdfOK = true;
b3Printf("Server loading the URDF OK\n");
if (serverCmd.m_dataStreamArguments.m_streamChunkLength>0)
{
bParse::btBulletFile* bf = new bParse::btBulletFile(this->m_testBlock1->m_bulletStreamDataServerToClient,serverCmd.m_dataStreamArguments.m_streamChunkLength);
bf->setFileDNAisMemoryDNA();
bf->parse(false);
for (int i=0;i<bf->m_multiBodies.size();i++)
{
int flag = bf->getFlags();
if ((flag&bParse::FD_DOUBLE_PRECISION)!=0)
{
btMultiBodyDoubleData* mb = (btMultiBodyDoubleData*)bf->m_multiBodies[i];
if (mb->m_baseName)
{
b3Printf("mb->m_baseName = %s\n",mb->m_baseName);
}
for (int link=0;link<mb->m_numLinks;link++)
{
if (mb->m_links[link].m_linkName)
{
b3Printf("mb->m_links[%d].m_linkName = %s\n",link,mb->m_links[link].m_linkName);
}
if (mb->m_links[link].m_jointName)
{
b3Printf("mb->m_links[%d].m_jointName = %s\n",link,mb->m_links[link].m_jointName);
}
}
} else
{
btMultiBodyFloatData* mb = (btMultiBodyFloatData*) bf->m_multiBodies[i];
if (mb->m_baseName)
{
b3Printf("mb->m_baseName = %s\n",mb->m_baseName);
}
for (int link=0;link<mb->m_numLinks;link++)
{
if (mb->m_links[link].m_linkName)
{
b3Printf("mb->m_links[%d].m_linkName = %s\n",link,mb->m_links[link].m_linkName);
}
b3Printf("link [%d] type = %d",link, mb->m_links[link].m_jointType);
if (mb->m_links[link].m_jointName)
{
b3Printf("mb->m_links[%d].m_jointName = %s\n",link,mb->m_links[link].m_jointName);
}
}
}
}
printf("ok!\n");
}
break;
}
case CMD_STEP_FORWARD_SIMULATION_COMPLETED:
{
break;
}
case CMD_URDF_LOADING_FAILED:
{
b3Printf("Server failed loading the URDF...\n");
m_serverLoadUrdfOK = false;
break;
}
case CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED:
{
b3Printf("Server received bullet data stream OK\n");
break;
}
case CMD_BULLET_DATA_STREAM_RECEIVED_FAILED:
{
b3Printf("Server failed receiving bullet data stream\n");
break;
}
case CMD_ACTUAL_STATE_UPDATE_COMPLETED:
{
b3Printf("Received actual state\n");
int numQ = m_testBlock1->m_serverCommands[0].m_sendActualStateArgs.m_numDegreeOfFreedomQ;
int numU = m_testBlock1->m_serverCommands[0].m_sendActualStateArgs.m_numDegreeOfFreedomU;
b3Printf("size Q = %d, size U = %d\n", numQ,numU);
char msg[1024];
sprintf(msg,"Q=[");
for (int i=0;i<numQ;i++)
{
if (i<numQ-1)
{
sprintf(msg,"%s%f,",msg,m_testBlock1->m_actualStateQ[i]);
} else
{
sprintf(msg,"%s%f",msg,m_testBlock1->m_actualStateQ[i]);
}
}
sprintf(msg,"%s]",msg);
b3Printf(msg);
b3Printf("\n");
break;
}
default:
{
b3Error("Unknown server command\n");
btAssert(0);
}
};
m_testBlock1->m_numProcessedServerCommands++;
//we don't have more than 1 command outstanding (in total, either server or client)
btAssert(m_testBlock1->m_numProcessedServerCommands == m_testBlock1->m_numServerCommands);
if (m_testBlock1->m_numServerCommands == m_testBlock1->m_numProcessedServerCommands)
{
m_waitingForServer = false;
} else
{
m_waitingForServer = true;
}
}
}
void PhysicsClient::createClientCommand()
{
if (!m_waitingForServer)
{
//process outstanding requests
if (m_userCommandRequests.size())
{
b3Printf("Outstanding user command requests: %d\n", m_userCommandRequests.size());
int command = m_userCommandRequests[0];
//don't use 'remove' because it will re-order the commands
//m_userCommandRequests.remove(command);
//pop_front
for (int i=1;i<m_userCommandRequests.size();i++)
{
m_userCommandRequests[i-1] = m_userCommandRequests[i];
}
m_userCommandRequests.pop_back();
m_waitingForServer = true;
switch (command)
{
case CMD_LOAD_URDF:
{
if (!m_serverLoadUrdfOK)
{
m_testBlock1->m_clientCommands[0].m_type =CMD_LOAD_URDF;
sprintf(m_testBlock1->m_clientCommands[0].m_urdfArguments.m_urdfFileName,"r2d2.urdf");
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_initialPosition[0] = 0.0;
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_initialPosition[1] = 0.0;
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_initialPosition[2] = 0.0;
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_initialOrientation[0] = 0.0;
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_initialOrientation[1] = 0.0;
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_initialOrientation[2] = 0.0;
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_initialOrientation[3] = 1.0;
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_useFixedBase = false;
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_useMultiBody = true;
m_testBlock1->m_numClientCommands++;
b3Printf("Client created CMD_LOAD_URDF\n");
} else
{
b3Warning("Server already loaded URDF, no client command submitted\n");
}
break;
}
case CMD_CREATE_BOX_COLLISION_SHAPE:
{
if (m_serverLoadUrdfOK)
{
b3Printf("Requesting create box collision shape\n");
m_testBlock1->m_clientCommands[0].m_type =CMD_CREATE_BOX_COLLISION_SHAPE;
m_testBlock1->m_numClientCommands++;
} else
{
b3Warning("No URDF loaded\n");
}
break;
}
case CMD_SEND_BULLET_DATA_STREAM:
{
b3Printf("Sending a Bullet Data Stream\n");
///The idea is to pass a stream of chunks from client to server
///over shared memory. The server will process it
///Initially we will just copy an entire .bullet file into shared
///memory but we can also send individual chunks one at a time
///so it becomes a streaming solution
///In addition, we can make a separate API to create those chunks
///if needed, instead of using a 3d modeler or the Bullet SDK btSerializer
char relativeFileName[1024];
const char* fileName = "slope.bullet";
bool fileFound = b3ResourcePath::findResourcePath(fileName,relativeFileName,1024);
if (fileFound)
{
FILE *fp = fopen(relativeFileName, "rb");
if (fp)
{
fseek(fp, 0L, SEEK_END);
int mFileLen = ftell(fp);
fseek(fp, 0L, SEEK_SET);
if (mFileLen<SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE)
{
fread(m_testBlock1->m_bulletStreamDataClientToServer, mFileLen, 1, fp);
fclose(fp);
m_testBlock1->m_clientCommands[0].m_type =CMD_SEND_BULLET_DATA_STREAM;
m_testBlock1->m_clientCommands[0].m_dataStreamArguments.m_streamChunkLength = mFileLen;
m_testBlock1->m_numClientCommands++;
b3Printf("Send bullet data stream command\n");
} else
{
b3Warning("Bullet file size (%d) exceeds of streaming memory chunk size (%d)\n", mFileLen,SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
}
} else
{
b3Warning("Cannot open file %s\n", relativeFileName);
}
} else
{
b3Warning("Cannot find file %s\n", fileName);
}
break;
}
case CMD_REQUEST_ACTUAL_STATE:
{
if (m_serverLoadUrdfOK)
{
b3Printf("Requesting actual state\n");
m_testBlock1->m_clientCommands[0].m_type =CMD_REQUEST_ACTUAL_STATE;
m_testBlock1->m_numClientCommands++;
} else
{
b3Warning("No URDF loaded\n");
}
break;
}
case CMD_STEP_FORWARD_SIMULATION:
{
if (m_serverLoadUrdfOK)
{
m_testBlock1->m_clientCommands[0].m_type =CMD_STEP_FORWARD_SIMULATION;
m_testBlock1->m_clientCommands[0].m_stepSimulationArguments.m_deltaTimeInSeconds = 1./60.;
m_testBlock1->m_numClientCommands++;
b3Printf("client created CMD_STEP_FORWARD_SIMULATION %d\n", m_counter++);
} else
{
b3Warning("No URDF loaded yet, no client CMD_STEP_FORWARD_SIMULATION submitted\n");
}
break;
}
case CMD_SHUTDOWN:
{
m_wantsTermination = true;
m_testBlock1->m_clientCommands[0].m_type =CMD_SHUTDOWN;
m_testBlock1->m_numClientCommands++;
m_serverLoadUrdfOK = false;
b3Printf("client created CMD_SHUTDOWN\n");
break;
}
default:
{
b3Error("unknown command requested\n");
}
}
}
}
}
void PhysicsClient::stepSimulation(float deltaTime)
{
// btAssert(m_testBlock1);
if (m_testBlock1)
{
processServerCommands();
if (!m_waitingForServer)
{
createClientCommand();
}
}
}
class CommonExampleInterface* PhysicsClientCreateFunc(struct CommonExampleOptions& options)
{
return new PhysicsClient(options.m_guiHelper);
}