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reduce size of SharedMemoryStatus by moving state details into shared memory streaming block.

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This commit is contained in:
erwincoumans
2019-03-06 23:27:59 -08:00
parent 4c37558805
commit 0af0f193ee
13 changed files with 330 additions and 96 deletions
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49
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -990,6 +990,10 @@ B3_SHARED_API int b3RequestActualStateCommandComputeForwardKinematics(b3SharedMe
B3_SHARED_API int b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int jointIndex, b3JointSensorState* state)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus*)statusHandle;
b3Assert(status);
int bodyIndex = status->m_sendActualStateArgs.m_bodyUniqueId;
@@ -997,13 +1001,14 @@ B3_SHARED_API int b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemo
if (bodyIndex >= 0)
{
b3JointInfo info;
bool result = b3GetJointInfo(physClient, bodyIndex, jointIndex, &info) != 0;
if (result)
if (result && status->m_sendActualStateArgs.m_stateDetails)
{
if ((info.m_qIndex >= 0) && (info.m_uIndex >= 0) && (info.m_qIndex < MAX_DEGREE_OF_FREEDOM) && (info.m_uIndex < MAX_DEGREE_OF_FREEDOM))
{
state->m_jointPosition = status->m_sendActualStateArgs.m_actualStateQ[info.m_qIndex];
state->m_jointVelocity = status->m_sendActualStateArgs.m_actualStateQdot[info.m_uIndex];
state->m_jointPosition = status->m_sendActualStateArgs.m_stateDetails->m_actualStateQ[info.m_qIndex];
state->m_jointVelocity = status->m_sendActualStateArgs.m_stateDetails->m_actualStateQdot[info.m_uIndex];
}
else
{
@@ -1012,9 +1017,9 @@ B3_SHARED_API int b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemo
}
for (int ii(0); ii < 6; ++ii)
{
state->m_jointForceTorque[ii] = status->m_sendActualStateArgs.m_jointReactionForces[6 * jointIndex + ii];
state->m_jointForceTorque[ii] = status->m_sendActualStateArgs.m_stateDetails->m_jointReactionForces[6 * jointIndex + ii];
}
state->m_jointMotorTorque = status->m_sendActualStateArgs.m_jointMotorForce[jointIndex];
state->m_jointMotorTorque = status->m_sendActualStateArgs.m_stateDetails->m_jointMotorForce[jointIndex];
return 1;
}
}
@@ -1042,12 +1047,12 @@ B3_SHARED_API int b3GetJointStateMultiDof(b3PhysicsClientHandle physClient, b3Sh
state->m_uDofSize = info.m_uSize;
for (int i = 0; i < state->m_qDofSize; i++)
{
state->m_jointPosition[i] = status->m_sendActualStateArgs.m_actualStateQ[info.m_qIndex + i];
state->m_jointPosition[i] = status->m_sendActualStateArgs.m_stateDetails->m_actualStateQ[info.m_qIndex + i];
}
for (int i = 0; i < state->m_uDofSize; i++)
{
state->m_jointVelocity[i] = status->m_sendActualStateArgs.m_actualStateQdot[info.m_uIndex+i];
state->m_jointMotorTorqueMultiDof[i] = status->m_sendActualStateArgs.m_jointMotorForceMultiDof[info.m_uIndex + i];
state->m_jointVelocity[i] = status->m_sendActualStateArgs.m_stateDetails->m_actualStateQdot[info.m_uIndex+i];
state->m_jointMotorTorqueMultiDof[i] = status->m_sendActualStateArgs.m_stateDetails->m_jointMotorForceMultiDof[info.m_uIndex + i];
}
}
else
@@ -1057,7 +1062,7 @@ B3_SHARED_API int b3GetJointStateMultiDof(b3PhysicsClientHandle physClient, b3Sh
}
for (int ii(0); ii < 6; ++ii)
{
state->m_jointReactionForceTorque[ii] = status->m_sendActualStateArgs.m_jointReactionForces[6 * jointIndex + ii];
state->m_jointReactionForceTorque[ii] = status->m_sendActualStateArgs.m_stateDetails->m_jointReactionForces[6 * jointIndex + ii];
}
return 1;
@@ -1083,15 +1088,15 @@ B3_SHARED_API int b3GetLinkState(b3PhysicsClientHandle physClient, b3SharedMemor
for (int i = 0; i < 3; ++i)
{
state->m_worldPosition[i] = status->m_sendActualStateArgs.m_linkState[7 * linkIndex + i];
state->m_localInertialPosition[i] = status->m_sendActualStateArgs.m_linkLocalInertialFrames[7 * linkIndex + i];
state->m_worldLinearVelocity[i] = status->m_sendActualStateArgs.m_linkWorldVelocities[6 * linkIndex + i];
state->m_worldAngularVelocity[i] = status->m_sendActualStateArgs.m_linkWorldVelocities[6 * linkIndex + i + 3];
state->m_worldPosition[i] = status->m_sendActualStateArgs.m_stateDetails->m_linkState[7 * linkIndex + i];
state->m_localInertialPosition[i] = status->m_sendActualStateArgs.m_stateDetails->m_linkLocalInertialFrames[7 * linkIndex + i];
state->m_worldLinearVelocity[i] = status->m_sendActualStateArgs.m_stateDetails->m_linkWorldVelocities[6 * linkIndex + i];
state->m_worldAngularVelocity[i] = status->m_sendActualStateArgs.m_stateDetails->m_linkWorldVelocities[6 * linkIndex + i + 3];
}
for (int i = 0; i < 4; ++i)
{
state->m_worldOrientation[i] = status->m_sendActualStateArgs.m_linkState[7 * linkIndex + 3 + i];
state->m_localInertialOrientation[i] = status->m_sendActualStateArgs.m_linkLocalInertialFrames[7 * linkIndex + 3 + i];
state->m_worldOrientation[i] = status->m_sendActualStateArgs.m_stateDetails->m_linkState[7 * linkIndex + 3 + i];
state->m_localInertialOrientation[i] = status->m_sendActualStateArgs.m_stateDetails->m_linkLocalInertialFrames[7 * linkIndex + 3 + i];
}
com.setOrigin(b3MakeVector3(state->m_worldPosition[0], state->m_worldPosition[1], state->m_worldPosition[2]));
com.setRotation(b3Quaternion(state->m_worldOrientation[0], state->m_worldOrientation[1], state->m_worldOrientation[2], state->m_worldOrientation[3]));
@@ -2338,19 +2343,19 @@ B3_SHARED_API int b3GetStatusActualState2(b3SharedMemoryStatusHandle statusHandl
}
if (linkLocalInertialFrames)
{
*linkLocalInertialFrames = args.m_linkLocalInertialFrames;
*linkLocalInertialFrames = args.m_stateDetails->m_linkLocalInertialFrames;
}
if (jointMotorForces)
{
*jointMotorForces = args.m_jointMotorForce;
*jointMotorForces = args.m_stateDetails->m_jointMotorForce;
}
if (linkStates)
{
*linkStates = args.m_linkState;
*linkStates = args.m_stateDetails->m_linkState;
}
if (linkWorldVelocities)
{
*linkWorldVelocities = args.m_linkWorldVelocities;
*linkWorldVelocities = args.m_stateDetails->m_linkWorldVelocities;
}
return 1;
}
@@ -2391,15 +2396,15 @@ B3_SHARED_API int b3GetStatusActualState(b3SharedMemoryStatusHandle statusHandle
}
if (actualStateQ)
{
*actualStateQ = args.m_actualStateQ;
*actualStateQ = args.m_stateDetails->m_actualStateQ;
}
if (actualStateQdot)
{
*actualStateQdot = args.m_actualStateQdot;
*actualStateQdot = args.m_stateDetails->m_actualStateQdot;
}
if (jointReactionForces)
{
*jointReactionForces = args.m_jointReactionForces;
*jointReactionForces = args.m_stateDetails->m_jointReactionForces;
}
return true;
}

22
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -70,6 +70,8 @@ struct PhysicsClientSharedMemoryInternalData
SharedMemoryStatus m_lastServerStatus;
SendActualStateSharedMemoryStorage m_cachedState;
int m_counter;
bool m_isConnected;
@@ -79,6 +81,8 @@ struct PhysicsClientSharedMemoryInternalData
bool m_verboseOutput;
double m_timeOutInSeconds;
PhysicsClientSharedMemoryInternalData()
: m_sharedMemory(0),
m_ownsSharedMemory(false),
@@ -524,6 +528,15 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus()
m_data->m_testBlock1->m_numProcessedServerCommands + 1);
const SharedMemoryStatus& serverCmd = m_data->m_testBlock1->m_serverCommands[0];
if (serverCmd.m_type==CMD_ACTUAL_STATE_UPDATE_COMPLETED)
{
SendActualStateSharedMemoryStorage* serverState = (SendActualStateSharedMemoryStorage*)m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor;
m_data->m_cachedState = *serverState;
//ideally we provided a 'getCachedState' but that would require changing the API, so we store a pointer instead.
m_data->m_testBlock1->m_serverCommands[0].m_sendActualStateArgs.m_stateDetails = &m_data->m_cachedState;
}
m_data->m_lastServerStatus = serverCmd;
// EnumSharedMemoryServerStatus s = (EnumSharedMemoryServerStatus)serverCmd.m_type;
@@ -827,6 +840,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus()
case CMD_ACTUAL_STATE_UPDATE_COMPLETED:
{
B3_PROFILE("CMD_ACTUAL_STATE_UPDATE_COMPLETED");
if (m_data->m_verboseOutput)
{
b3Printf("Received actual state\n");
@@ -845,12 +859,12 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus()
if (i < numQ - 1)
{
sprintf(msg, "%s%f,", msg,
command.m_sendActualStateArgs.m_actualStateQ[i]);
m_data->m_cachedState.m_actualStateQ[i]);
}
else
{
sprintf(msg, "%s%f", msg,
command.m_sendActualStateArgs.m_actualStateQ[i]);
m_data->m_cachedState.m_actualStateQ[i]);
}
}
sprintf(msg, "%s]", msg);
@@ -864,12 +878,12 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus()
if (i < numU - 1)
{
sprintf(msg, "%s%f,", msg,
command.m_sendActualStateArgs.m_actualStateQdot[i]);
m_data->m_cachedState.m_actualStateQdot[i]);
}
else
{
sprintf(msg, "%s%f", msg,
command.m_sendActualStateArgs.m_actualStateQdot[i]);
m_data->m_cachedState.m_actualStateQdot[i]);
}
}
sprintf(msg, "%s]", msg);

5
examples/SharedMemory/PhysicsDirect.cpp
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@@ -79,6 +79,8 @@ struct PhysicsDirectInternalData
bool m_ownsCommandProcessor;
double m_timeOutInSeconds;
SendActualStateSharedMemoryStorage m_cachedState;
PhysicsDirectInternalData()
: m_hasStatus(false),
m_verboseOutput(false),
@@ -1014,6 +1016,9 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
}
case CMD_ACTUAL_STATE_UPDATE_COMPLETED:
{
SendActualStateSharedMemoryStorage* serverState = (SendActualStateSharedMemoryStorage*)&m_data->m_bulletStreamDataServerToClient[0];
m_data->m_cachedState = *serverState;
m_data->m_serverStatus.m_sendActualStateArgs.m_stateDetails = &m_data->m_cachedState;
break;
}
case CMD_DESIRED_STATE_RECEIVED_COMPLETED:

3
examples/SharedMemory/PhysicsLoopBack.cpp
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@@ -173,6 +173,9 @@ void PhysicsLoopBack::getCachedCameraImage(struct b3CameraImageData* cameraData)
return m_data->m_physicsClient->getCachedCameraImage(cameraData);
}
void PhysicsLoopBack::getCachedContactPointInformation(struct b3ContactInformation* contactPointData)
{
return m_data->m_physicsClient->getCachedContactPointInformation(contactPointData);

136
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -6326,15 +6326,26 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
int bodyUniqueId = clientCmd.m_requestActualStateInformationCommandArgument.m_bodyUniqueId;
InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
//we store the state details in the shared memory block, to reduce status size
SendActualStateSharedMemoryStorage* stateDetails = (SendActualStateSharedMemoryStorage*)bufferServerToClient;
//make sure the storage fits, otherwise
btAssert(sizeof(SendActualStateSharedMemoryStorage) < bufferSizeInBytes);
if (sizeof(SendActualStateSharedMemoryStorage) > bufferSizeInBytes)
{
//this forces an error report
body = 0;
}
if (body && body->m_multiBody)
{
btMultiBody* mb = body->m_multiBody;
SharedMemoryStatus& serverCmd = serverStatusOut;
serverStatusOut.m_type = CMD_ACTUAL_STATE_UPDATE_COMPLETED;
serverCmd.m_sendActualStateArgs.m_bodyUniqueId = bodyUniqueId;
serverCmd.m_sendActualStateArgs.m_numLinks = body->m_multiBody->getNumLinks();
serverCmd.m_sendActualStateArgs.m_stateDetails = 0;
int totalDegreeOfFreedomQ = 0;
int totalDegreeOfFreedomU = 0;
@@ -6370,26 +6381,26 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
body->m_rootLocalInertialFrame.getRotation()[3];
//base position in world space, carthesian
serverCmd.m_sendActualStateArgs.m_actualStateQ[0] = tr.getOrigin()[0];
serverCmd.m_sendActualStateArgs.m_actualStateQ[1] = tr.getOrigin()[1];
serverCmd.m_sendActualStateArgs.m_actualStateQ[2] = tr.getOrigin()[2];
stateDetails->m_actualStateQ[0] = tr.getOrigin()[0];
stateDetails->m_actualStateQ[1] = tr.getOrigin()[1];
stateDetails->m_actualStateQ[2] = tr.getOrigin()[2];
//base orientation, quaternion x,y,z,w, in world space, carthesian
serverCmd.m_sendActualStateArgs.m_actualStateQ[3] = tr.getRotation()[0];
serverCmd.m_sendActualStateArgs.m_actualStateQ[4] = tr.getRotation()[1];
serverCmd.m_sendActualStateArgs.m_actualStateQ[5] = tr.getRotation()[2];
serverCmd.m_sendActualStateArgs.m_actualStateQ[6] = tr.getRotation()[3];
stateDetails->m_actualStateQ[3] = tr.getRotation()[0];
stateDetails->m_actualStateQ[4] = tr.getRotation()[1];
stateDetails->m_actualStateQ[5] = tr.getRotation()[2];
stateDetails->m_actualStateQ[6] = tr.getRotation()[3];
totalDegreeOfFreedomQ += 7; //pos + quaternion
//base linear velocity (in world space, carthesian)
serverCmd.m_sendActualStateArgs.m_actualStateQdot[0] = mb->getBaseVel()[0];
serverCmd.m_sendActualStateArgs.m_actualStateQdot[1] = mb->getBaseVel()[1];
serverCmd.m_sendActualStateArgs.m_actualStateQdot[2] = mb->getBaseVel()[2];
stateDetails->m_actualStateQdot[0] = mb->getBaseVel()[0];
stateDetails->m_actualStateQdot[1] = mb->getBaseVel()[1];
stateDetails->m_actualStateQdot[2] = mb->getBaseVel()[2];
//base angular velocity (in world space, carthesian)
serverCmd.m_sendActualStateArgs.m_actualStateQdot[3] = mb->getBaseOmega()[0];
serverCmd.m_sendActualStateArgs.m_actualStateQdot[4] = mb->getBaseOmega()[1];
serverCmd.m_sendActualStateArgs.m_actualStateQdot[5] = mb->getBaseOmega()[2];
stateDetails->m_actualStateQdot[3] = mb->getBaseOmega()[0];
stateDetails->m_actualStateQdot[4] = mb->getBaseOmega()[1];
stateDetails->m_actualStateQdot[5] = mb->getBaseOmega()[2];
totalDegreeOfFreedomU += 6; //3 linear and 3 angular DOF
}
@@ -6421,11 +6432,11 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
{
for (int d = 0; d < mb->getLink(l).m_posVarCount; d++)
{
serverCmd.m_sendActualStateArgs.m_actualStateQ[totalDegreeOfFreedomQ++] = mb->getJointPosMultiDof(l)[d];
stateDetails->m_actualStateQ[totalDegreeOfFreedomQ++] = mb->getJointPosMultiDof(l)[d];
}
for (int d = 0; d < mb->getLink(l).m_dofCount; d++)
{
serverCmd.m_sendActualStateArgs.m_jointMotorForce[totalDegreeOfFreedomU] = 0;
stateDetails->m_jointMotorForce[totalDegreeOfFreedomU] = 0;
if (mb->getLink(l).m_jointType == btMultibodyLink::eSpherical)
{
@@ -6434,7 +6445,7 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
{
btScalar impulse = motor->getAppliedImpulse(d);
btScalar force = impulse / m_data->m_physicsDeltaTime;
serverCmd.m_sendActualStateArgs.m_jointMotorForceMultiDof[totalDegreeOfFreedomU] = force;
stateDetails->m_jointMotorForceMultiDof[totalDegreeOfFreedomU] = force;
}
}
else
@@ -6446,19 +6457,19 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
if (motor && m_data->m_physicsDeltaTime > btScalar(0))
{
btScalar force = motor->getAppliedImpulse(0) / m_data->m_physicsDeltaTime;
serverCmd.m_sendActualStateArgs.m_jointMotorForceMultiDof[totalDegreeOfFreedomU] = force;
stateDetails->m_jointMotorForceMultiDof[totalDegreeOfFreedomU] = force;
}
}
}
serverCmd.m_sendActualStateArgs.m_actualStateQdot[totalDegreeOfFreedomU++] = mb->getJointVelMultiDof(l)[d];
stateDetails->m_actualStateQdot[totalDegreeOfFreedomU++] = mb->getJointVelMultiDof(l)[d];
}
if (0 == mb->getLink(l).m_jointFeedback)
{
for (int d = 0; d < 6; d++)
{
serverCmd.m_sendActualStateArgs.m_jointReactionForces[l * 6 + d] = 0;
stateDetails->m_jointReactionForces[l * 6 + d] = 0;
}
}
else
@@ -6466,16 +6477,16 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
btVector3 sensedForce = mb->getLink(l).m_jointFeedback->m_reactionForces.getLinear();
btVector3 sensedTorque = mb->getLink(l).m_jointFeedback->m_reactionForces.getAngular();
serverCmd.m_sendActualStateArgs.m_jointReactionForces[l * 6 + 0] = sensedForce[0];
serverCmd.m_sendActualStateArgs.m_jointReactionForces[l * 6 + 1] = sensedForce[1];
serverCmd.m_sendActualStateArgs.m_jointReactionForces[l * 6 + 2] = sensedForce[2];
stateDetails->m_jointReactionForces[l * 6 + 0] = sensedForce[0];
stateDetails->m_jointReactionForces[l * 6 + 1] = sensedForce[1];
stateDetails->m_jointReactionForces[l * 6 + 2] = sensedForce[2];
serverCmd.m_sendActualStateArgs.m_jointReactionForces[l * 6 + 3] = sensedTorque[0];
serverCmd.m_sendActualStateArgs.m_jointReactionForces[l * 6 + 4] = sensedTorque[1];
serverCmd.m_sendActualStateArgs.m_jointReactionForces[l * 6 + 5] = sensedTorque[2];
stateDetails->m_jointReactionForces[l * 6 + 3] = sensedTorque[0];
stateDetails->m_jointReactionForces[l * 6 + 4] = sensedTorque[1];
stateDetails->m_jointReactionForces[l * 6 + 5] = sensedTorque[2];
}
serverCmd.m_sendActualStateArgs.m_jointMotorForce[l] = 0;
stateDetails->m_jointMotorForce[l] = 0;
if (supportsJointMotor(mb, l))
{
@@ -6484,7 +6495,7 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
if (motor && m_data->m_physicsDeltaTime > btScalar(0))
{
btScalar force = motor->getAppliedImpulse(0) / m_data->m_physicsDeltaTime;
serverCmd.m_sendActualStateArgs.m_jointMotorForce[l] =
stateDetails->m_jointMotorForce[l] =
force;
//if (force>0)
//{
@@ -6498,13 +6509,13 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
btVector3 linkCOMOrigin = mb->getLink(l).m_cachedWorldTransform.getOrigin();
btQuaternion linkCOMRotation = mb->getLink(l).m_cachedWorldTransform.getRotation();
serverCmd.m_sendActualStateArgs.m_linkState[l * 7 + 0] = linkCOMOrigin.getX();
serverCmd.m_sendActualStateArgs.m_linkState[l * 7 + 1] = linkCOMOrigin.getY();
serverCmd.m_sendActualStateArgs.m_linkState[l * 7 + 2] = linkCOMOrigin.getZ();
serverCmd.m_sendActualStateArgs.m_linkState[l * 7 + 3] = linkCOMRotation.x();
serverCmd.m_sendActualStateArgs.m_linkState[l * 7 + 4] = linkCOMRotation.y();
serverCmd.m_sendActualStateArgs.m_linkState[l * 7 + 5] = linkCOMRotation.z();
serverCmd.m_sendActualStateArgs.m_linkState[l * 7 + 6] = linkCOMRotation.w();
stateDetails->m_linkState[l * 7 + 0] = linkCOMOrigin.getX();
stateDetails->m_linkState[l * 7 + 1] = linkCOMOrigin.getY();
stateDetails->m_linkState[l * 7 + 2] = linkCOMOrigin.getZ();
stateDetails->m_linkState[l * 7 + 3] = linkCOMRotation.x();
stateDetails->m_linkState[l * 7 + 4] = linkCOMRotation.y();
stateDetails->m_linkState[l * 7 + 5] = linkCOMRotation.z();
stateDetails->m_linkState[l * 7 + 6] = linkCOMRotation.w();
btVector3 worldLinVel(0, 0, 0);
btVector3 worldAngVel(0, 0, 0);
@@ -6516,21 +6527,21 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
worldAngVel = linkRotMat * omega[l + 1];
}
serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l * 6 + 0] = worldLinVel[0];
serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l * 6 + 1] = worldLinVel[1];
serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l * 6 + 2] = worldLinVel[2];
serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l * 6 + 3] = worldAngVel[0];
serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l * 6 + 4] = worldAngVel[1];
serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l * 6 + 5] = worldAngVel[2];
stateDetails->m_linkWorldVelocities[l * 6 + 0] = worldLinVel[0];
stateDetails->m_linkWorldVelocities[l * 6 + 1] = worldLinVel[1];
stateDetails->m_linkWorldVelocities[l * 6 + 2] = worldLinVel[2];
stateDetails->m_linkWorldVelocities[l * 6 + 3] = worldAngVel[0];
stateDetails->m_linkWorldVelocities[l * 6 + 4] = worldAngVel[1];
stateDetails->m_linkWorldVelocities[l * 6 + 5] = worldAngVel[2];
serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l * 7 + 0] = linkLocalInertialOrigin.getX();
serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l * 7 + 1] = linkLocalInertialOrigin.getY();
serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l * 7 + 2] = linkLocalInertialOrigin.getZ();
stateDetails->m_linkLocalInertialFrames[l * 7 + 0] = linkLocalInertialOrigin.getX();
stateDetails->m_linkLocalInertialFrames[l * 7 + 1] = linkLocalInertialOrigin.getY();
stateDetails->m_linkLocalInertialFrames[l * 7 + 2] = linkLocalInertialOrigin.getZ();
serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l * 7 + 3] = linkLocalInertialRotation.x();
serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l * 7 + 4] = linkLocalInertialRotation.y();
serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l * 7 + 5] = linkLocalInertialRotation.z();
serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l * 7 + 6] = linkLocalInertialRotation.w();
stateDetails->m_linkLocalInertialFrames[l * 7 + 3] = linkLocalInertialRotation.x();
stateDetails->m_linkLocalInertialFrames[l * 7 + 4] = linkLocalInertialRotation.y();
stateDetails->m_linkLocalInertialFrames[l * 7 + 5] = linkLocalInertialRotation.z();
stateDetails->m_linkLocalInertialFrames[l * 7 + 6] = linkLocalInertialRotation.w();
}
serverCmd.m_sendActualStateArgs.m_numDegreeOfFreedomQ = totalDegreeOfFreedomQ;
@@ -6545,35 +6556,36 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
btRigidBody* rb = body->m_rigidBody;
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_ACTUAL_STATE_UPDATE_COMPLETED;
serverCmd.m_sendActualStateArgs.m_bodyUniqueId = bodyUniqueId;
serverCmd.m_sendActualStateArgs.m_numLinks = 0;
serverCmd.m_sendActualStateArgs.m_stateDetails = 0;
int totalDegreeOfFreedomQ = 0;
int totalDegreeOfFreedomU = 0;
btTransform tr = rb->getWorldTransform();
//base position in world space, carthesian
serverCmd.m_sendActualStateArgs.m_actualStateQ[0] = tr.getOrigin()[0];
serverCmd.m_sendActualStateArgs.m_actualStateQ[1] = tr.getOrigin()[1];
serverCmd.m_sendActualStateArgs.m_actualStateQ[2] = tr.getOrigin()[2];
stateDetails->m_actualStateQ[0] = tr.getOrigin()[0];
stateDetails->m_actualStateQ[1] = tr.getOrigin()[1];
stateDetails->m_actualStateQ[2] = tr.getOrigin()[2];
//base orientation, quaternion x,y,z,w, in world space, carthesian
serverCmd.m_sendActualStateArgs.m_actualStateQ[3] = tr.getRotation()[0];
serverCmd.m_sendActualStateArgs.m_actualStateQ[4] = tr.getRotation()[1];
serverCmd.m_sendActualStateArgs.m_actualStateQ[5] = tr.getRotation()[2];
serverCmd.m_sendActualStateArgs.m_actualStateQ[6] = tr.getRotation()[3];
stateDetails->m_actualStateQ[3] = tr.getRotation()[0];
stateDetails->m_actualStateQ[4] = tr.getRotation()[1];
stateDetails->m_actualStateQ[5] = tr.getRotation()[2];
stateDetails->m_actualStateQ[6] = tr.getRotation()[3];
totalDegreeOfFreedomQ += 7; //pos + quaternion
//base linear velocity (in world space, carthesian)
serverCmd.m_sendActualStateArgs.m_actualStateQdot[0] = rb->getLinearVelocity()[0];
serverCmd.m_sendActualStateArgs.m_actualStateQdot[1] = rb->getLinearVelocity()[1];
serverCmd.m_sendActualStateArgs.m_actualStateQdot[2] = rb->getLinearVelocity()[2];
stateDetails->m_actualStateQdot[0] = rb->getLinearVelocity()[0];
stateDetails->m_actualStateQdot[1] = rb->getLinearVelocity()[1];
stateDetails->m_actualStateQdot[2] = rb->getLinearVelocity()[2];
//base angular velocity (in world space, carthesian)
serverCmd.m_sendActualStateArgs.m_actualStateQdot[3] = rb->getAngularVelocity()[0];
serverCmd.m_sendActualStateArgs.m_actualStateQdot[4] = rb->getAngularVelocity()[1];
serverCmd.m_sendActualStateArgs.m_actualStateQdot[5] = rb->getAngularVelocity()[2];
stateDetails->m_actualStateQdot[3] = rb->getAngularVelocity()[0];
stateDetails->m_actualStateQdot[4] = rb->getAngularVelocity()[1];
stateDetails->m_actualStateQdot[5] = rb->getAngularVelocity()[2];
totalDegreeOfFreedomU += 6; //3 linear and 3 angular DOF
serverCmd.m_sendActualStateArgs.m_numDegreeOfFreedomQ = totalDegreeOfFreedomQ;

11
examples/SharedMemory/SharedMemoryCommandProcessor.cpp
View File

@@ -17,7 +17,8 @@ struct SharedMemoryCommandProcessorInternalData
bool m_waitingForServer;
SharedMemoryStatus m_lastServerStatus;
SharedMemoryBlock* m_testBlock1;
SendActualStateSharedMemoryStorage m_cachedState;
SharedMemoryCommandProcessorInternalData()
: m_sharedMemoryKey(SHARED_MEMORY_KEY),
m_isConnected(false),
@@ -160,6 +161,14 @@ bool SharedMemoryCommandProcessor::receiveStatus(struct SharedMemoryStatus& serv
m_data->m_testBlock1->m_numProcessedServerCommands + 1);
const SharedMemoryStatus& serverCmd = m_data->m_testBlock1->m_serverCommands[0];
if (serverCmd.m_type == CMD_ACTUAL_STATE_UPDATE_COMPLETED)
{
SendActualStateSharedMemoryStorage* serverState = (SendActualStateSharedMemoryStorage*)m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor;
m_data->m_cachedState = *serverState;
//ideally we provided a 'getCachedState' but that would require changing the API, so we store a pointer instead.
m_data->m_testBlock1->m_serverCommands[0].m_sendActualStateArgs.m_stateDetails = &m_data->m_cachedState;
}
m_data->m_lastServerStatus = serverCmd;
m_data->m_lastServerStatus.m_dataStream = m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor;

5
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -522,7 +522,12 @@ struct SendActualStateArgs
int m_numDegreeOfFreedomU;
double m_rootLocalInertialFrame[7];
struct SendActualStateSharedMemoryStorage* m_stateDetails;
};
struct SendActualStateSharedMemoryStorage
{
//actual state is only written by the server, read-only access by client is expected
double m_actualStateQ[MAX_DEGREE_OF_FREEDOM];
double m_actualStateQdot[MAX_DEGREE_OF_FREEDOM];

16
examples/SharedMemory/grpc/ConvertGRPCBullet.cpp
View File

@@ -1260,13 +1260,15 @@ bool convertGRPCToStatus(const PyBulletStatus& grpcReply, SharedMemoryStatus& se
serverStatus.m_sendActualStateArgs.m_numDegreeOfFreedomQ = numDegreeOfFreedomQ;
serverStatus.m_sendActualStateArgs.m_numDegreeOfFreedomU = numDegreeOfFreedomU;
serverStatus.m_sendActualStateArgs.m_stateDetails = (SendActualStateSharedMemoryStorage*)bufferServerToClient;
for (int i = 0; i < numDegreeOfFreedomQ; i++)
{
serverStatus.m_sendActualStateArgs.m_actualStateQ[i] = stat->actualstateq(i);
serverStatus.m_sendActualStateArgs.m_stateDetails->m_actualStateQ[i] = stat->actualstateq(i);
}
for (int i = 0; i < numDegreeOfFreedomU; i++)
{
serverStatus.m_sendActualStateArgs.m_actualStateQdot[i] = stat->actualstateqdot(i);
serverStatus.m_sendActualStateArgs.m_stateDetails->m_actualStateQdot[i] = stat->actualstateqdot(i);
}
for (int i = 0; i < 7; i++)
{
@@ -1274,23 +1276,23 @@ bool convertGRPCToStatus(const PyBulletStatus& grpcReply, SharedMemoryStatus& se
}
for (int i = 0; i < numLinks * 6; i++)
{
serverStatus.m_sendActualStateArgs.m_linkLocalInertialFrames[i] = stat->linklocalinertialframes(i);
serverStatus.m_sendActualStateArgs.m_stateDetails->m_linkLocalInertialFrames[i] = stat->linklocalinertialframes(i);
}
for (int i = 0; i < numLinks * 6; i++)
{
serverStatus.m_sendActualStateArgs.m_jointReactionForces[i] = stat->jointreactionforces(i);
serverStatus.m_sendActualStateArgs.m_stateDetails->m_jointReactionForces[i] = stat->jointreactionforces(i);
}
for (int i = 0; i < numLinks; i++)
{
serverStatus.m_sendActualStateArgs.m_jointMotorForce[i] = stat->jointmotorforce(i);
serverStatus.m_sendActualStateArgs.m_stateDetails->m_jointMotorForce[i] = stat->jointmotorforce(i);
}
for (int i = 0; i < numLinks * 7; i++)
{
serverStatus.m_sendActualStateArgs.m_linkState[i] = stat->linkstate(i);
serverStatus.m_sendActualStateArgs.m_stateDetails->m_linkState[i] = stat->linkstate(i);
}
for (int i = 0; i < numLinks * 6; i++)
{
serverStatus.m_sendActualStateArgs.m_linkWorldVelocities[i] = stat->linkworldvelocities(i);
serverStatus.m_sendActualStateArgs.m_stateDetails->m_linkWorldVelocities[i] = stat->linkworldvelocities(i);
}
break;