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

examples/RobotSimulator/MinitaurSimulatorExample.cpp

@@ -0,0 +1,147 @@
+#include "MinitaurSimulatorExample.h"
+#include "MinitaurSetup.h"
+
+#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
+#include "Bullet3Common/b3Quaternion.h"
+#include "Bullet3Common/b3AlignedObjectArray.h"
+#include "../CommonInterfaces/CommonRenderInterface.h"
+#include "../CommonInterfaces/CommonExampleInterface.h"
+#include "../CommonInterfaces/CommonGUIHelperInterface.h"
+#include "../SharedMemory/PhysicsServerSharedMemory.h"
+#include "../SharedMemory/SharedMemoryPublic.h"
+
+#include "../CommonInterfaces/CommonParameterInterface.h"
+#include "../SharedMemory/PhysicsClientC_API.h"
+#include <string>
+
+#include "../RobotSimulator/b3RobotSimulatorClientAPI.h"
+#include "../Utils/b3Clock.h"
+
+///quick demo showing the right-handed coordinate system and positive rotations around each axis
+class MinitaurSimulatorExample : public CommonExampleInterface
+{
+	CommonGraphicsApp* m_app;
+	GUIHelperInterface* m_guiHelper;
+	b3RobotSimulatorClientAPI m_robotSim;
+	
+	
+	int m_options;
+	
+	double m_time;
+	
+	double m_gravityAccelerationZ;
+	
+	MinitaurSetup m_minitaur;
+	int m_minitaurUid;
+	
+	
+
+public:
+	MinitaurSimulatorExample(GUIHelperInterface* helper, int options)
+		: m_app(helper->getAppInterface()),
+		  m_guiHelper(helper),
+		  m_options(options),
+		m_gravityAccelerationZ(-10),
+		m_minitaurUid(-1)
+	{
+		m_app->setUpAxis(2);
+	}
+	virtual ~MinitaurSimulatorExample()
+	{
+	}
+
+	virtual void physicsDebugDraw(int debugDrawMode)
+	{
+		m_robotSim.debugDraw(debugDrawMode);
+	}
+	
+	virtual void initPhysics()
+	{
+		int mode = eCONNECT_EXISTING_EXAMPLE_BROWSER;
+		m_robotSim.setGuiHelper(m_guiHelper);
+		bool connected = m_robotSim.connect(mode);
+		//hide the perception camera views for rbd, depth and segmentation mask
+		m_robotSim.configureDebugVisualizer(COV_ENABLE_RGB_BUFFER_PREVIEW, 0);
+		m_robotSim.configureDebugVisualizer(COV_ENABLE_DEPTH_BUFFER_PREVIEW, 0);
+		m_robotSim.configureDebugVisualizer(COV_ENABLE_SEGMENTATION_MARK_PREVIEW, 0);
+		b3Printf("robotSim connected = %d", connected);
+
+		SliderParams slider("Gravity", &m_gravityAccelerationZ);
+		slider.m_minVal = -10;
+		slider.m_maxVal = 10;
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+		
+		//when in the debugger, don't crash when a command isn't processed immediately, give it 10 seconds
+		m_robotSim.setTimeOut(10);
+		
+		m_robotSim.loadURDF("plane.urdf");
+		
+		m_minitaurUid = m_minitaur.setupMinitaur(&m_robotSim, btVector3(0, 0, .3));
+	
+		
+		{
+			b3RobotSimulatorLoadUrdfFileArgs args;
+			args.m_startPosition.setValue(0, 0, 1);
+			args.m_startOrientation.setEulerZYX(0, 0, 0);
+			args.m_useMultiBody = true;
+			m_robotSim.loadURDF("cube_small.urdf", args);
+		}
+	}
+	
+	virtual void exitPhysics()
+	{
+		m_robotSim.disconnect();
+	}
+	
+	virtual void stepSimulation(float deltaTime)
+	{
+		m_robotSim.setGravity(btVector3(0, 0, m_gravityAccelerationZ));
+		m_robotSim.stepSimulation();
+		for (int i = 0; i < m_robotSim.getNumJoints(m_minitaurUid);i++)
+		{
+			b3JointSensorState state;
+			m_robotSim.getJointState(this->m_minitaurUid, i, &state);
+		}
+
+		b3JointStates2 states;
+		m_robotSim.getJointStates(m_minitaurUid, states);
+
+	}
+	virtual void renderScene()
+	{
+		m_robotSim.renderScene();
+	}
+
+	virtual bool mouseMoveCallback(float x, float y)
+	{
+		return m_robotSim.mouseMoveCallback(x, y);
+	}
+	virtual bool mouseButtonCallback(int button, int state, float x, float y)
+	{
+		return m_robotSim.mouseButtonCallback(button, state, x, y);
+	}
+	virtual bool keyboardCallback(int key, int state)
+	{
+		return false;
+	}
+
+	virtual void resetCamera()
+	{
+		float dist = 1.5;
+		float pitch = -10;
+		float yaw = 18;
+		float targetPos[3] = {-0.2, 0.8, 0.3};
+		if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
+		{
+			m_app->m_renderer->getActiveCamera()->setCameraDistance(dist);
+			m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch);
+			m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw);
+			m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0], targetPos[1], targetPos[2]);
+		}
+	}
+
+};
+class CommonExampleInterface* MinitaurSimulatorExampleCreateFunc(struct CommonExampleOptions& options)
+{
+	return new MinitaurSimulatorExample(options.m_guiHelper, options.m_option);
+}

examples/RobotSimulator/MinitaurSimulatorExample.h

@@ -0,0 +1,22 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2019 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef MINITAUR_SIMULATOR_EXAMPLE_H
+#define MINITAUR_SIMULATOR_EXAMPLE_H
+
+
+class CommonExampleInterface* MinitaurSimulatorExampleCreateFunc(struct CommonExampleOptions& options);
+
+#endif  //MINITAUR_SIMULATOR_EXAMPLE_H

examples/RoboticsLearning/GripperGraspExample.cpp

@@ -62,6 +62,10 @@ public:
 		m_robotSim.setGuiHelper(m_guiHelper);
 		bool connected = m_robotSim.connect(mode);
 
+		m_robotSim.configureDebugVisualizer(COV_ENABLE_RGB_BUFFER_PREVIEW, 0);
+		m_robotSim.configureDebugVisualizer(COV_ENABLE_DEPTH_BUFFER_PREVIEW, 0);
+		m_robotSim.configureDebugVisualizer(COV_ENABLE_SEGMENTATION_MARK_PREVIEW, 0);
+
 		b3Printf("robotSim connected = %d", connected);
 
 		if ((m_options & eGRIPPER_GRASP) != 0)

examples/RoboticsLearning/KukaGraspExample.cpp

@@ -72,6 +72,9 @@ public:
 		int mode = eCONNECT_EXISTING_EXAMPLE_BROWSER;
 		m_robotSim.setGuiHelper(m_guiHelper);
 		bool connected = m_robotSim.connect(mode);
+		m_robotSim.configureDebugVisualizer(COV_ENABLE_RGB_BUFFER_PREVIEW, 0);
+		m_robotSim.configureDebugVisualizer(COV_ENABLE_DEPTH_BUFFER_PREVIEW, 0);
+		m_robotSim.configureDebugVisualizer(COV_ENABLE_SEGMENTATION_MARK_PREVIEW, 0);
 
 		//			0;//m_robotSim.connect(m_guiHelper);
 		b3Printf("robotSim connected = %d", connected);

examples/RoboticsLearning/R2D2GraspExample.cpp

@@ -51,6 +51,9 @@ public:
 		int mode = eCONNECT_EXISTING_EXAMPLE_BROWSER;
 		m_robotSim.setGuiHelper(m_guiHelper);
 		bool connected = m_robotSim.connect(mode);
+		m_robotSim.configureDebugVisualizer(COV_ENABLE_RGB_BUFFER_PREVIEW, 0);
+		m_robotSim.configureDebugVisualizer(COV_ENABLE_DEPTH_BUFFER_PREVIEW, 0);
+		m_robotSim.configureDebugVisualizer(COV_ENABLE_SEGMENTATION_MARK_PREVIEW, 0);
 
 		b3Printf("robotSim connected = %d", connected);
 

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -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_jointPosition = status->m_sendActualStateArgs.m_stateDetails->m_actualStateQ[info.m_qIndex];
-				state->m_jointVelocity = status->m_sendActualStateArgs.m_actualStateQdot[info.m_uIndex];
+				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_jointVelocity[i] = status->m_sendActualStateArgs.m_stateDetails->m_actualStateQdot[info.m_uIndex+i];
-					state->m_jointMotorTorqueMultiDof[i] = status->m_sendActualStateArgs.m_jointMotorForceMultiDof[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_worldPosition[i] = status->m_sendActualStateArgs.m_stateDetails->m_linkState[7 * linkIndex + i];
-			state->m_localInertialPosition[i] = status->m_sendActualStateArgs.m_linkLocalInertialFrames[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_linkWorldVelocities[6 * linkIndex + i];
+			state->m_worldLinearVelocity[i] = status->m_sendActualStateArgs.m_stateDetails->m_linkWorldVelocities[6 * linkIndex + i];
-			state->m_worldAngularVelocity[i] = status->m_sendActualStateArgs.m_linkWorldVelocities[6 * linkIndex + i + 3];
+			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_worldOrientation[i] = status->m_sendActualStateArgs.m_stateDetails->m_linkState[7 * linkIndex + 3 + i];
-			state->m_localInertialOrientation[i] = status->m_sendActualStateArgs.m_linkLocalInertialFrames[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;
 }

examples/SharedMemory/PhysicsClientSharedMemory.cpp

@@ -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);

examples/SharedMemory/PhysicsDirect.cpp

@@ -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:

examples/SharedMemory/PhysicsLoopBack.cpp

@@ -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);

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -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];
+			stateDetails->m_actualStateQ[0] = tr.getOrigin()[0];
-			serverCmd.m_sendActualStateArgs.m_actualStateQ[1] = tr.getOrigin()[1];
+			stateDetails->m_actualStateQ[1] = tr.getOrigin()[1];
-			serverCmd.m_sendActualStateArgs.m_actualStateQ[2] = tr.getOrigin()[2];
+			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];
+			stateDetails->m_actualStateQ[3] = tr.getRotation()[0];
-			serverCmd.m_sendActualStateArgs.m_actualStateQ[4] = tr.getRotation()[1];
+			stateDetails->m_actualStateQ[4] = tr.getRotation()[1];
-			serverCmd.m_sendActualStateArgs.m_actualStateQ[5] = tr.getRotation()[2];
+			stateDetails->m_actualStateQ[5] = tr.getRotation()[2];
-			serverCmd.m_sendActualStateArgs.m_actualStateQ[6] = tr.getRotation()[3];
+			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];
+			stateDetails->m_actualStateQdot[0] = mb->getBaseVel()[0];
-			serverCmd.m_sendActualStateArgs.m_actualStateQdot[1] = mb->getBaseVel()[1];
+			stateDetails->m_actualStateQdot[1] = mb->getBaseVel()[1];
-			serverCmd.m_sendActualStateArgs.m_actualStateQdot[2] = mb->getBaseVel()[2];
+			stateDetails->m_actualStateQdot[2] = mb->getBaseVel()[2];
 
 			//base angular velocity (in world space, carthesian)
-			serverCmd.m_sendActualStateArgs.m_actualStateQdot[3] = mb->getBaseOmega()[0];
+			stateDetails->m_actualStateQdot[3] = mb->getBaseOmega()[0];
-			serverCmd.m_sendActualStateArgs.m_actualStateQdot[4] = mb->getBaseOmega()[1];
+			stateDetails->m_actualStateQdot[4] = mb->getBaseOmega()[1];
-			serverCmd.m_sendActualStateArgs.m_actualStateQdot[5] = mb->getBaseOmega()[2];
+			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];
+				stateDetails->m_jointReactionForces[l * 6 + 0] = sensedForce[0];
-				serverCmd.m_sendActualStateArgs.m_jointReactionForces[l * 6 + 1] = sensedForce[1];
+				stateDetails->m_jointReactionForces[l * 6 + 1] = sensedForce[1];
-				serverCmd.m_sendActualStateArgs.m_jointReactionForces[l * 6 + 2] = sensedForce[2];
+				stateDetails->m_jointReactionForces[l * 6 + 2] = sensedForce[2];
 
-				serverCmd.m_sendActualStateArgs.m_jointReactionForces[l * 6 + 3] = sensedTorque[0];
+				stateDetails->m_jointReactionForces[l * 6 + 3] = sensedTorque[0];
-				serverCmd.m_sendActualStateArgs.m_jointReactionForces[l * 6 + 4] = sensedTorque[1];
+				stateDetails->m_jointReactionForces[l * 6 + 4] = sensedTorque[1];
-				serverCmd.m_sendActualStateArgs.m_jointReactionForces[l * 6 + 5] = sensedTorque[2];
+				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();
+			stateDetails->m_linkState[l * 7 + 0] = linkCOMOrigin.getX();
-			serverCmd.m_sendActualStateArgs.m_linkState[l * 7 + 1] = linkCOMOrigin.getY();
+			stateDetails->m_linkState[l * 7 + 1] = linkCOMOrigin.getY();
-			serverCmd.m_sendActualStateArgs.m_linkState[l * 7 + 2] = linkCOMOrigin.getZ();
+			stateDetails->m_linkState[l * 7 + 2] = linkCOMOrigin.getZ();
-			serverCmd.m_sendActualStateArgs.m_linkState[l * 7 + 3] = linkCOMRotation.x();
+			stateDetails->m_linkState[l * 7 + 3] = linkCOMRotation.x();
-			serverCmd.m_sendActualStateArgs.m_linkState[l * 7 + 4] = linkCOMRotation.y();
+			stateDetails->m_linkState[l * 7 + 4] = linkCOMRotation.y();
-			serverCmd.m_sendActualStateArgs.m_linkState[l * 7 + 5] = linkCOMRotation.z();
+			stateDetails->m_linkState[l * 7 + 5] = linkCOMRotation.z();
-			serverCmd.m_sendActualStateArgs.m_linkState[l * 7 + 6] = linkCOMRotation.w();
+			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];
+			stateDetails->m_linkWorldVelocities[l * 6 + 0] = worldLinVel[0];
-			serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l * 6 + 1] = worldLinVel[1];
+			stateDetails->m_linkWorldVelocities[l * 6 + 1] = worldLinVel[1];
-			serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l * 6 + 2] = worldLinVel[2];
+			stateDetails->m_linkWorldVelocities[l * 6 + 2] = worldLinVel[2];
-			serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l * 6 + 3] = worldAngVel[0];
+			stateDetails->m_linkWorldVelocities[l * 6 + 3] = worldAngVel[0];
-			serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l * 6 + 4] = worldAngVel[1];
+			stateDetails->m_linkWorldVelocities[l * 6 + 4] = worldAngVel[1];
-			serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l * 6 + 5] = worldAngVel[2];
+			stateDetails->m_linkWorldVelocities[l * 6 + 5] = worldAngVel[2];
 
-			serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l * 7 + 0] = linkLocalInertialOrigin.getX();
+			stateDetails->m_linkLocalInertialFrames[l * 7 + 0] = linkLocalInertialOrigin.getX();
-			serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l * 7 + 1] = linkLocalInertialOrigin.getY();
+			stateDetails->m_linkLocalInertialFrames[l * 7 + 1] = linkLocalInertialOrigin.getY();
-			serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l * 7 + 2] = linkLocalInertialOrigin.getZ();
+			stateDetails->m_linkLocalInertialFrames[l * 7 + 2] = linkLocalInertialOrigin.getZ();
 
-			serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l * 7 + 3] = linkLocalInertialRotation.x();
+			stateDetails->m_linkLocalInertialFrames[l * 7 + 3] = linkLocalInertialRotation.x();
-			serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l * 7 + 4] = linkLocalInertialRotation.y();
+			stateDetails->m_linkLocalInertialFrames[l * 7 + 4] = linkLocalInertialRotation.y();
-			serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l * 7 + 5] = linkLocalInertialRotation.z();
+			stateDetails->m_linkLocalInertialFrames[l * 7 + 5] = linkLocalInertialRotation.z();
-			serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l * 7 + 6] = linkLocalInertialRotation.w();
+			stateDetails->m_linkLocalInertialFrames[l * 7 + 6] = linkLocalInertialRotation.w();
 		}
 
 		serverCmd.m_sendActualStateArgs.m_numDegreeOfFreedomQ = totalDegreeOfFreedomQ;
@@ -6548,32 +6559,33 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
 			
 			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];
+			stateDetails->m_actualStateQ[0] = tr.getOrigin()[0];
-			serverCmd.m_sendActualStateArgs.m_actualStateQ[1] = tr.getOrigin()[1];
+			stateDetails->m_actualStateQ[1] = tr.getOrigin()[1];
-			serverCmd.m_sendActualStateArgs.m_actualStateQ[2] = tr.getOrigin()[2];
+			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];
+			stateDetails->m_actualStateQ[3] = tr.getRotation()[0];
-			serverCmd.m_sendActualStateArgs.m_actualStateQ[4] = tr.getRotation()[1];
+			stateDetails->m_actualStateQ[4] = tr.getRotation()[1];
-			serverCmd.m_sendActualStateArgs.m_actualStateQ[5] = tr.getRotation()[2];
+			stateDetails->m_actualStateQ[5] = tr.getRotation()[2];
-			serverCmd.m_sendActualStateArgs.m_actualStateQ[6] = tr.getRotation()[3];
+			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];
+			stateDetails->m_actualStateQdot[0] = rb->getLinearVelocity()[0];
-			serverCmd.m_sendActualStateArgs.m_actualStateQdot[1] = rb->getLinearVelocity()[1];
+			stateDetails->m_actualStateQdot[1] = rb->getLinearVelocity()[1];
-			serverCmd.m_sendActualStateArgs.m_actualStateQdot[2] = rb->getLinearVelocity()[2];
+			stateDetails->m_actualStateQdot[2] = rb->getLinearVelocity()[2];
 
 			//base angular velocity (in world space, carthesian)
-			serverCmd.m_sendActualStateArgs.m_actualStateQdot[3] = rb->getAngularVelocity()[0];
+			stateDetails->m_actualStateQdot[3] = rb->getAngularVelocity()[0];
-			serverCmd.m_sendActualStateArgs.m_actualStateQdot[4] = rb->getAngularVelocity()[1];
+			stateDetails->m_actualStateQdot[4] = rb->getAngularVelocity()[1];
-			serverCmd.m_sendActualStateArgs.m_actualStateQdot[5] = rb->getAngularVelocity()[2];
+			stateDetails->m_actualStateQdot[5] = rb->getAngularVelocity()[2];
 			totalDegreeOfFreedomU += 6;  //3 linear and 3 angular DOF
 
 			serverCmd.m_sendActualStateArgs.m_numDegreeOfFreedomQ = totalDegreeOfFreedomQ;

examples/SharedMemory/SharedMemoryCommandProcessor.cpp

@@ -17,6 +17,7 @@ struct SharedMemoryCommandProcessorInternalData
 	bool m_waitingForServer;
 	SharedMemoryStatus m_lastServerStatus;
 	SharedMemoryBlock* m_testBlock1;
+	SendActualStateSharedMemoryStorage m_cachedState;
 	
 	SharedMemoryCommandProcessorInternalData()
 		: m_sharedMemoryKey(SHARED_MEMORY_KEY),
@@ -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;
 

examples/SharedMemory/SharedMemoryCommands.h

@@ -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];

examples/SharedMemory/grpc/ConvertGRPCBullet.cpp

@@ -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;