mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 05:40:05 +00:00
03bf78ef49
add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
331 lines
8.7 KiB
C++
331 lines
8.7 KiB
C++
#include "PhysicsDirect.h"
|
|
|
|
#include "PhysicsClientSharedMemory.h"
|
|
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
|
|
#include "SharedMemoryCommands.h"
|
|
#include "PhysicsServerCommandProcessor.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"
|
|
|
|
|
|
struct BodyJointInfoCache2
|
|
{
|
|
btAlignedObjectArray<b3JointInfo> m_jointInfo;
|
|
};
|
|
|
|
struct PhysicsDirectInternalData
|
|
{
|
|
DummyGUIHelper m_noGfx;
|
|
|
|
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;
|
|
|
|
char m_bulletStreamDataServerToClient[SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE];
|
|
|
|
PhysicsServerCommandProcessor* m_commandProcessor;
|
|
|
|
PhysicsDirectInternalData()
|
|
:m_hasStatus(false),
|
|
m_verboseOutput(false)
|
|
{
|
|
}
|
|
};
|
|
|
|
PhysicsDirect::PhysicsDirect()
|
|
{
|
|
m_data = new PhysicsDirectInternalData;
|
|
m_data->m_commandProcessor = new PhysicsServerCommandProcessor;
|
|
|
|
|
|
}
|
|
|
|
PhysicsDirect::~PhysicsDirect()
|
|
{
|
|
delete m_data->m_commandProcessor;
|
|
delete m_data;
|
|
}
|
|
|
|
|
|
// return true if connection succesfull, can also check 'isConnected'
|
|
bool PhysicsDirect::connect()
|
|
{
|
|
m_data->m_commandProcessor->setGuiHelper(&m_data->m_noGfx);
|
|
return true;
|
|
}
|
|
|
|
////todo: rename to 'disconnect'
|
|
void PhysicsDirect::disconnectSharedMemory()
|
|
{
|
|
m_data->m_commandProcessor->setGuiHelper(0);
|
|
}
|
|
|
|
bool PhysicsDirect::isConnected() const
|
|
{
|
|
return true;
|
|
}
|
|
|
|
// return non-null if there is a status, nullptr otherwise
|
|
const SharedMemoryStatus* PhysicsDirect::processServerStatus()
|
|
{
|
|
SharedMemoryStatus* stat = 0;
|
|
if (m_data->m_hasStatus)
|
|
{
|
|
stat = &m_data->m_serverStatus;
|
|
m_data->m_hasStatus = false;
|
|
}
|
|
return stat;
|
|
}
|
|
|
|
SharedMemoryCommand* PhysicsDirect::getAvailableSharedMemoryCommand()
|
|
{
|
|
return &m_data->m_command;
|
|
}
|
|
|
|
bool PhysicsDirect::canSubmitCommand() const
|
|
{
|
|
return true;
|
|
}
|
|
|
|
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);
|
|
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)
|
|
{
|
|
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::submitClientCommand(const struct SharedMemoryCommand& command)
|
|
{
|
|
if (command.m_type==CMD_REQUEST_DEBUG_LINES)
|
|
{
|
|
return processDebugLines(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)
|
|
{
|
|
const SharedMemoryStatus& serverCmd = m_data->m_serverStatus;
|
|
|
|
switch (m_data->m_serverStatus.m_type)
|
|
{
|
|
case CMD_RESET_SIMULATION_COMPLETED:
|
|
{
|
|
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)
|
|
{
|
|
BodyJointInfoCache2* bodyJoints = *bodyJointsPtr;
|
|
for (int j=0;j<bodyJoints->m_jointInfo.size();j++) {
|
|
if (bodyJoints->m_jointInfo[j].m_jointName)
|
|
{
|
|
free(bodyJoints->m_jointInfo[j].m_jointName);
|
|
}
|
|
if (bodyJoints->m_jointInfo[j].m_linkName)
|
|
{
|
|
free(bodyJoints->m_jointInfo[j].m_linkName);
|
|
}
|
|
}
|
|
delete (*bodyJointsPtr);
|
|
}
|
|
}
|
|
m_data->m_bodyJointMap.clear();
|
|
|
|
break;
|
|
}
|
|
case CMD_URDF_LOADING_COMPLETED:
|
|
{
|
|
if (serverCmd.m_dataStreamArguments.m_streamChunkLength > 0)
|
|
{
|
|
bParse::btBulletFile bf(
|
|
&m_data->m_bulletStreamDataServerToClient[0],
|
|
serverCmd.m_dataStreamArguments.m_streamChunkLength);
|
|
bf.setFileDNAisMemoryDNA();
|
|
bf.parse(false);
|
|
int bodyIndex = serverCmd.m_dataStreamArguments.m_bodyUniqueId;
|
|
|
|
BodyJointInfoCache2* bodyJoints = new BodyJointInfoCache2;
|
|
m_data->m_bodyJointMap.insert(bodyIndex,bodyJoints);
|
|
|
|
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];
|
|
|
|
addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
|
|
} else
|
|
{
|
|
Bullet::btMultiBodyFloatData* mb =
|
|
(Bullet::btMultiBodyFloatData*)bf.m_multiBodies[i];
|
|
|
|
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;
|
|
}
|
|
|
|
default:
|
|
{
|
|
// b3Error("Unknown server status type");
|
|
}
|
|
};
|
|
|
|
|
|
}
|
|
return hasStatus;
|
|
}
|
|
|
|
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;
|
|
}
|
|
|
|
void PhysicsDirect::getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const
|
|
{
|
|
BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyIndex];
|
|
if (bodyJointsPtr && *bodyJointsPtr)
|
|
{
|
|
BodyJointInfoCache2* bodyJoints = *bodyJointsPtr;
|
|
info = bodyJoints->m_jointInfo[jointIndex];
|
|
}
|
|
}
|
|
|
|
///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)
|
|
{
|
|
//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;
|
|
}
|