bullet3/examples/SharedMemory/PhysicsDirect.cpp
erwincoumans 6be7e34dd6 pybullet vr_kuka_setup.py: add a gear joint, to keep the gripper centered,
vr_kuka_control.py: control all joints, use analogue button to close gripper
remove some debug warnings/prints
pybullet, avoid crash in changeUserConstraint if not passing a [list]
allow some gym environments (pybullet_pendulum and locomotors) to re-use an existing physics client connection.
2017-11-12 10:36:30 -08:00

1271 lines
37 KiB
C++

#include "PhysicsDirect.h"
#include "PhysicsClientSharedMemory.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "SharedMemoryCommands.h"
#include "PhysicsCommandProcessorInterface.h"
#include "../Utils/b3Clock.h"
#include "LinearMath/btHashMap.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "../../Extras/Serialize/BulletFileLoader/btBulletFile.h"
#include "../../Extras/Serialize/BulletFileLoader/autogenerated/bullet.h"
#include "BodyJointInfoUtility.h"
#include <string>
struct BodyJointInfoCache2
{
std::string m_baseName;
btAlignedObjectArray<b3JointInfo> m_jointInfo;
std::string m_bodyName;
};
struct PhysicsDirectInternalData
{
DummyGUIHelper m_noGfx;
btAlignedObjectArray<char> m_serverDNA;
SharedMemoryCommand m_command;
SharedMemoryStatus m_serverStatus;
bool m_hasStatus;
bool m_verboseOutput;
btAlignedObjectArray<TmpFloat3> m_debugLinesFrom;
btAlignedObjectArray<TmpFloat3> m_debugLinesTo;
btAlignedObjectArray<TmpFloat3> m_debugLinesColor;
btHashMap<btHashInt,BodyJointInfoCache2*> m_bodyJointMap;
btHashMap<btHashInt,b3UserConstraint> m_userConstraintInfoMap;
char m_bulletStreamDataServerToClient[SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE];
btAlignedObjectArray<double> m_cachedMassMatrix;
int m_cachedCameraPixelsWidth;
int m_cachedCameraPixelsHeight;
btAlignedObjectArray<unsigned char> m_cachedCameraPixelsRGBA;
btAlignedObjectArray<float> m_cachedCameraDepthBuffer;
btAlignedObjectArray<int> m_cachedSegmentationMask;
btAlignedObjectArray<b3ContactPointData> m_cachedContactPoints;
btAlignedObjectArray<b3OverlappingObject> m_cachedOverlappingObjects;
btAlignedObjectArray<b3VisualShapeData> m_cachedVisualShapes;
btAlignedObjectArray<b3VRControllerEvent> m_cachedVREvents;
btAlignedObjectArray<b3KeyboardEvent> m_cachedKeyboardEvents;
btAlignedObjectArray<b3MouseEvent> m_cachedMouseEvents;
btAlignedObjectArray<b3RayHitInfo> m_raycastHits;
PhysicsCommandProcessorInterface* m_commandProcessor;
bool m_ownsCommandProcessor;
double m_timeOutInSeconds;
PhysicsDirectInternalData()
:m_hasStatus(false),
m_verboseOutput(false),
m_cachedCameraPixelsWidth(0),
m_cachedCameraPixelsHeight(0),
m_commandProcessor(NULL),
m_ownsCommandProcessor(false),
m_timeOutInSeconds(1e30)
{
memset(&m_command, 0, sizeof(m_command));
memset(&m_serverStatus, 0, sizeof(m_serverStatus));
memset(m_bulletStreamDataServerToClient, 0, sizeof(m_bulletStreamDataServerToClient));
}
};
PhysicsDirect::PhysicsDirect(PhysicsCommandProcessorInterface* physSdk, bool passSdkOwnership)
{
m_data = new PhysicsDirectInternalData;
m_data->m_commandProcessor = physSdk;
m_data->m_ownsCommandProcessor = passSdkOwnership;
}
PhysicsDirect::~PhysicsDirect()
{
if (m_data->m_commandProcessor->isConnected())
{
m_data->m_commandProcessor->disconnect();
}
if (m_data->m_ownsCommandProcessor)
{
delete m_data->m_commandProcessor;
}
resetData();
delete m_data;
}
void PhysicsDirect::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++)
{
BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap.getAtIndex(i);
if (bodyJointsPtr && *bodyJointsPtr)
{
delete (*bodyJointsPtr);
}
}
m_data->m_bodyJointMap.clear();
m_data->m_userConstraintInfoMap.clear();
}
// return true if connection succesfull, can also check 'isConnected'
bool PhysicsDirect::connect()
{
bool connected = m_data->m_commandProcessor->connect();
m_data->m_commandProcessor->setGuiHelper(&m_data->m_noGfx);
if (connected)
//also request serialization data
{
SharedMemoryCommand command;
command.m_type = CMD_REQUEST_INTERNAL_DATA;
bool hasStatus = m_data->m_commandProcessor->processCommand(command, m_data->m_serverStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
if (hasStatus)
{
postProcessStatus(m_data->m_serverStatus);
}
else
{
b3Clock clock;
double timeSec = clock.getTimeInSeconds();
while ((!hasStatus) && (clock.getTimeInSeconds()-timeSec <10 ))
{
const SharedMemoryStatus* stat = processServerStatus();
if (stat)
{
hasStatus = true;
}
}
}
}
return connected;
}
// return true if connection succesfull, can also check 'isConnected'
bool PhysicsDirect::connect(struct GUIHelperInterface* guiHelper)
{
bool connected = m_data->m_commandProcessor->connect();
m_data->m_commandProcessor->setGuiHelper(guiHelper);
return connected;
}
void PhysicsDirect::renderScene()
{
int renderFlags = 0;
m_data->m_commandProcessor->renderScene(renderFlags);
}
void PhysicsDirect::debugDraw(int debugDrawMode)
{
m_data->m_commandProcessor->physicsDebugDraw(debugDrawMode);
}
////todo: rename to 'disconnect'
void PhysicsDirect::disconnectSharedMemory()
{
m_data->m_commandProcessor->disconnect();
m_data->m_commandProcessor->setGuiHelper(0);
}
bool PhysicsDirect::isConnected() const
{
return m_data->m_commandProcessor->isConnected();
}
// return non-null if there is a status, nullptr otherwise
const SharedMemoryStatus* PhysicsDirect::processServerStatus()
{
if (!m_data->m_hasStatus)
{
m_data->m_hasStatus = m_data->m_commandProcessor->receiveStatus(m_data->m_serverStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
}
SharedMemoryStatus* stat = 0;
if (m_data->m_hasStatus)
{
stat = &m_data->m_serverStatus;
postProcessStatus(m_data->m_serverStatus);
m_data->m_hasStatus = false;
}
return stat;
}
SharedMemoryCommand* PhysicsDirect::getAvailableSharedMemoryCommand()
{
return &m_data->m_command;
}
bool PhysicsDirect::canSubmitCommand() const
{
return m_data->m_commandProcessor->isConnected();
}
bool PhysicsDirect::processDebugLines(const struct SharedMemoryCommand& orgCommand)
{
SharedMemoryCommand command = orgCommand;
const SharedMemoryStatus& serverCmd = m_data->m_serverStatus;
do
{
bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = m_data->m_timeOutInSeconds;
while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
const SharedMemoryStatus* stat = processServerStatus();
if (stat)
{
hasStatus = true;
}
}
m_data->m_hasStatus = hasStatus;
if (hasStatus)
{
btAssert(m_data->m_serverStatus.m_type == 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_bulletStreamDataServerToClient[0];
float* linesTo =
(float*)(&m_data->m_bulletStreamDataServerToClient[0] +
numLines * 3 * sizeof(float));
float* linesColor =
(float*)(&m_data->m_bulletStreamDataServerToClient[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;
}
if (serverCmd.m_sendDebugLinesArgs.m_numRemainingDebugLines > 0)
{
m_data->m_hasStatus = false;
command.m_type = CMD_REQUEST_DEBUG_LINES;
command.m_requestDebugLinesArguments.m_startingLineIndex =
serverCmd.m_sendDebugLinesArgs.m_numDebugLines +
serverCmd.m_sendDebugLinesArgs.m_startingLineIndex;
}
}
} while (serverCmd.m_sendDebugLinesArgs.m_numRemainingDebugLines > 0);
return m_data->m_hasStatus;
}
bool PhysicsDirect::processVisualShapeData(const struct SharedMemoryCommand& orgCommand)
{
SharedMemoryCommand command = orgCommand;
const SharedMemoryStatus& serverCmd = m_data->m_serverStatus;
do
{
bool hasStatus = m_data->m_commandProcessor->processCommand(command, m_data->m_serverStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = m_data->m_timeOutInSeconds;
while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
const SharedMemoryStatus* stat = processServerStatus();
if (stat)
{
hasStatus = true;
}
}
m_data->m_hasStatus = hasStatus;
if (hasStatus)
{
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_bulletStreamDataServerToClient[0];
for (int i = 0; i < numVisualShapesCopied; i++)
{
m_data->m_cachedVisualShapes[startVisualShapeIndex + i] = shapeData[i];
}
if (serverCmd.m_sendVisualShapeArgs.m_numRemainingVisualShapes >0 && serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied)
{
m_data->m_hasStatus = false;
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;
}
}
} while (serverCmd.m_sendVisualShapeArgs.m_numRemainingVisualShapes > 0 && serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied);
return m_data->m_hasStatus;
}
bool PhysicsDirect::processOverlappingObjects(const struct SharedMemoryCommand& orgCommand)
{
SharedMemoryCommand command = orgCommand;
const SharedMemoryStatus& serverCmd = m_data->m_serverStatus;
do
{
bool hasStatus = m_data->m_commandProcessor->processCommand(command, m_data->m_serverStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = m_data->m_timeOutInSeconds;
while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
const SharedMemoryStatus* stat = processServerStatus();
if (stat)
{
hasStatus = true;
}
}
m_data->m_hasStatus = hasStatus;
if (hasStatus)
{
if (m_data->m_verboseOutput)
{
b3Printf("Overlapping Objects Request OK\n");
}
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_bulletStreamDataServerToClient[0];
for (int i = 0; i < numOverlapCopied; i++)
{
m_data->m_cachedOverlappingObjects[startOverlapIndex + i] = objects[i];
}
if (serverCmd.m_sendOverlappingObjectsArgs.m_numRemainingOverlappingObjects > 0 && serverCmd.m_sendOverlappingObjectsArgs.m_numOverlappingObjectsCopied)
{
m_data->m_hasStatus = false;
command.m_type = CMD_REQUEST_AABB_OVERLAP;
command.m_requestOverlappingObjectsArgs.m_startingOverlappingObjectIndex = serverCmd.m_sendOverlappingObjectsArgs.m_startingOverlappingObjectIndex + serverCmd.m_sendOverlappingObjectsArgs.m_numOverlappingObjectsCopied;
}
}
} while (serverCmd.m_sendOverlappingObjectsArgs.m_numRemainingOverlappingObjects > 0 && serverCmd.m_sendOverlappingObjectsArgs.m_numOverlappingObjectsCopied);
return m_data->m_hasStatus;
}
bool PhysicsDirect::processContactPointData(const struct SharedMemoryCommand& orgCommand)
{
SharedMemoryCommand command = orgCommand;
const SharedMemoryStatus& serverCmd = m_data->m_serverStatus;
do
{
bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = m_data->m_timeOutInSeconds;
while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
const SharedMemoryStatus* stat = processServerStatus();
if (stat)
{
hasStatus = true;
}
}
m_data->m_hasStatus = hasStatus;
if (hasStatus)
{
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_bulletStreamDataServerToClient[0];
for (int i=0;i<numContactsCopied;i++)
{
m_data->m_cachedContactPoints[startContactIndex+i] = contactData[i];
}
if (serverCmd.m_sendContactPointArgs.m_numRemainingContactPoints>0 && serverCmd.m_sendContactPointArgs.m_numContactPointsCopied)
{
m_data->m_hasStatus = false;
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;
}
}
} while (serverCmd.m_sendContactPointArgs.m_numRemainingContactPoints > 0 && serverCmd.m_sendContactPointArgs.m_numContactPointsCopied);
return m_data->m_hasStatus;
}
bool PhysicsDirect::processCamera(const struct SharedMemoryCommand& orgCommand)
{
SharedMemoryCommand command = orgCommand;
const SharedMemoryStatus& serverCmd = m_data->m_serverStatus;
do
{
bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = m_data->m_timeOutInSeconds;
while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
const SharedMemoryStatus* stat = processServerStatus();
if (stat)
{
hasStatus = true;
}
}
m_data->m_hasStatus = hasStatus;
if (hasStatus)
{
btAssert(m_data->m_serverStatus.m_type == 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_cachedSegmentationMask.resize(numTotalPixels);
m_data->m_cachedCameraPixelsRGBA.resize(numTotalPixels*numBytesPerPixel);
unsigned char* rgbaPixelsReceived =
(unsigned char*)&m_data->m_bulletStreamDataServerToClient[0];
float* depthBuffer = (float*)&(m_data->m_bulletStreamDataServerToClient[serverCmd.m_sendPixelDataArguments.m_numPixelsCopied*4]);
int* segmentationMaskBuffer = (int*)&(m_data->m_bulletStreamDataServerToClient[serverCmd.m_sendPixelDataArguments.m_numPixelsCopied*8]);
// printf("pixel = %d\n", rgbaPixelsReceived[0]);
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_cachedSegmentationMask[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];
}
if (serverCmd.m_sendPixelDataArguments.m_numRemainingPixels > 0 && serverCmd.m_sendPixelDataArguments.m_numPixelsCopied)
{
m_data->m_hasStatus = false;
// 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;
} else
{
m_data->m_cachedCameraPixelsWidth = serverCmd.m_sendPixelDataArguments.m_imageWidth;
m_data->m_cachedCameraPixelsHeight = serverCmd.m_sendPixelDataArguments.m_imageHeight;
}
}
} while (serverCmd.m_sendPixelDataArguments.m_numRemainingPixels > 0 && serverCmd.m_sendPixelDataArguments.m_numPixelsCopied);
return m_data->m_hasStatus;
}
void PhysicsDirect::processBodyJointInfo(int bodyUniqueId, const SharedMemoryStatus& serverCmd)
{
BodyJointInfoCache2** cachePtr = m_data->m_bodyJointMap[bodyUniqueId];
//don't process same bodyUniqueId multiple times
if (cachePtr)
{
return;
}
bParse::btBulletFile bf(
&m_data->m_bulletStreamDataServerToClient[0],
serverCmd.m_numDataStreamBytes);
if (m_data->m_serverDNA.size())
{
bf.setFileDNA(false, &m_data->m_serverDNA[0], m_data->m_serverDNA.size());
}
else
{
bf.setFileDNAisMemoryDNA();
}
bf.parse(false);
BodyJointInfoCache2* bodyJoints = new BodyJointInfoCache2;
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];
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");
}
}
void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd)
{
switch (serverCmd.m_type)
{
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:
{
if (m_data->m_verboseOutput)
{
b3Printf("Request VR Events completed");
}
m_data->m_cachedVREvents.resize(serverCmd.m_sendVREvents.m_numVRControllerEvents);
for (int i=0;i< serverCmd.m_sendVREvents.m_numVRControllerEvents;i++)
{
m_data->m_cachedVREvents[i] = serverCmd.m_sendVREvents.m_controllerEvents[i];
}
break;
}
case 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_INTERNAL_DATA_COMPLETED:
{
if (serverCmd.m_numDataStreamBytes)
{
int numStreamBytes = serverCmd.m_numDataStreamBytes;
m_data->m_serverDNA.resize(numStreamBytes);
for (int i = 0; i < numStreamBytes; i++)
{
m_data->m_serverDNA[i] = m_data->m_bulletStreamDataServerToClient[i];
}
}
break;
}
case CMD_RESET_SIMULATION_COMPLETED:
{
resetData();
break;
}
case CMD_USER_CONSTRAINT_INFO_COMPLETED:
case 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:
{
int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId;
m_data->m_userConstraintInfoMap.remove(cid);
break;
}
case CMD_REMOVE_BODY_FAILED:
{
b3Warning("Remove body failed\n");
break;
}
case 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);
}
break;
}
case 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_REQUEST_STATE_COMPLETED:
{
break;
}
case CMD_SYNC_BODY_INFO_COMPLETED:
case CMD_MJCF_LOADING_COMPLETED:
case CMD_SDF_LOADING_COMPLETED:
{
//we'll stream further info from the physics server
//so serverCmd will be invalid, make a copy
int numConstraints = serverCmd.m_sdfLoadedArgs.m_numUserConstraints;
for (int i=0;i<numConstraints;i++)
{
int constraintUid = serverCmd.m_sdfLoadedArgs.m_userConstraintUniqueIds[i];
SharedMemoryCommand infoRequestCommand;
infoRequestCommand.m_type = CMD_USER_CONSTRAINT;
infoRequestCommand.m_updateFlags = USER_CONSTRAINT_REQUEST_INFO;
infoRequestCommand.m_userConstraintArguments.m_userConstraintUniqueId = constraintUid;
SharedMemoryStatus infoStatus;
bool hasStatus = m_data->m_commandProcessor->processCommand(infoRequestCommand, infoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = m_data->m_timeOutInSeconds;
while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
hasStatus = m_data->m_commandProcessor->receiveStatus(infoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
}
if (hasStatus)
{
int cid = infoStatus.m_userConstraintResultArgs.m_userConstraintUniqueId;
m_data->m_userConstraintInfoMap.insert(cid,infoStatus.m_userConstraintResultArgs);
}
}
int numBodies = serverCmd.m_sdfLoadedArgs.m_numBodies;
for (int i = 0; i<numBodies; i++)
{
int bodyUniqueId = serverCmd.m_sdfLoadedArgs.m_bodyUniqueIds[i];
SharedMemoryCommand infoRequestCommand;
infoRequestCommand.m_type = CMD_REQUEST_BODY_INFO;
infoRequestCommand.m_sdfRequestInfoArgs.m_bodyUniqueId = bodyUniqueId;
SharedMemoryStatus infoStatus;
bool hasStatus = m_data->m_commandProcessor->processCommand(infoRequestCommand, infoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = m_data->m_timeOutInSeconds;
while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
hasStatus = m_data->m_commandProcessor->receiveStatus(infoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
}
if (hasStatus)
{
processBodyJointInfo(bodyUniqueId, infoStatus);
}
}
break;
}
case CMD_CREATE_MULTI_BODY_COMPLETED:
case CMD_URDF_LOADING_COMPLETED:
{
if (serverCmd.m_numDataStreamBytes > 0)
{
int bodyIndex = serverCmd.m_dataStreamArguments.m_bodyUniqueId;
processBodyJointInfo(bodyIndex, serverCmd);
}
break;
}
case CMD_BULLET_LOADING_FAILED:
{
b3Warning("Couldn't load .bullet file");
break;
}
case CMD_BULLET_LOADING_COMPLETED:
{
break;
}
case CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_COMPLETED:
{
break;
}
case CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_FAILED:
{
b3Warning("requestOpenGLVisualizeCamera failed");
break;
}
case CMD_REMOVE_USER_CONSTRAINT_FAILED:
{
b3Warning("removeConstraint failed");
break;
}
case CMD_CHANGE_USER_CONSTRAINT_FAILED:
{
//b3Warning("changeConstraint failed");
break;
}
case CMD_USER_CONSTRAINT_FAILED:
{
b3Warning("createConstraint failed");
break;
}
case CMD_CREATE_COLLISION_SHAPE_FAILED:
{
b3Warning("createCollisionShape failed");
break;
}
case CMD_CREATE_COLLISION_SHAPE_COMPLETED:
{
break;
}
case CMD_CREATE_VISUAL_SHAPE_FAILED:
{
b3Warning("createVisualShape failed");
break;
}
case CMD_CREATE_VISUAL_SHAPE_COMPLETED:
{
break;
}
case CMD_CREATE_MULTI_BODY_FAILED:
{
b3Warning("createMultiBody 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_CUSTOM_COMMAND_FAILED:
{
b3Warning("custom plugin command failed");
break;
}
case CMD_CLIENT_COMMAND_COMPLETED:
{
break;
}
case CMD_CALCULATED_JACOBIAN_COMPLETED:
{
break;
}
case CMD_CALCULATED_JACOBIAN_FAILED:
{
b3Warning("jacobian calculation failed");
break;
}
case CMD_CALCULATED_MASS_MATRIX_FAILED:
{
b3Warning("calculate mass matrix failed");
break;
}
case CMD_CALCULATED_MASS_MATRIX_COMPLETED:
{
double* matrixData = (double*)&m_data->m_bulletStreamDataServerToClient[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_ACTUAL_STATE_UPDATE_COMPLETED:
{
break;
}
case CMD_DESIRED_STATE_RECEIVED_COMPLETED:
{
break;
}
case CMD_STEP_FORWARD_SIMULATION_COMPLETED:
{
break;
}
case CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS_COMPLETED:
{
break;
}
default:
{
//b3Warning("Unknown server status type");
}
};
}
bool PhysicsDirect::submitClientCommand(const struct SharedMemoryCommand& command)
{
if (command.m_type==CMD_REQUEST_DEBUG_LINES)
{
return processDebugLines(command);
}
if (command.m_type==CMD_REQUEST_CAMERA_IMAGE_DATA)
{
return processCamera(command);
}
if (command.m_type == CMD_REQUEST_CONTACT_POINT_INFORMATION)
{
return processContactPointData(command);
}
if (command.m_type == CMD_REQUEST_VISUAL_SHAPE_INFO)
{
return processVisualShapeData(command);
}
if (command.m_type == CMD_REQUEST_AABB_OVERLAP)
{
return processOverlappingObjects(command);
}
bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
m_data->m_hasStatus = hasStatus;
/*if (hasStatus)
{
postProcessStatus(m_data->m_serverStatus);
m_data->m_hasStatus = false;
}
*/
return hasStatus;
}
int PhysicsDirect::getNumBodies() const
{
return m_data->m_bodyJointMap.size();
}
void PhysicsDirect::removeCachedBody(int bodyUniqueId)
{
BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
if (bodyJointsPtr && *bodyJointsPtr)
{
delete (*bodyJointsPtr);
m_data->m_bodyJointMap.remove(bodyUniqueId);
}
}
int PhysicsDirect::getNumUserConstraints() const
{
return m_data->m_userConstraintInfoMap.size();
}
int PhysicsDirect::getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint&info) const
{
b3UserConstraint* constraintPtr =m_data->m_userConstraintInfoMap[constraintUniqueId];
if (constraintPtr)
{
info = *constraintPtr;
return 1;
}
return 0;
}
int PhysicsDirect::getUserConstraintId(int serialIndex) const
{
if ((serialIndex >= 0) && (serialIndex < getNumUserConstraints()))
{
return m_data->m_userConstraintInfoMap.getKeyAtIndex(serialIndex).getUid1();
}
return -1;
}
int PhysicsDirect::getBodyUniqueId(int serialIndex) const
{
if ((serialIndex >= 0) && (serialIndex < getNumBodies()))
{
return m_data->m_bodyJointMap.getKeyAtIndex(serialIndex).getUid1();
}
return -1;
}
bool PhysicsDirect::getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const
{
BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
if (bodyJointsPtr && *bodyJointsPtr)
{
BodyJointInfoCache2* 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 PhysicsDirect::getNumJoints(int bodyIndex) const
{
BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyIndex];
if (bodyJointsPtr && *bodyJointsPtr)
{
BodyJointInfoCache2* bodyJoints = *bodyJointsPtr;
return bodyJoints->m_jointInfo.size();
}
btAssert(0);
return 0;
}
bool PhysicsDirect::getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const
{
BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyIndex];
if (bodyJointsPtr && *bodyJointsPtr)
{
BodyJointInfoCache2* bodyJoints = *bodyJointsPtr;
if ((jointIndex >=0) && (jointIndex < bodyJoints->m_jointInfo.size()))
{
info = bodyJoints->m_jointInfo[jointIndex];
return true;
}
}
return false;
}
///todo: move this out of the
void PhysicsDirect::setSharedMemoryKey(int key)
{
//m_data->m_physicsServer->setSharedMemoryKey(key);
//m_data->m_physicsClient->setSharedMemoryKey(key);
}
void PhysicsDirect::uploadBulletFileToSharedMemory(const char* data, int len)
{
if (len>SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE)
{
len = SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE;
}
for (int i=0;i<len;i++)
{
m_data->m_bulletStreamDataServerToClient[i] = data[i];
}
//m_data->m_physicsClient->uploadBulletFileToSharedMemory(data,len);
}
int PhysicsDirect::getNumDebugLines() const
{
return m_data->m_debugLinesFrom.size();
}
const float* PhysicsDirect::getDebugLinesFrom() const
{
if (getNumDebugLines())
{
return &m_data->m_debugLinesFrom[0].m_x;
}
return 0;
}
const float* PhysicsDirect::getDebugLinesTo() const
{
if (getNumDebugLines())
{
return &m_data->m_debugLinesTo[0].m_x;
}
return 0;
}
const float* PhysicsDirect::getDebugLinesColor() const
{
if (getNumDebugLines())
{
return &m_data->m_debugLinesColor[0].m_x;
}
return 0;
}
void PhysicsDirect::getCachedCameraImage(b3CameraImageData* cameraData)
{
if (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_cachedSegmentationMask.size()? &m_data->m_cachedSegmentationMask[0] : 0;
}
}
void PhysicsDirect::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 PhysicsDirect::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 PhysicsDirect::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 PhysicsDirect::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 PhysicsDirect::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 PhysicsDirect::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 PhysicsDirect::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 PhysicsDirect::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 PhysicsDirect::setTimeOut(double timeOutInSeconds)
{
m_data->m_timeOutInSeconds = timeOutInSeconds;
}
double PhysicsDirect::getTimeOut() const
{
return m_data->m_timeOutInSeconds;
}