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79d78a325a
bullet3/examples/SharedMemory/PhysicsClientSharedMemory.cpp
Erwin Coumans 79d78a325a Start of a urdfEditor.py, limited support to extract a URDF from a PyBullet body. 
Use btCylinderShapeZ for URDF cylinder, instead of converting it to a btConvexHullShape.
Implement PyBullet.getCollisionShapeData
Extend PyBullet.getDynamicsInfo / b3GetDynamicsInfo, remove flag (don't rely on API returning a fixed number of elements in a list!)
Extend PyBullet.getJointInfo: add parentIndex
2018-01-03 19:17:28 -08:00

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#include "PhysicsClientSharedMemory.h"
#include "PosixSharedMemory.h"
#include "Win32SharedMemory.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btVector3.h"
#include <string.h>
#include "Bullet3Common/b3Logging.h"
#include "../Utils/b3ResourcePath.h"
#include "../../Extras/Serialize/BulletFileLoader/btBulletFile.h"
#include "../../Extras/Serialize/BulletFileLoader/autogenerated/bullet.h"
#include "SharedMemoryBlock.h"
#include "BodyJointInfoUtility.h"
struct BodyJointInfoCache
{
std::string m_baseName;
btAlignedObjectArray<b3JointInfo> m_jointInfo;
std::string m_bodyName;
};
struct PhysicsClientSharedMemoryInternalData {
SharedMemoryInterface* m_sharedMemory;
bool m_ownsSharedMemory;
SharedMemoryBlock* m_testBlock1;
btHashMap<btHashInt,BodyJointInfoCache*> m_bodyJointMap;
btHashMap<btHashInt,b3UserConstraint> m_userConstraintInfoMap;
btAlignedObjectArray<TmpFloat3> m_debugLinesFrom;
btAlignedObjectArray<TmpFloat3> m_debugLinesTo;
btAlignedObjectArray<TmpFloat3> m_debugLinesColor;
int m_cachedCameraPixelsWidth;
int m_cachedCameraPixelsHeight;
btAlignedObjectArray<unsigned char> m_cachedCameraPixelsRGBA;
btAlignedObjectArray<float> m_cachedCameraDepthBuffer;
btAlignedObjectArray<int> m_cachedSegmentationMaskBuffer;
btAlignedObjectArray<b3ContactPointData> m_cachedContactPoints;
btAlignedObjectArray<b3OverlappingObject> m_cachedOverlappingObjects;
btAlignedObjectArray<b3VisualShapeData> m_cachedVisualShapes;
btAlignedObjectArray<b3CollisionShapeData> m_cachedCollisionShapes;
btAlignedObjectArray<b3VRControllerEvent> m_cachedVREvents;
btAlignedObjectArray<b3KeyboardEvent> m_cachedKeyboardEvents;
btAlignedObjectArray<b3MouseEvent> m_cachedMouseEvents;
btAlignedObjectArray<double> m_cachedMassMatrix;
btAlignedObjectArray<b3RayHitInfo> m_raycastHits;
btAlignedObjectArray<int> m_bodyIdsRequestInfo;
btAlignedObjectArray<int> m_constraintIdsRequestInfo;
SharedMemoryStatus m_tempBackupServerStatus;
SharedMemoryStatus m_lastServerStatus;
int m_counter;
bool m_isConnected;
bool m_waitingForServer;
bool m_hasLastServerStatus;
int m_sharedMemoryKey;
bool m_verboseOutput;
double m_timeOutInSeconds;
PhysicsClientSharedMemoryInternalData()
: m_sharedMemory(0),
m_ownsSharedMemory(false),
m_testBlock1(0),
m_cachedCameraPixelsWidth(0),
m_cachedCameraPixelsHeight(0),
m_counter(0),
m_isConnected(false),
m_waitingForServer(false),
m_hasLastServerStatus(false),
m_sharedMemoryKey(SHARED_MEMORY_KEY),
m_verboseOutput(false),
m_timeOutInSeconds(1e30)
{}
void processServerStatus();
bool canSubmitCommand() const;
};
int PhysicsClientSharedMemory::getNumBodies() const
{
return m_data->m_bodyJointMap.size();
}
int PhysicsClientSharedMemory::getBodyUniqueId(int serialIndex) const
{
if ((serialIndex >= 0) && (serialIndex < getNumBodies()))
{
return m_data->m_bodyJointMap.getKeyAtIndex(serialIndex).getUid1();
}
return -1;
}
bool PhysicsClientSharedMemory::getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const
{
BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
if (bodyJointsPtr && *bodyJointsPtr)
{
BodyJointInfoCache* bodyJoints = *bodyJointsPtr;
strcpy(info.m_baseName,bodyJoints->m_baseName.c_str());
strcpy(info.m_bodyName,bodyJoints->m_bodyName.c_str());
return true;
}
return false;
}
int PhysicsClientSharedMemory::getNumJoints(int bodyUniqueId) const
{
BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
if (bodyJointsPtr && *bodyJointsPtr)
{
BodyJointInfoCache* bodyJoints = *bodyJointsPtr;
return bodyJoints->m_jointInfo.size();
}
return 0;
}
bool PhysicsClientSharedMemory::getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo& info) const
{
BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
if (bodyJointsPtr && *bodyJointsPtr)
{
BodyJointInfoCache* bodyJoints = *bodyJointsPtr;
if ((jointIndex >= 0) && (jointIndex < bodyJoints->m_jointInfo.size()))
{
info = bodyJoints->m_jointInfo[jointIndex];
return true;
}
}
return false;
}
int PhysicsClientSharedMemory::getNumUserConstraints() const
{
return m_data->m_userConstraintInfoMap.size();
}
int PhysicsClientSharedMemory::getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint& info) const
{
b3UserConstraint* constraintPtr =m_data->m_userConstraintInfoMap[constraintUniqueId];
if (constraintPtr)
{
info = *constraintPtr;
return 1;
}
return 0;
}
int PhysicsClientSharedMemory::getUserConstraintId(int serialIndex) const
{
if ((serialIndex >= 0) && (serialIndex < getNumUserConstraints()))
{
return m_data->m_userConstraintInfoMap.getKeyAtIndex(serialIndex).getUid1();
}
return -1;
}
PhysicsClientSharedMemory::PhysicsClientSharedMemory()
{
m_data = new PhysicsClientSharedMemoryInternalData;
#ifdef _WIN32
m_data->m_sharedMemory = new Win32SharedMemoryClient();
#else
m_data->m_sharedMemory = new PosixSharedMemory();
#endif
m_data->m_ownsSharedMemory = true;
}
PhysicsClientSharedMemory::~PhysicsClientSharedMemory() {
if (m_data->m_isConnected) {
disconnectSharedMemory();
}
resetData();
if (m_data->m_ownsSharedMemory)
{
delete m_data->m_sharedMemory;
}
delete m_data;
}
void PhysicsClientSharedMemory::removeCachedBody(int bodyUniqueId)
{
BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
if (bodyJointsPtr && *bodyJointsPtr)
{
delete (*bodyJointsPtr);
m_data->m_bodyJointMap.remove(bodyUniqueId);
}
}
void PhysicsClientSharedMemory::resetData()
{
m_data->m_debugLinesFrom.clear();
m_data->m_debugLinesTo.clear();
m_data->m_debugLinesColor.clear();
for (int i=0;i<m_data->m_bodyJointMap.size();i++)
{
BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap.getAtIndex(i);
if (bodyJointsPtr && *bodyJointsPtr)
{
BodyJointInfoCache* bodyJoints = *bodyJointsPtr;
delete (*bodyJointsPtr);
}
}
m_data->m_bodyJointMap.clear();
m_data->m_userConstraintInfoMap.clear();
}
void PhysicsClientSharedMemory::setSharedMemoryKey(int key)
{
m_data->m_sharedMemoryKey = key;
}
void PhysicsClientSharedMemory::setSharedMemoryInterface(class SharedMemoryInterface* sharedMem)
{
if (sharedMem)
{
if (m_data->m_sharedMemory && m_data->m_ownsSharedMemory)
{
delete m_data->m_sharedMemory;
}
m_data->m_ownsSharedMemory = false;
m_data->m_sharedMemory = sharedMem;
};
}
void PhysicsClientSharedMemory::disconnectSharedMemory() {
if (m_data->m_isConnected && m_data->m_sharedMemory) {
m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE);
}
m_data->m_isConnected = false;
}
bool PhysicsClientSharedMemory::isConnected() const
{
return m_data->m_isConnected && (m_data->m_testBlock1->m_magicId == SHARED_MEMORY_MAGIC_NUMBER);
}
bool PhysicsClientSharedMemory::connect() {
/// server always has to create and initialize shared memory
bool allowCreation = false;
m_data->m_testBlock1 = (SharedMemoryBlock*)m_data->m_sharedMemory->allocateSharedMemory(
m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE, allowCreation);
if (m_data->m_testBlock1) {
if (m_data->m_testBlock1->m_magicId != SHARED_MEMORY_MAGIC_NUMBER) {
//there is no chance people are still using this software 100 years from now ;-)
if ((m_data->m_testBlock1->m_magicId < 211705023) &&
(m_data->m_testBlock1->m_magicId >=201705023))
{
b3Error("Error: physics server version mismatch (expected %d got %d)\n",SHARED_MEMORY_MAGIC_NUMBER, m_data->m_testBlock1->m_magicId);
} else
{
b3Error("Error connecting to shared memory: please start server before client\n");
}
m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey,
SHARED_MEMORY_SIZE);
m_data->m_testBlock1 = 0;
return false;
} else {
if (m_data->m_verboseOutput) {
b3Printf("Connected to existing shared memory, status OK.\n");
}
m_data->m_isConnected = true;
}
} else {
//b3Warning("Cannot connect to shared memory");
return false;
}
#if 0
if (m_data->m_isConnected)
{
//get all existing bodies and body info...
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
//now transfer the information of the individual objects etc.
command.m_type = CMD_REQUEST_BODY_INFO;
command.m_sdfRequestInfoArgs.m_bodyUniqueId = 37;
submitClientCommand(command);
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = 10;
const SharedMemoryStatus* status = 0;
while ((status == 0) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
status = processServerStatus();
}
//submitClientCommand(command);
}
#endif
return true;
}
///todo(erwincoumans) refactor this: merge with PhysicsDirect::processBodyJointInfo
void PhysicsClientSharedMemory::processBodyJointInfo(int bodyUniqueId, const SharedMemoryStatus& serverCmd)
{
bParse::btBulletFile bf(
&this->m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0],
serverCmd.m_numDataStreamBytes);
bf.setFileDNAisMemoryDNA();
bf.parse(false);
BodyJointInfoCache* bodyJoints = new BodyJointInfoCache;
m_data->m_bodyJointMap.insert(bodyUniqueId,bodyJoints);
bodyJoints->m_bodyName = serverCmd.m_dataStreamArguments.m_bodyName;
for (int i = 0; i < bf.m_multiBodies.size(); i++)
{
int flag = bf.getFlags();
if ((flag & bParse::FD_DOUBLE_PRECISION) != 0)
{
Bullet::btMultiBodyDoubleData* mb =
(Bullet::btMultiBodyDoubleData*)bf.m_multiBodies[i];
bodyJoints->m_baseName = mb->m_baseName;
addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
} else
{
Bullet::btMultiBodyFloatData* mb =
(Bullet::btMultiBodyFloatData*)bf.m_multiBodies[i];
bodyJoints->m_baseName = mb->m_baseName;
addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
}
}
if (bf.ok()) {
if (m_data->m_verboseOutput)
{
b3Printf("Received robot description ok!\n");
}
} else
{
b3Warning("Robot description not received");
}
}
template <typename T, typename U> void addJointInfoFromConstraint(int linkIndex, const T* con, U* bodyJoints, bool verboseOutput)
{
b3JointInfo info;
info.m_jointName[0] = 0;
info.m_linkName[0] = 0;
info.m_flags = 0;
info.m_jointIndex = linkIndex;
info.m_qIndex = linkIndex+7;
info.m_uIndex = linkIndex+6;
//derive type from limits
if (con->m_typeConstraintData.m_name)
{
strcpy(info.m_jointName,con->m_typeConstraintData.m_name);
//info.m_linkName = strDup(con->m_typeConstraintData.m_name);
}
btVector3 linearLowerLimit(con->m_linearLowerLimit.m_floats[0],con->m_linearLowerLimit.m_floats[1],con->m_linearLowerLimit.m_floats[2]);
btVector3 linearUpperLimit(con->m_linearUpperLimit.m_floats[0],con->m_linearUpperLimit.m_floats[1],con->m_linearUpperLimit.m_floats[2]);
btVector3 angularLowerLimit(con->m_angularLowerLimit.m_floats[0],con->m_angularLowerLimit.m_floats[1],con->m_angularLowerLimit.m_floats[2]);
btVector3 angularUpperLimit(con->m_angularUpperLimit.m_floats[0],con->m_angularUpperLimit.m_floats[1],con->m_angularUpperLimit.m_floats[2]);
//very simple, rudimentary extraction of constaint type, from limits
info.m_jointType = eFixedType;
info.m_jointDamping = 0;//mb->m_links[link].m_jointDamping;
info.m_jointFriction = 0;//mb->m_links[link].m_jointFriction;
info.m_jointLowerLimit = 0;//mb->m_links[link].m_jointLowerLimit;
info.m_jointUpperLimit = 0;//mb->m_links[link].m_jointUpperLimit;
info.m_jointMaxForce = 0;//mb->m_links[link].m_jointMaxForce;
info.m_jointMaxVelocity = 0;//mb->m_links[link].m_jointMaxVelocity;
if (linearLowerLimit.isZero() && linearUpperLimit.isZero() && angularLowerLimit.isZero() && angularUpperLimit.isZero())
{
info.m_jointType = eFixedType;
} else
{
if (linearLowerLimit.isZero() && linearUpperLimit.isZero())
{
info.m_jointType = eRevoluteType;
btVector3 limitRange = angularLowerLimit.absolute()+angularUpperLimit.absolute();
int limitAxis = limitRange.maxAxis();
info.m_jointLowerLimit = angularLowerLimit[limitAxis];
info.m_jointUpperLimit = angularUpperLimit[limitAxis];
} else
{
info.m_jointType = ePrismaticType;
btVector3 limitRange = linearLowerLimit.absolute()+linearUpperLimit.absolute();
int limitAxis = limitRange.maxAxis();
info.m_jointLowerLimit = linearLowerLimit[limitAxis];
info.m_jointUpperLimit = linearUpperLimit[limitAxis];
}
}
//if (mb->m_links[link].m_linkName) {
if ((info.m_jointType == eRevoluteType) ||
(info.m_jointType == ePrismaticType)) {
info.m_flags |= JOINT_HAS_MOTORIZED_POWER;
}
bodyJoints->m_jointInfo.push_back(info);
};
const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
// SharedMemoryStatus* stat = 0;
if (!m_data->m_testBlock1) {
m_data->m_lastServerStatus.m_type = CMD_SHARED_MEMORY_NOT_INITIALIZED;
return &m_data->m_lastServerStatus;
}
if (!m_data->m_waitingForServer) {
return 0;
}
if (m_data->m_testBlock1->m_magicId != SHARED_MEMORY_MAGIC_NUMBER)
{
m_data->m_lastServerStatus.m_type = CMD_SHARED_MEMORY_NOT_INITIALIZED;
return &m_data->m_lastServerStatus;
}
if (m_data->m_testBlock1->m_numServerCommands >
m_data->m_testBlock1->m_numProcessedServerCommands)
{
B3_PROFILE("processServerCMD");
btAssert(m_data->m_testBlock1->m_numServerCommands ==
m_data->m_testBlock1->m_numProcessedServerCommands + 1);
const SharedMemoryStatus& serverCmd = m_data->m_testBlock1->m_serverCommands[0];
m_data->m_lastServerStatus = serverCmd;
// EnumSharedMemoryServerStatus s = (EnumSharedMemoryServerStatus)serverCmd.m_type;
// consume the command
switch (serverCmd.m_type)
{
case CMD_CLIENT_COMMAND_COMPLETED:
{
B3_PROFILE("CMD_CLIENT_COMMAND_COMPLETED");
if (m_data->m_verboseOutput) {
b3Printf("Server completed command");
}
break;
}
case CMD_MJCF_LOADING_COMPLETED:
{
B3_PROFILE("CMD_MJCF_LOADING_COMPLETED");
if (m_data->m_verboseOutput) {
b3Printf("Server loading the MJCF OK\n");
}
break;
}
case CMD_SDF_LOADING_COMPLETED:
{
B3_PROFILE("CMD_SDF_LOADING_COMPLETED");
if (m_data->m_verboseOutput) {
b3Printf("Server loading the SDF OK\n");
}
break;
}
case CMD_CREATE_MULTI_BODY_COMPLETED:
case CMD_URDF_LOADING_COMPLETED:
{
B3_PROFILE("CMD_URDF_LOADING_COMPLETED");
if (m_data->m_verboseOutput) {
b3Printf("Server loading the URDF OK\n");
}
if (serverCmd.m_numDataStreamBytes > 0)
{
bParse::btBulletFile bf(
this->m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor,
serverCmd.m_numDataStreamBytes);
bf.setFileDNAisMemoryDNA();
bf.parse(false);
int bodyUniqueId = serverCmd.m_dataStreamArguments.m_bodyUniqueId;
BodyJointInfoCache* bodyJoints = new BodyJointInfoCache;
m_data->m_bodyJointMap.insert(bodyUniqueId,bodyJoints);
bodyJoints->m_bodyName = serverCmd.m_dataStreamArguments.m_bodyName;
for (int i = 0; i < bf.m_constraints.size(); i++)
{
int flag = bf.getFlags();
if ((flag & bParse::FD_DOUBLE_PRECISION) != 0)
{
Bullet::btGeneric6DofSpring2ConstraintDoubleData2* con =
(Bullet::btGeneric6DofSpring2ConstraintDoubleData2*) bf.m_constraints[i];
addJointInfoFromConstraint(i,con,bodyJoints,m_data->m_verboseOutput);
} else
{
Bullet::btGeneric6DofSpring2ConstraintData* con =
(Bullet::btGeneric6DofSpring2ConstraintData*) bf.m_constraints[i];
addJointInfoFromConstraint(i,con,bodyJoints,m_data->m_verboseOutput);
}
}
for (int i = 0; i < bf.m_multiBodies.size(); i++)
{
int flag = bf.getFlags();
if ((flag & bParse::FD_DOUBLE_PRECISION) != 0)
{
Bullet::btMultiBodyDoubleData* mb =
(Bullet::btMultiBodyDoubleData*)bf.m_multiBodies[i];
if (mb->m_baseName)
{
bodyJoints->m_baseName = mb->m_baseName;
}
addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
} else
{
Bullet::btMultiBodyFloatData* mb =
(Bullet::btMultiBodyFloatData*)bf.m_multiBodies[i];
if (mb->m_baseName)
{
bodyJoints->m_baseName = mb->m_baseName;
}
addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
}
}
if (bf.ok()) {
if (m_data->m_verboseOutput) {
b3Printf("Received robot description ok!\n");
}
} else {
b3Warning("Robot description not received");
}
}
break;
}
case CMD_DESIRED_STATE_RECEIVED_COMPLETED:
{
B3_PROFILE("CMD_DESIRED_STATE_RECEIVED_COMPLETED");
if (m_data->m_verboseOutput) {
b3Printf("Server received desired state");
}
break;
}
case CMD_STEP_FORWARD_SIMULATION_COMPLETED:
{
B3_PROFILE("CMD_STEP_FORWARD_SIMULATION_COMPLETED");
if (m_data->m_verboseOutput) {
b3Printf("Server completed step simulation");
}
break;
}
case CMD_URDF_LOADING_FAILED:
{
B3_PROFILE("CMD_URDF_LOADING_FAILED");
if (m_data->m_verboseOutput) {
b3Printf("Server failed loading the URDF...\n");
}
break;
}
case CMD_USER_CONSTRAINT_REQUEST_STATE_COMPLETED:
{
break;
}
case CMD_USER_CONSTRAINT_INFO_COMPLETED:
{
B3_PROFILE("CMD_USER_CONSTRAINT_INFO_COMPLETED");
int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId;
m_data->m_userConstraintInfoMap.insert(cid,serverCmd.m_userConstraintResultArgs);
break;
}
case CMD_USER_CONSTRAINT_COMPLETED:
{
B3_PROFILE("CMD_USER_CONSTRAINT_COMPLETED");
int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId;
m_data->m_userConstraintInfoMap.insert(cid,serverCmd.m_userConstraintResultArgs);
break;
}
case CMD_REMOVE_USER_CONSTRAINT_COMPLETED:
{
B3_PROFILE("CMD_REMOVE_USER_CONSTRAINT_COMPLETED");
int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId;
m_data->m_userConstraintInfoMap.remove(cid);
break;
}
case CMD_CHANGE_USER_CONSTRAINT_COMPLETED:
{
B3_PROFILE("CMD_CHANGE_USER_CONSTRAINT_COMPLETED");
int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId;
b3UserConstraint* userConstraintPtr = m_data->m_userConstraintInfoMap[cid];
if (userConstraintPtr)
{
const b3UserConstraint* serverConstraint = &serverCmd.m_userConstraintResultArgs;
if (serverCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_PIVOT_IN_B)
{
userConstraintPtr->m_childFrame[0] = serverConstraint->m_childFrame[0];
userConstraintPtr->m_childFrame[1] = serverConstraint->m_childFrame[1];
userConstraintPtr->m_childFrame[2] = serverConstraint->m_childFrame[2];
}
if (serverCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_FRAME_ORN_IN_B)
{
userConstraintPtr->m_childFrame[3] = serverConstraint->m_childFrame[3];
userConstraintPtr->m_childFrame[4] = serverConstraint->m_childFrame[4];
userConstraintPtr->m_childFrame[5] = serverConstraint->m_childFrame[5];
userConstraintPtr->m_childFrame[6] = serverConstraint->m_childFrame[6];
}
if (serverCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_MAX_FORCE)
{
userConstraintPtr->m_maxAppliedForce = serverConstraint->m_maxAppliedForce;
}
if (serverCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_GEAR_RATIO)
{
userConstraintPtr->m_gearRatio = serverConstraint->m_gearRatio;
}
if (serverCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_RELATIVE_POSITION_TARGET)
{
userConstraintPtr->m_relativePositionTarget = serverConstraint->m_relativePositionTarget;
}
if (serverCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_ERP)
{
userConstraintPtr->m_erp = serverConstraint->m_erp;
}
if (serverCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK)
{
userConstraintPtr->m_gearAuxLink = serverConstraint->m_gearAuxLink;
}
}
break;
}
case CMD_USER_CONSTRAINT_FAILED:
{
B3_PROFILE("CMD_USER_CONSTRAINT_FAILED");
b3Warning("createConstraint failed");
break;
}
case CMD_REMOVE_USER_CONSTRAINT_FAILED:
{
B3_PROFILE("CMD_REMOVE_USER_CONSTRAINT_FAILED");
b3Warning("removeConstraint failed");
break;
}
case CMD_CHANGE_USER_CONSTRAINT_FAILED:
{
B3_PROFILE("CMD_CHANGE_USER_CONSTRAINT_FAILED");
//b3Warning("changeConstraint failed");
break;
}
case CMD_ACTUAL_STATE_UPDATE_FAILED:
{
B3_PROFILE("CMD_ACTUAL_STATE_UPDATE_FAILED");
b3Warning("request actual state failed");
break;
}
case CMD_BODY_INFO_COMPLETED:
{
B3_PROFILE("CMD_BODY_INFO_COMPLETED");
if (m_data->m_verboseOutput) {
b3Printf("Received body info\n");
}
int bodyUniqueId = serverCmd.m_dataStreamArguments.m_bodyUniqueId;
processBodyJointInfo(bodyUniqueId, serverCmd);
break;
}
case CMD_MJCF_LOADING_FAILED:
{
B3_PROFILE("CMD_MJCF_LOADING_FAILED");
if (m_data->m_verboseOutput) {
b3Printf("Server failed loading the MJCF...\n");
}
break;
}
case CMD_SDF_LOADING_FAILED: {
B3_PROFILE("CMD_SDF_LOADING_FAILED");
if (m_data->m_verboseOutput) {
b3Printf("Server failed loading the SDF...\n");
}
break;
}
case CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED: {
B3_PROFILE("CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED");
if (m_data->m_verboseOutput) {
b3Printf("Server received bullet data stream OK\n");
}
break;
}
case CMD_BULLET_DATA_STREAM_RECEIVED_FAILED: {
B3_PROFILE("CMD_BULLET_DATA_STREAM_RECEIVED_FAILED");
if (m_data->m_verboseOutput) {
b3Printf("Server failed receiving bullet data stream\n");
}
break;
}
case CMD_ACTUAL_STATE_UPDATE_COMPLETED: {
B3_PROFILE("CMD_ACTUAL_STATE_UPDATE_COMPLETED");
if (m_data->m_verboseOutput)
{
b3Printf("Received actual state\n");
SharedMemoryStatus& command = m_data->m_testBlock1->m_serverCommands[0];
int numQ = command.m_sendActualStateArgs.m_numDegreeOfFreedomQ;
int numU = command.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,
command.m_sendActualStateArgs.m_actualStateQ[i]);
} else {
sprintf(msg, "%s%f", msg,
command.m_sendActualStateArgs.m_actualStateQ[i]);
}
}
sprintf(msg, "%s]", msg);
}
b3Printf(msg);
sprintf(msg, "U=[");
for (int i = 0; i < numU; i++) {
if (i < numU - 1) {
sprintf(msg, "%s%f,", msg,
command.m_sendActualStateArgs.m_actualStateQdot[i]);
} else {
sprintf(msg, "%s%f", msg,
command.m_sendActualStateArgs.m_actualStateQdot[i]);
}
}
sprintf(msg, "%s]", msg);
b3Printf(msg);
b3Printf("\n");
}
break;
}
case CMD_RESET_SIMULATION_COMPLETED: {
B3_PROFILE("CMD_RESET_SIMULATION_COMPLETED");
if (m_data->m_verboseOutput) {
b3Printf("CMD_RESET_SIMULATION_COMPLETED clean data\n");
}
resetData();
break;
}
case CMD_DEBUG_LINES_COMPLETED: {
B3_PROFILE("CMD_DEBUG_LINES_COMPLETED");
if (m_data->m_verboseOutput) {
b3Printf("Success receiving %d debug lines",
serverCmd.m_sendDebugLinesArgs.m_numDebugLines);
}
int numLines = serverCmd.m_sendDebugLinesArgs.m_numDebugLines;
float* linesFrom =
(float*)&m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0];
float* linesTo =
(float*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0] +
numLines * 3 * sizeof(float));
float* linesColor =
(float*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0] +
2 * numLines * 3 * sizeof(float));
m_data->m_debugLinesFrom.resize(serverCmd.m_sendDebugLinesArgs.m_startingLineIndex +
numLines);
m_data->m_debugLinesTo.resize(serverCmd.m_sendDebugLinesArgs.m_startingLineIndex +
numLines);
m_data->m_debugLinesColor.resize(
serverCmd.m_sendDebugLinesArgs.m_startingLineIndex + numLines);
for (int i = 0; i < numLines; i++) {
TmpFloat3 from = CreateTmpFloat3(linesFrom[i * 3], linesFrom[i * 3 + 1],
linesFrom[i * 3 + 2]);
TmpFloat3 to =
CreateTmpFloat3(linesTo[i * 3], linesTo[i * 3 + 1], linesTo[i * 3 + 2]);
TmpFloat3 color = CreateTmpFloat3(linesColor[i * 3], linesColor[i * 3 + 1],
linesColor[i * 3 + 2]);
m_data
->m_debugLinesFrom[serverCmd.m_sendDebugLinesArgs.m_startingLineIndex + i] =
from;
m_data->m_debugLinesTo[serverCmd.m_sendDebugLinesArgs.m_startingLineIndex + i] =
to;
m_data->m_debugLinesColor[serverCmd.m_sendDebugLinesArgs.m_startingLineIndex +
i] = color;
}
break;
}
case CMD_RIGID_BODY_CREATION_COMPLETED:
{
B3_PROFILE("CMD_RIGID_BODY_CREATION_COMPLETED");
break;
}
case CMD_DEBUG_LINES_OVERFLOW_FAILED: {
B3_PROFILE("CMD_DEBUG_LINES_OVERFLOW_FAILED");
b3Warning("Error receiving debug lines");
m_data->m_debugLinesFrom.resize(0);
m_data->m_debugLinesTo.resize(0);
m_data->m_debugLinesColor.resize(0);
break;
}
case CMD_CAMERA_IMAGE_COMPLETED:
{
B3_PROFILE("CMD_CAMERA_IMAGE_COMPLETED");
if (m_data->m_verboseOutput)
{
b3Printf("Camera image OK\n");
}
int numBytesPerPixel = 4;//RGBA
int numTotalPixels = serverCmd.m_sendPixelDataArguments.m_startingPixelIndex+
serverCmd.m_sendPixelDataArguments.m_numPixelsCopied+
serverCmd.m_sendPixelDataArguments.m_numRemainingPixels;
m_data->m_cachedCameraPixelsWidth = 0;
m_data->m_cachedCameraPixelsHeight = 0;
int numPixels = serverCmd.m_sendPixelDataArguments.m_imageWidth*serverCmd.m_sendPixelDataArguments.m_imageHeight;
m_data->m_cachedCameraPixelsRGBA.reserve(numPixels*numBytesPerPixel);
m_data->m_cachedCameraDepthBuffer.resize(numTotalPixels);
m_data->m_cachedSegmentationMaskBuffer.resize(numTotalPixels);
m_data->m_cachedCameraPixelsRGBA.resize(numTotalPixels*numBytesPerPixel);
unsigned char* rgbaPixelsReceived =
(unsigned char*)&m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0];
// printf("pixel = %d\n", rgbaPixelsReceived[0]);
float* depthBuffer = (float*)&(m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[serverCmd.m_sendPixelDataArguments.m_numPixelsCopied*4]);
int* segmentationMaskBuffer = (int*)&(m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[serverCmd.m_sendPixelDataArguments.m_numPixelsCopied*8]);
for (int i=0;i<serverCmd.m_sendPixelDataArguments.m_numPixelsCopied;i++)
{
m_data->m_cachedCameraDepthBuffer[i + serverCmd.m_sendPixelDataArguments.m_startingPixelIndex] = depthBuffer[i];
}
for (int i=0;i<serverCmd.m_sendPixelDataArguments.m_numPixelsCopied;i++)
{
m_data->m_cachedSegmentationMaskBuffer[i + serverCmd.m_sendPixelDataArguments.m_startingPixelIndex] = segmentationMaskBuffer[i];
}
for (int i=0;i<serverCmd.m_sendPixelDataArguments.m_numPixelsCopied*numBytesPerPixel;i++)
{
m_data->m_cachedCameraPixelsRGBA[i + serverCmd.m_sendPixelDataArguments.m_startingPixelIndex*numBytesPerPixel]
= rgbaPixelsReceived[i];
}
break;
}
case CMD_CAMERA_IMAGE_FAILED:
{
B3_PROFILE("CMD_CAMERA_IMAGE_FAILED");
b3Warning("Camera image FAILED\n");
break;
}
case CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED:
{
break;
}
case CMD_CALCULATED_INVERSE_DYNAMICS_FAILED:
{
b3Warning("Inverse Dynamics computations failed");
break;
}
case CMD_REQUEST_AABB_OVERLAP_FAILED:
{
b3Warning("Overlapping object query failed");
break;
}
case CMD_REQUEST_RAY_CAST_INTERSECTIONS_COMPLETED:
{
if (m_data->m_verboseOutput)
{
b3Printf("Raycast completed");
}
m_data->m_raycastHits.clear();
for (int i=0;i<serverCmd.m_raycastHits.m_numRaycastHits;i++)
{
m_data->m_raycastHits.push_back(serverCmd.m_raycastHits.m_rayHits[i]);
}
break;
}
case CMD_REQUEST_VR_EVENTS_DATA_COMPLETED:
{
B3_PROFILE("CMD_REQUEST_VR_EVENTS_DATA_COMPLETED");
if (m_data->m_verboseOutput)
{
b3Printf("Request VR Events completed");
}
m_data->m_cachedVREvents.clear();
for (int i=0;i< serverCmd.m_sendVREvents.m_numVRControllerEvents;i++)
{
m_data->m_cachedVREvents.push_back(serverCmd.m_sendVREvents.m_controllerEvents[i]);
}
break;
}
case CMD_REQUEST_KEYBOARD_EVENTS_DATA_COMPLETED:
{
B3_PROFILE("CMD_REQUEST_KEYBOARD_EVENTS_DATA_COMPLETED");
if (m_data->m_verboseOutput)
{
b3Printf("Request keyboard events completed");
}
m_data->m_cachedKeyboardEvents.resize(serverCmd.m_sendKeyboardEvents.m_numKeyboardEvents);
for (int i=0;i<serverCmd.m_sendKeyboardEvents.m_numKeyboardEvents;i++)
{
m_data->m_cachedKeyboardEvents[i] = serverCmd.m_sendKeyboardEvents.m_keyboardEvents[i];
}
break;
}
case CMD_REQUEST_MOUSE_EVENTS_DATA_COMPLETED:
{
B3_PROFILE("CMD_REQUEST_MOUSE_EVENTS_DATA_COMPLETED");
if (m_data->m_verboseOutput)
{
b3Printf("Request mouse events completed");
}
m_data->m_cachedMouseEvents.resize(serverCmd.m_sendMouseEvents.m_numMouseEvents);
for (int i=0;i<serverCmd.m_sendMouseEvents.m_numMouseEvents;i++)
{
m_data->m_cachedMouseEvents[i] = serverCmd.m_sendMouseEvents.m_mouseEvents[i];
}
break;
}
case CMD_REQUEST_AABB_OVERLAP_COMPLETED:
{
B3_PROFILE("CMD_REQUEST_AABB_OVERLAP_COMPLETED");
if (m_data->m_verboseOutput)
{
b3Printf("Overlapping object request completed");
}
int startOverlapIndex = serverCmd.m_sendOverlappingObjectsArgs.m_startingOverlappingObjectIndex;
int numOverlapCopied = serverCmd.m_sendOverlappingObjectsArgs.m_numOverlappingObjectsCopied;
m_data->m_cachedOverlappingObjects.resize(startOverlapIndex + numOverlapCopied);
b3OverlappingObject* objects = (b3OverlappingObject*)m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor;
for (int i = 0; i < numOverlapCopied; i++)
{
m_data->m_cachedOverlappingObjects[startOverlapIndex + i] = objects[i];
}
break;
}
case CMD_CONTACT_POINT_INFORMATION_COMPLETED:
{
B3_PROFILE("CMD_CONTACT_POINT_INFORMATION_COMPLETED");
if (m_data->m_verboseOutput)
{
b3Printf("Contact Point Information Request OK\n");
}
int startContactIndex = serverCmd.m_sendContactPointArgs.m_startingContactPointIndex;
int numContactsCopied = serverCmd.m_sendContactPointArgs.m_numContactPointsCopied;
m_data->m_cachedContactPoints.resize(startContactIndex+numContactsCopied);
b3ContactPointData* contactData = (b3ContactPointData*)m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor;
for (int i=0;i<numContactsCopied;i++)
{
m_data->m_cachedContactPoints[startContactIndex+i] = contactData[i];
}
break;
}
case CMD_CONTACT_POINT_INFORMATION_FAILED:
{
B3_PROFILE("CMD_CONTACT_POINT_INFORMATION_FAILED");
b3Warning("Contact Point Information Request failed");
break;
}
case CMD_SAVE_WORLD_COMPLETED:
{
B3_PROFILE("CMD_SAVE_WORLD_COMPLETED");
break;
}
case CMD_SAVE_WORLD_FAILED:
{
B3_PROFILE("CMD_SAVE_WORLD_FAILED");
b3Warning("Saving world failed");
break;
}
case CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED:
{
B3_PROFILE("CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED");
break;
}
case CMD_CALCULATE_INVERSE_KINEMATICS_FAILED:
{
B3_PROFILE("CMD_CALCULATE_INVERSE_KINEMATICS_FAILED");
b3Warning("Calculate Inverse Kinematics Request failed");
break;
}
case CMD_VISUAL_SHAPE_INFO_COMPLETED:
{
B3_PROFILE("CMD_VISUAL_SHAPE_INFO_COMPLETED");
if (m_data->m_verboseOutput)
{
b3Printf("Visual Shape Information Request OK\n");
}
int startVisualShapeIndex = serverCmd.m_sendVisualShapeArgs.m_startingVisualShapeIndex;
int numVisualShapesCopied = serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied;
m_data->m_cachedVisualShapes.resize(startVisualShapeIndex + numVisualShapesCopied);
b3VisualShapeData* shapeData = (b3VisualShapeData*)m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor;
for (int i = 0; i < numVisualShapesCopied; i++)
{
m_data->m_cachedVisualShapes[startVisualShapeIndex + i] = shapeData[i];
}
break;
}
case CMD_VISUAL_SHAPE_INFO_FAILED:
{
b3Warning("Visual Shape Info Request failed");
break;
}
case CMD_VISUAL_SHAPE_UPDATE_COMPLETED:
{
break;
}
case CMD_VISUAL_SHAPE_UPDATE_FAILED:
{
b3Warning("Visual Shape Update failed");
break;
}
case CMD_LOAD_TEXTURE_COMPLETED:
{
break;
}
case CMD_LOAD_TEXTURE_FAILED:
{
b3Warning("Load texture failed");
break;
}
case CMD_BULLET_LOADING_COMPLETED:
{
break;
}
case CMD_BULLET_LOADING_FAILED:
{
b3Warning("Load .bullet failed");
break;
}
case CMD_BULLET_SAVING_FAILED:
{
b3Warning("Save .bullet failed");
break;
}
case CMD_USER_DEBUG_DRAW_PARAMETER_COMPLETED:
case CMD_USER_DEBUG_DRAW_COMPLETED:
{
break;
}
case CMD_USER_DEBUG_DRAW_FAILED:
{
b3Warning("User debug draw failed");
break;
}
case CMD_SYNC_BODY_INFO_COMPLETED:
{
break;
}
case CMD_STATE_LOGGING_START_COMPLETED:
{
break;
};
case CMD_STATE_LOGGING_COMPLETED:
{
break;
};
case CMD_STATE_LOGGING_FAILED:
{
b3Warning("State Logging failed");
break;
}
case CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_FAILED:
{
b3Warning("Request visualizer camera failed");
break;
}
case CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_COMPLETED:
{
break;
}
case CMD_REMOVE_BODY_COMPLETED:
{
break;
}
case CMD_REMOVE_BODY_FAILED:
{
b3Warning("Removing body failed");
break;
}
case CMD_GET_DYNAMICS_INFO_COMPLETED:
{
break;
}
case CMD_GET_DYNAMICS_INFO_FAILED:
{
b3Warning("Request dynamics info failed");
break;
}
case CMD_CREATE_COLLISION_SHAPE_FAILED:
{
b3Warning("Request createCollisionShape failed");
break;
}
case CMD_CREATE_COLLISION_SHAPE_COMPLETED:
case CMD_CREATE_VISUAL_SHAPE_COMPLETED:
{
break;
}
case CMD_CREATE_MULTI_BODY_FAILED:
{
b3Warning("Request createMultiBody failed");
break;
}
case CMD_CREATE_VISUAL_SHAPE_FAILED:
{
b3Warning("Request createVisualShape failed");
break;
}
case CMD_REQUEST_COLLISION_INFO_COMPLETED:
{
break;
}
case CMD_REQUEST_COLLISION_INFO_FAILED:
{
b3Warning("Request getCollisionInfo failed");
break;
}
case CMD_CUSTOM_COMMAND_COMPLETED:
{
break;
}
case CMD_CALCULATED_JACOBIAN_COMPLETED:
{
break;
}
case CMD_CALCULATED_JACOBIAN_FAILED:
{
b3Warning("jacobian calculation failed");
break;
}
case CMD_CUSTOM_COMMAND_FAILED:
{
b3Warning("custom plugin command failed");
break;
}
case CMD_CALCULATED_MASS_MATRIX_FAILED:
{
b3Warning("calculate mass matrix failed");
break;
}
case CMD_CALCULATED_MASS_MATRIX_COMPLETED:
{
double* matrixData = (double*)&this->m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0];
m_data->m_cachedMassMatrix.resize(serverCmd.m_massMatrixResultArgs.m_dofCount*serverCmd.m_massMatrixResultArgs.m_dofCount);
for (int i=0;i<serverCmd.m_massMatrixResultArgs.m_dofCount*serverCmd.m_massMatrixResultArgs.m_dofCount;i++)
{
m_data->m_cachedMassMatrix[i] = matrixData[i];
}
break;
}
case CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS_COMPLETED:
{
break;
}
case CMD_SAVE_STATE_COMPLETED:
{
break;
}
case CMD_RESTORE_STATE_FAILED:
{
b3Warning("restoreState failed");
break;
}
case CMD_RESTORE_STATE_COMPLETED:
{
break;
}
case CMD_BULLET_SAVING_COMPLETED:
{
break;
}
case CMD_COLLISION_SHAPE_INFO_FAILED:
{
b3Warning("getCollisionShapeData failed");
break;
}
case CMD_COLLISION_SHAPE_INFO_COMPLETED:
{
B3_PROFILE("CMD_COLLISION_SHAPE_INFO_COMPLETED");
if (m_data->m_verboseOutput)
{
b3Printf("Collision Shape Information Request OK\n");
}
int numCollisionShapesCopied = serverCmd.m_sendCollisionShapeArgs.m_numCollisionShapes;
m_data->m_cachedCollisionShapes.resize(numCollisionShapesCopied);
b3CollisionShapeData* shapeData = (b3CollisionShapeData*)m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor;
for (int i = 0; i < numCollisionShapesCopied; i++)
{
m_data->m_cachedCollisionShapes[i] = shapeData[i];
}
break;
}
default: {
b3Error("Unknown server status %d\n", serverCmd.m_type);
btAssert(0);
}
};
m_data->m_testBlock1->m_numProcessedServerCommands++;
// we don't have more than 1 command outstanding (in total, either server or client)
btAssert(m_data->m_testBlock1->m_numProcessedServerCommands ==
m_data->m_testBlock1->m_numServerCommands);
if (m_data->m_testBlock1->m_numServerCommands ==
m_data->m_testBlock1->m_numProcessedServerCommands) {
m_data->m_waitingForServer = false;
} else {
m_data->m_waitingForServer = true;
}
if ((serverCmd.m_type == CMD_SDF_LOADING_COMPLETED) || (serverCmd.m_type == CMD_MJCF_LOADING_COMPLETED) || (serverCmd.m_type == CMD_SYNC_BODY_INFO_COMPLETED))
{
B3_PROFILE("CMD_LOADING_COMPLETED");
int numConstraints = serverCmd.m_sdfLoadedArgs.m_numUserConstraints;
for (int i=0;i<numConstraints;i++)
{
int constraintUid = serverCmd.m_sdfLoadedArgs.m_userConstraintUniqueIds[i];
m_data->m_constraintIdsRequestInfo.push_back(constraintUid);
}
int numBodies = serverCmd.m_sdfLoadedArgs.m_numBodies;
if (numBodies>0)
{
m_data->m_tempBackupServerStatus = m_data->m_lastServerStatus;
for (int i=0;i<numBodies;i++)
{
m_data->m_bodyIdsRequestInfo.push_back(serverCmd.m_sdfLoadedArgs.m_bodyUniqueIds[i]);
}
int bodyId = m_data->m_bodyIdsRequestInfo[m_data->m_bodyIdsRequestInfo.size()-1];
m_data->m_bodyIdsRequestInfo.pop_back();
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
//now transfer the information of the individual objects etc.
command.m_type = CMD_REQUEST_BODY_INFO;
command.m_sdfRequestInfoArgs.m_bodyUniqueId = bodyId;
submitClientCommand(command);
return 0;
}
}
if (serverCmd.m_type == CMD_REMOVE_BODY_COMPLETED)
{
for (int i=0;i<serverCmd.m_removeObjectArgs.m_numBodies;i++)
{
int bodyUniqueId = serverCmd.m_removeObjectArgs.m_bodyUniqueIds[i];
removeCachedBody(bodyUniqueId);
}
for (int i=0;i<serverCmd.m_removeObjectArgs.m_numUserConstraints;i++)
{
int key = serverCmd.m_removeObjectArgs.m_userConstraintUniqueIds[i];
m_data->m_userConstraintInfoMap.remove(key);
}
}
if (serverCmd.m_type == CMD_USER_CONSTRAINT_INFO_COMPLETED)
{
B3_PROFILE("CMD_USER_CONSTRAINT_INFO_COMPLETED");
if (m_data->m_constraintIdsRequestInfo.size())
{
int cid = m_data->m_constraintIdsRequestInfo[m_data->m_constraintIdsRequestInfo.size()-1];
m_data->m_constraintIdsRequestInfo.pop_back();
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
command.m_type = CMD_USER_CONSTRAINT;
command.m_updateFlags = USER_CONSTRAINT_REQUEST_INFO;
command.m_userConstraintArguments.m_userConstraintUniqueId = cid;
submitClientCommand(command);
return 0;
}
else
{
m_data->m_lastServerStatus = m_data->m_tempBackupServerStatus;
}
}
if (serverCmd.m_type == CMD_BODY_INFO_COMPLETED)
{
B3_PROFILE("CMD_BODY_INFO_COMPLETED");
//are there any bodies left to be processed?
if (m_data->m_bodyIdsRequestInfo.size())
{
int bodyId = m_data->m_bodyIdsRequestInfo[m_data->m_bodyIdsRequestInfo.size()-1];
m_data->m_bodyIdsRequestInfo.pop_back();
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
//now transfer the information of the individual objects etc.
command.m_type = CMD_REQUEST_BODY_INFO;
command.m_sdfRequestInfoArgs.m_bodyUniqueId = bodyId;
submitClientCommand(command);
return 0;
} else
{
if (m_data->m_constraintIdsRequestInfo.size())
{
int cid = m_data->m_constraintIdsRequestInfo[m_data->m_constraintIdsRequestInfo.size()-1];
m_data->m_constraintIdsRequestInfo.pop_back();
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
command.m_type = CMD_USER_CONSTRAINT;
command.m_updateFlags = USER_CONSTRAINT_REQUEST_INFO;
command.m_userConstraintArguments.m_userConstraintUniqueId = cid;
submitClientCommand(command);
return 0;
} else
{
m_data->m_lastServerStatus = m_data->m_tempBackupServerStatus;
}
}
}
if (serverCmd.m_type == CMD_REQUEST_AABB_OVERLAP_COMPLETED)
{
B3_PROFILE("CMD_REQUEST_AABB_OVERLAP_COMPLETED2");
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
if (serverCmd.m_sendOverlappingObjectsArgs.m_numRemainingOverlappingObjects > 0 && serverCmd.m_sendOverlappingObjectsArgs.m_numOverlappingObjectsCopied)
{
command.m_type = CMD_REQUEST_AABB_OVERLAP;
command.m_requestOverlappingObjectsArgs.m_startingOverlappingObjectIndex = serverCmd.m_sendOverlappingObjectsArgs.m_startingOverlappingObjectIndex + serverCmd.m_sendOverlappingObjectsArgs.m_numOverlappingObjectsCopied;
submitClientCommand(command);
return 0;
}
}
if (serverCmd.m_type == CMD_CONTACT_POINT_INFORMATION_COMPLETED)
{
B3_PROFILE("CMD_CONTACT_POINT_INFORMATION_COMPLETED2");
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
if (serverCmd.m_sendContactPointArgs.m_numRemainingContactPoints>0 && serverCmd.m_sendContactPointArgs.m_numContactPointsCopied)
{
command.m_type = CMD_REQUEST_CONTACT_POINT_INFORMATION;
command.m_requestContactPointArguments.m_startingContactPointIndex = serverCmd.m_sendContactPointArgs.m_startingContactPointIndex+serverCmd.m_sendContactPointArgs.m_numContactPointsCopied;
command.m_requestContactPointArguments.m_objectAIndexFilter = -1;
command.m_requestContactPointArguments.m_objectBIndexFilter = -1;
submitClientCommand(command);
return 0;
}
}
if (serverCmd.m_type == CMD_VISUAL_SHAPE_INFO_COMPLETED)
{
B3_PROFILE("CMD_VISUAL_SHAPE_INFO_COMPLETED2");
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
if (serverCmd.m_sendVisualShapeArgs.m_numRemainingVisualShapes >0 && serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied)
{
command.m_type = CMD_REQUEST_VISUAL_SHAPE_INFO;
command.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex = serverCmd.m_sendVisualShapeArgs.m_startingVisualShapeIndex + serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied;
command.m_requestVisualShapeDataArguments.m_bodyUniqueId = serverCmd.m_sendVisualShapeArgs.m_bodyUniqueId;
submitClientCommand(command);
return 0;
}
}
if (serverCmd.m_type == CMD_CAMERA_IMAGE_COMPLETED)
{
B3_PROFILE("CMD_CAMERA_IMAGE_COMPLETED2");
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
if (serverCmd.m_sendPixelDataArguments.m_numRemainingPixels > 0 && serverCmd.m_sendPixelDataArguments.m_numPixelsCopied)
{
// continue requesting remaining pixels
command.m_type = CMD_REQUEST_CAMERA_IMAGE_DATA;
command.m_requestPixelDataArguments.m_startPixelIndex =
serverCmd.m_sendPixelDataArguments.m_startingPixelIndex +
serverCmd.m_sendPixelDataArguments.m_numPixelsCopied;
submitClientCommand(command);
return 0;
} else
{
m_data->m_cachedCameraPixelsWidth = serverCmd.m_sendPixelDataArguments.m_imageWidth;
m_data->m_cachedCameraPixelsHeight = serverCmd.m_sendPixelDataArguments.m_imageHeight;
}
}
if ((serverCmd.m_type == CMD_DEBUG_LINES_COMPLETED) &&
(serverCmd.m_sendDebugLinesArgs.m_numRemainingDebugLines > 0))
{
B3_PROFILE("CMD_DEBUG_LINES_COMPLETED2");
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
// continue requesting debug lines for drawing
command.m_type = CMD_REQUEST_DEBUG_LINES;
command.m_requestDebugLinesArguments.m_startingLineIndex =
serverCmd.m_sendDebugLinesArgs.m_numDebugLines +
serverCmd.m_sendDebugLinesArgs.m_startingLineIndex;
submitClientCommand(command);
return 0;
}
return &m_data->m_lastServerStatus;
} else {
if (m_data->m_verboseOutput)
{
B3_PROFILE("m_verboseOutput");
b3Printf("m_numServerStatus = %d, processed = %d\n",
m_data->m_testBlock1->m_numServerCommands,
m_data->m_testBlock1->m_numProcessedServerCommands);
}
}
return 0;
}
bool PhysicsClientSharedMemory::canSubmitCommand() const {
if (m_data->m_isConnected && !m_data->m_waitingForServer)
{
if (m_data->m_testBlock1->m_magicId == SHARED_MEMORY_MAGIC_NUMBER)
{
return true;
} else
{
return false;
}
}
return false;
}
struct SharedMemoryCommand* PhysicsClientSharedMemory::getAvailableSharedMemoryCommand() {
static int sequence = 0;
m_data->m_testBlock1->m_clientCommands[0].m_sequenceNumber = sequence++;
return &m_data->m_testBlock1->m_clientCommands[0];
}
bool PhysicsClientSharedMemory::submitClientCommand(const SharedMemoryCommand& command) {
/// at the moment we allow a maximum of 1 outstanding command, so we check for this
// once the server processed the command and returns a status, we clear the flag
// "m_data->m_waitingForServer" and allow submitting the next command
if (!m_data->m_waitingForServer) {
if (&m_data->m_testBlock1->m_clientCommands[0] != &command) {
m_data->m_testBlock1->m_clientCommands[0] = command;
}
m_data->m_testBlock1->m_numClientCommands++;
m_data->m_waitingForServer = true;
return true;
}
return false;
}
void PhysicsClientSharedMemory::uploadBulletFileToSharedMemory(const char* data, int len) {
btAssert(len < SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
if (len >= SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE) {
b3Warning("uploadBulletFileToSharedMemory %d exceeds max size %d\n", len,
SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
} else {
for (int i = 0; i < len; i++) {
//m_data->m_testBlock1->m_bulletStreamDataClientToServer[i] = data[i];
m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[i] = data[i];
}
}
}
void PhysicsClientSharedMemory::getCachedCameraImage(struct b3CameraImageData* cameraData)
{
cameraData->m_pixelWidth = m_data->m_cachedCameraPixelsWidth;
cameraData->m_pixelHeight = m_data->m_cachedCameraPixelsHeight;
cameraData->m_depthValues = m_data->m_cachedCameraDepthBuffer.size() ? &m_data->m_cachedCameraDepthBuffer[0] : 0;
cameraData->m_rgbColorData = m_data->m_cachedCameraPixelsRGBA.size() ? &m_data->m_cachedCameraPixelsRGBA[0] : 0;
cameraData->m_segmentationMaskValues = m_data->m_cachedSegmentationMaskBuffer.size()?&m_data->m_cachedSegmentationMaskBuffer[0] : 0;
}
void PhysicsClientSharedMemory::getCachedContactPointInformation(struct b3ContactInformation* contactPointData)
{
contactPointData->m_numContactPoints = m_data->m_cachedContactPoints.size();
contactPointData->m_contactPointData = contactPointData->m_numContactPoints? &m_data->m_cachedContactPoints[0] : 0;
}
void PhysicsClientSharedMemory::getCachedOverlappingObjects(struct b3AABBOverlapData* overlappingObjects)
{
overlappingObjects->m_numOverlappingObjects = m_data->m_cachedOverlappingObjects.size();
overlappingObjects->m_overlappingObjects = m_data->m_cachedOverlappingObjects.size() ?
&m_data->m_cachedOverlappingObjects[0] : 0;
}
void PhysicsClientSharedMemory::getCachedVREvents(struct b3VREventsData* vrEventsData)
{
vrEventsData->m_numControllerEvents = m_data->m_cachedVREvents.size();
vrEventsData->m_controllerEvents = vrEventsData->m_numControllerEvents?
&m_data->m_cachedVREvents[0] : 0;
}
void PhysicsClientSharedMemory::getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData)
{
keyboardEventsData->m_numKeyboardEvents = m_data->m_cachedKeyboardEvents.size();
keyboardEventsData->m_keyboardEvents = keyboardEventsData->m_numKeyboardEvents?
&m_data->m_cachedKeyboardEvents[0] : 0;
}
void PhysicsClientSharedMemory::getCachedMouseEvents(struct b3MouseEventsData* mouseEventsData)
{
mouseEventsData->m_numMouseEvents = m_data->m_cachedMouseEvents.size();
mouseEventsData->m_mouseEvents = mouseEventsData->m_numMouseEvents?
&m_data->m_cachedMouseEvents[0] : 0;
}
void PhysicsClientSharedMemory::getCachedRaycastHits(struct b3RaycastInformation* raycastHits)
{
raycastHits->m_numRayHits = m_data->m_raycastHits.size();
raycastHits->m_rayHits = raycastHits->m_numRayHits? &m_data->m_raycastHits[0] : 0;
}
void PhysicsClientSharedMemory::getCachedMassMatrix(int dofCountCheck, double* massMatrix)
{
int sz = dofCountCheck*dofCountCheck;
if (sz == m_data->m_cachedMassMatrix.size())
{
for (int i=0;i<sz;i++)
{
massMatrix[i] = m_data->m_cachedMassMatrix[i];
}
}
}
void PhysicsClientSharedMemory::getCachedVisualShapeInformation(struct b3VisualShapeInformation* visualShapesInfo)
{
visualShapesInfo->m_numVisualShapes = m_data->m_cachedVisualShapes.size();
visualShapesInfo->m_visualShapeData = visualShapesInfo->m_numVisualShapes ? &m_data->m_cachedVisualShapes[0] : 0;
}
void PhysicsClientSharedMemory::getCachedCollisionShapeInformation(struct b3CollisionShapeInformation* collisionShapesInfo)
{
collisionShapesInfo->m_numCollisionShapes = m_data->m_cachedCollisionShapes.size();
collisionShapesInfo->m_collisionShapeData = collisionShapesInfo->m_numCollisionShapes? &m_data->m_cachedCollisionShapes[0] : 0;
}
const float* PhysicsClientSharedMemory::getDebugLinesFrom() const {
if (m_data->m_debugLinesFrom.size()) {
return &m_data->m_debugLinesFrom[0].m_x;
}
return 0;
}
const float* PhysicsClientSharedMemory::getDebugLinesTo() const {
if (m_data->m_debugLinesTo.size()) {
return &m_data->m_debugLinesTo[0].m_x;
}
return 0;
}
const float* PhysicsClientSharedMemory::getDebugLinesColor() const {
if (m_data->m_debugLinesColor.size()) {
return &m_data->m_debugLinesColor[0].m_x;
}
return 0;
}
int PhysicsClientSharedMemory::getNumDebugLines() const { return m_data->m_debugLinesFrom.size(); }
void PhysicsClientSharedMemory::setTimeOut(double timeOutInSeconds)
{
m_data->m_timeOutInSeconds = timeOutInSeconds;
}
double PhysicsClientSharedMemory::getTimeOut() const
{
return m_data->m_timeOutInSeconds;
}
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