Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

another step closer to useable shared memory C API

Browse Source 
(force/torque sensor needs new API)
in a nutshell, users of shared memory physics API should not
directly poke into shared memory, not fill 'SharedMemorCommand'
nor read SharedMemoryStatus directly. The C-API declares 'handles' for those,
to avoid it from happening.
This commit is contained in:
=
2015-09-16 23:09:10 -07:00
parent 4041748f55
commit 003a42478b
16 changed files with 671 additions and 489 deletions
Download Patch File Download Diff File Expand all files Collapse all files

109
examples/SharedMemory/PhysicsClient.cpp
View File

@@ -18,6 +18,19 @@ enum JointType
ePrismaticType = 1,
};
struct TmpFloat3
{
float m_x;
float m_y;
float m_z;
};
TmpFloat3 CreateTmpFloat3(float x,float y, float z)
{
TmpFloat3 tmp; tmp.m_x = x;tmp.m_y = y;tmp.m_z = z; return tmp;
}
struct PhysicsClientSharedMemoryInternalData
{
SharedMemoryInterface* m_sharedMemory;
@@ -25,10 +38,12 @@ struct PhysicsClientSharedMemoryInternalData
btAlignedObjectArray<bParse::btBulletFile*> m_robotMultiBodyData;
btAlignedObjectArray<b3JointInfo> m_jointInfo;
btAlignedObjectArray<btVector3> m_debugLinesFrom;
btAlignedObjectArray<btVector3> m_debugLinesTo;
btAlignedObjectArray<btVector3> m_debugLinesColor;
btAlignedObjectArray<TmpFloat3> m_debugLinesFrom;
btAlignedObjectArray<TmpFloat3> m_debugLinesTo;
btAlignedObjectArray<TmpFloat3> m_debugLinesColor;
SharedMemoryStatus m_lastServerStatus;
int m_counter;
bool m_serverLoadUrdfOK;
bool m_isConnected;
@@ -146,20 +161,18 @@ bool PhysicsClientSharedMemory::connect()
bool PhysicsClientSharedMemory::processServerStatus(SharedMemoryStatus& serverStatus)
const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus()
{
bool hasStatus = false;
SharedMemoryStatus* stat = 0;
if (!m_data->m_testBlock1)
{
serverStatus.m_type = CMD_SHARED_MEMORY_NOT_INITIALIZED;
return true;
return 0;
}
if (!m_data->m_waitingForServer)
{
serverStatus.m_type = CMD_WAITING_FOR_CLIENT_COMMAND;
return true;
return 0;
}
if (m_data->m_testBlock1->m_numServerCommands> m_data->m_testBlock1->m_numProcessedServerCommands)
@@ -167,8 +180,8 @@ bool PhysicsClientSharedMemory::processServerStatus(SharedMemoryStatus& serverSt
btAssert(m_data->m_testBlock1->m_numServerCommands==m_data->m_testBlock1->m_numProcessedServerCommands+1);
const SharedMemoryStatus& serverCmd =m_data->m_testBlock1->m_serverCommands[0];
hasStatus = true;
serverStatus = serverCmd;
m_data->m_lastServerStatus = serverCmd;
EnumSharedMemoryServerStatus s = (EnumSharedMemoryServerStatus)serverCmd.m_type;
//consume the command
switch (serverCmd.m_type)
@@ -424,6 +437,21 @@ bool PhysicsClientSharedMemory::processServerStatus(SharedMemoryStatus& serverSt
}
break;
}
case CMD_RESET_SIMULATION_COMPLETED:
{
if (m_data->m_verboseOutput)
{
b3Printf("CMD_RESET_SIMULATION_COMPLETED clean data\n");
}
for (int i=0;i<m_data->m_robotMultiBodyData.size();i++)
{
delete m_data->m_robotMultiBodyData[i];
}
m_data->m_robotMultiBodyData.clear();
m_data->m_jointInfo.clear();
break;
}
case CMD_DEBUG_LINES_COMPLETED:
{
if (m_data->m_verboseOutput)
@@ -442,14 +470,15 @@ bool PhysicsClientSharedMemory::processServerStatus(SharedMemoryStatus& serverSt
for (int i=0;i<numLines;i++)
{
btVector3 from(linesFrom[i*3],linesFrom[i*3+1],linesFrom[i*3+2]);
btVector3 to(linesTo[i*3],linesTo[i*3+1],linesTo[i*3+2]);
btVector3 color(linesColor[i*3],linesColor[i*3+1],linesColor[i*3+2]);
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_DEBUG_LINES_OVERFLOW_FAILED:
@@ -481,6 +510,20 @@ bool PhysicsClientSharedMemory::processServerStatus(SharedMemoryStatus& serverSt
{
m_data->m_waitingForServer = true;
}
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)
@@ -489,7 +532,7 @@ bool PhysicsClientSharedMemory::processServerStatus(SharedMemoryStatus& serverSt
m_data->m_testBlock1->m_numProcessedServerCommands);
}
}
return hasStatus;
return 0;
}
bool PhysicsClientSharedMemory::canSubmitCommand() const
@@ -497,6 +540,11 @@ bool PhysicsClientSharedMemory::canSubmitCommand() const
return (m_data->m_isConnected && !m_data->m_waitingForServer);
}
struct SharedMemoryCommand* PhysicsClientSharedMemory::getAvailableSharedMemoryCommand()
{
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
@@ -505,19 +553,10 @@ bool PhysicsClientSharedMemory::submitClientCommand(const SharedMemoryCommand& c
if (!m_data->m_waitingForServer)
{
//a reset simulation command needs special attention, cleanup state
if (command.m_type==CMD_RESET_SIMULATION)
{
for (int i=0;i<m_data->m_robotMultiBodyData.size();i++)
{
delete m_data->m_robotMultiBodyData[i];
}
m_data->m_robotMultiBodyData.clear();
m_data->m_jointInfo.clear();
}
m_data->m_testBlock1->m_clientCommands[0] = command;
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;
@@ -541,27 +580,27 @@ void PhysicsClientSharedMemory::uploadBulletFileToSharedMemory(const char* data,
}
const btVector3* PhysicsClientSharedMemory::getDebugLinesFrom() const
const float* PhysicsClientSharedMemory::getDebugLinesFrom() const
{
if (m_data->m_debugLinesFrom.size())
{
return &m_data->m_debugLinesFrom[0];
return &m_data->m_debugLinesFrom[0].m_x;
}
return 0;
}
const btVector3* PhysicsClientSharedMemory::getDebugLinesTo() const
const float* PhysicsClientSharedMemory::getDebugLinesTo() const
{
if (m_data->m_debugLinesTo.size())
{
return &m_data->m_debugLinesTo[0];
return &m_data->m_debugLinesTo[0].m_x;
}
return 0;
}
const btVector3* PhysicsClientSharedMemory::getDebugLinesColor() const
const float* PhysicsClientSharedMemory::getDebugLinesColor() const
{
if (m_data->m_debugLinesColor.size())
{
return &m_data->m_debugLinesColor[0];
return &m_data->m_debugLinesColor[0].m_x;
}
return 0;
}