mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 13:50:04 +00:00
60d2b99151
Improve rendering performance. OpenVR experience is smooth now. commit needs a bit more testing before pushing in main repo.
722 lines
26 KiB
C++
722 lines
26 KiB
C++
#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
|
|
{
|
|
btAlignedObjectArray<b3JointInfo> m_jointInfo;
|
|
};
|
|
|
|
struct PhysicsClientSharedMemoryInternalData {
|
|
SharedMemoryInterface* m_sharedMemory;
|
|
bool m_ownsSharedMemory;
|
|
SharedMemoryBlock* m_testBlock1;
|
|
|
|
btHashMap<btHashInt,BodyJointInfoCache*> m_bodyJointMap;
|
|
|
|
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_bodyIdsRequestInfo;
|
|
SharedMemoryStatus m_tempBackupServerStatus;
|
|
|
|
SharedMemoryStatus m_lastServerStatus;
|
|
|
|
int m_counter;
|
|
|
|
bool m_isConnected;
|
|
bool m_waitingForServer;
|
|
bool m_hasLastServerStatus;
|
|
int m_sharedMemoryKey;
|
|
bool m_verboseOutput;
|
|
|
|
PhysicsClientSharedMemoryInternalData()
|
|
: m_sharedMemory(0),
|
|
m_ownsSharedMemory(false),
|
|
m_testBlock1(0),
|
|
m_counter(0),
|
|
m_cachedCameraPixelsWidth(0),
|
|
m_cachedCameraPixelsHeight(0),
|
|
m_isConnected(false),
|
|
m_waitingForServer(false),
|
|
m_hasLastServerStatus(false),
|
|
m_sharedMemoryKey(SHARED_MEMORY_KEY),
|
|
m_verboseOutput(false) {}
|
|
|
|
void processServerStatus();
|
|
|
|
bool canSubmitCommand() const;
|
|
};
|
|
|
|
|
|
|
|
|
|
int PhysicsClientSharedMemory::getNumJoints(int bodyIndex) const
|
|
{
|
|
BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[bodyIndex];
|
|
if (bodyJointsPtr && *bodyJointsPtr)
|
|
{
|
|
BodyJointInfoCache* bodyJoints = *bodyJointsPtr;
|
|
|
|
return bodyJoints->m_jointInfo.size();
|
|
}
|
|
btAssert(0);
|
|
return 0;
|
|
|
|
}
|
|
|
|
bool PhysicsClientSharedMemory::getJointInfo(int bodyIndex, int jointIndex, b3JointInfo& info) const
|
|
{
|
|
BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[bodyIndex];
|
|
if (bodyJointsPtr && *bodyJointsPtr)
|
|
{
|
|
BodyJointInfoCache* bodyJoints = *bodyJointsPtr;
|
|
info = bodyJoints->m_jointInfo[jointIndex];
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
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();
|
|
}
|
|
if (m_data->m_ownsSharedMemory)
|
|
{
|
|
delete m_data->m_sharedMemory;
|
|
}
|
|
delete m_data;
|
|
}
|
|
|
|
void PhysicsClientSharedMemory::setSharedMemoryKey(int key) { m_data->m_sharedMemoryKey = key; }
|
|
|
|
|
|
void PhysicsClientSharedMemory::setSharedMemoryInterface(class SharedMemoryInterface* 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; }
|
|
|
|
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) {
|
|
b3Error("Error: 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 {
|
|
b3Error("Cannot connect to shared memory");
|
|
return false;
|
|
}
|
|
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_dataStreamArguments.m_streamChunkLength);
|
|
bf.setFileDNAisMemoryDNA();
|
|
bf.parse(false);
|
|
|
|
|
|
BodyJointInfoCache* bodyJoints = new BodyJointInfoCache;
|
|
m_data->m_bodyJointMap.insert(bodyUniqueId,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");
|
|
}
|
|
}
|
|
|
|
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) {
|
|
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: {
|
|
if (m_data->m_verboseOutput) {
|
|
b3Printf("Server completed command");
|
|
}
|
|
break;
|
|
}
|
|
case CMD_SDF_LOADING_COMPLETED: {
|
|
|
|
if (m_data->m_verboseOutput) {
|
|
b3Printf("Server loading the SDF OK\n");
|
|
}
|
|
|
|
break;
|
|
}
|
|
case CMD_URDF_LOADING_COMPLETED: {
|
|
|
|
if (m_data->m_verboseOutput) {
|
|
b3Printf("Server loading the URDF OK\n");
|
|
}
|
|
|
|
if (serverCmd.m_dataStreamArguments.m_streamChunkLength > 0) {
|
|
bParse::btBulletFile bf(
|
|
this->m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor,
|
|
serverCmd.m_dataStreamArguments.m_streamChunkLength);
|
|
bf.setFileDNAisMemoryDNA();
|
|
bf.parse(false);
|
|
int bodyIndex = serverCmd.m_dataStreamArguments.m_bodyUniqueId;
|
|
|
|
BodyJointInfoCache* bodyJoints = new BodyJointInfoCache;
|
|
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;
|
|
}
|
|
case CMD_DESIRED_STATE_RECEIVED_COMPLETED: {
|
|
if (m_data->m_verboseOutput) {
|
|
b3Printf("Server received desired state");
|
|
}
|
|
break;
|
|
}
|
|
case CMD_STEP_FORWARD_SIMULATION_COMPLETED: {
|
|
if (m_data->m_verboseOutput) {
|
|
b3Printf("Server completed step simulation");
|
|
}
|
|
break;
|
|
}
|
|
case CMD_URDF_LOADING_FAILED: {
|
|
if (m_data->m_verboseOutput) {
|
|
b3Printf("Server failed loading the URDF...\n");
|
|
}
|
|
|
|
break;
|
|
}
|
|
|
|
case 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_SDF_LOADING_FAILED: {
|
|
if (m_data->m_verboseOutput) {
|
|
b3Printf("Server failed loading the SDF...\n");
|
|
}
|
|
|
|
break;
|
|
}
|
|
|
|
case 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: {
|
|
if (m_data->m_verboseOutput) {
|
|
b3Printf("Server failed receiving bullet data stream\n");
|
|
}
|
|
|
|
break;
|
|
}
|
|
|
|
case 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;
|
|
if (m_data->m_verboseOutput) {
|
|
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);
|
|
}
|
|
if (m_data->m_verboseOutput) {
|
|
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);
|
|
}
|
|
if (m_data->m_verboseOutput) {
|
|
b3Printf(msg);
|
|
}
|
|
|
|
if (m_data->m_verboseOutput) {
|
|
b3Printf("\n");
|
|
}
|
|
break;
|
|
}
|
|
case CMD_RESET_SIMULATION_COMPLETED: {
|
|
if (m_data->m_verboseOutput) {
|
|
b3Printf("CMD_RESET_SIMULATION_COMPLETED clean data\n");
|
|
}
|
|
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;
|
|
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_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:
|
|
{
|
|
|
|
break;
|
|
}
|
|
case 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:
|
|
{
|
|
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_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]);
|
|
|
|
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*numBytesPerPixel;i++)
|
|
{
|
|
m_data->m_cachedCameraPixelsRGBA[i + serverCmd.m_sendPixelDataArguments.m_startingPixelIndex*numBytesPerPixel]
|
|
= rgbaPixelsReceived[i];
|
|
}
|
|
|
|
break;
|
|
}
|
|
|
|
case CMD_CAMERA_IMAGE_FAILED:
|
|
{
|
|
b3Warning("Camera image FAILED\n");
|
|
break;
|
|
}
|
|
|
|
default: {
|
|
b3Error("Unknown server status\n");
|
|
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)
|
|
{
|
|
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_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
|
|
{
|
|
m_data->m_lastServerStatus = m_data->m_tempBackupServerStatus;
|
|
}
|
|
}
|
|
|
|
if (serverCmd.m_type == CMD_CAMERA_IMAGE_COMPLETED)
|
|
{
|
|
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
|
|
|
|
if (serverCmd.m_sendPixelDataArguments.m_numRemainingPixels > 0)
|
|
{
|
|
|
|
|
|
// 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)) {
|
|
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) {
|
|
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 {
|
|
return (m_data->m_isConnected && !m_data->m_waitingForServer);
|
|
}
|
|
|
|
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];
|
|
}
|
|
}
|
|
}
|
|
|
|
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;
|
|
}
|
|
|
|
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(); }
|