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allow pybullet to connect to GRPC server. (need to use flag --enable_grpc in premake build system)

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add grpcPlugin, it can work in GUI, SHARED_MEMORY_SERVER, DIRECT and other modes.
example script to start server from pybullet:
import pybullet as p
p.connect(p.GUI)
#if statically linked plugin
id = p.loadPlugin("grpcPlugin")
#dynamics loading the plugin
#id = p.loadPlugin("E:/develop/bullet3/bin/pybullet_grpcPlugin_vs2010_x64_debug.dll", postFix="_grpcPlugin")

#start the GRPC server at hostname, port
if (id>=0):
	p.executePluginCommand(id, "localhost:1234")

Only in DIRECT mode, since there is no 'ping' you need to call to handle RCPs:
numRPC = 10
while (1):
	p.executePluginCommand(id, intArgs=[numRPC])
This commit is contained in:
erwincoumans
2018-09-05 17:58:14 -07:00
parent 31b06f508a
commit 0efc67841d
22 changed files with 11620 additions and 8387 deletions
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42
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -54,6 +54,11 @@
#include "plugins/collisionFilterPlugin/collisionFilterPlugin.h"
#endif
#ifdef ENABLE_STATIC_GRPC_PLUGIN
#include "plugins/grpcPlugin/grpcPlugin.h"
#endif //ENABLE_STATIC_GRPC_PLUGIN
#ifndef SKIP_STATIC_PD_CONTROL_PLUGIN
#include "plugins/pdControlPlugin/pdControlPlugin.h"
#endif //SKIP_STATIC_PD_CONTROL_PLUGIN
@@ -1635,6 +1640,7 @@ struct PhysicsServerCommandProcessorInternalData
bool m_prevCanSleep;
int m_pdControlPlugin;
int m_collisionFilterPlugin;
int m_grpcPlugin;
#ifdef B3_ENABLE_TINY_AUDIO
b3SoundEngine m_soundEngine;
@@ -1675,29 +1681,37 @@ struct PhysicsServerCommandProcessorInternalData
m_pickingMultiBodyPoint2Point(0),
m_pdControlPlugin(-1),
m_collisionFilterPlugin(-1),
m_grpcPlugin(-1),
m_threadPool(0)
{
{
//register static plugins:
#ifdef STATIC_LINK_VR_PLUGIN
m_pluginManager.registerStaticLinkedPlugin("vrSyncPlugin", initPlugin_vrSyncPlugin, exitPlugin_vrSyncPlugin, executePluginCommand_vrSyncPlugin, preTickPluginCallback_vrSyncPlugin, 0, 0);
m_pluginManager.registerStaticLinkedPlugin("vrSyncPlugin", initPlugin_vrSyncPlugin, exitPlugin_vrSyncPlugin, executePluginCommand_vrSyncPlugin, preTickPluginCallback_vrSyncPlugin, 0, 0,0);
#endif //STATIC_LINK_VR_PLUGIN
#ifndef SKIP_STATIC_PD_CONTROL_PLUGIN
{
m_pdControlPlugin = m_pluginManager.registerStaticLinkedPlugin("pdControlPlugin", initPlugin_pdControlPlugin, exitPlugin_pdControlPlugin, executePluginCommand_pdControlPlugin, preTickPluginCallback_pdControlPlugin, 0, 0);
m_pdControlPlugin = m_pluginManager.registerStaticLinkedPlugin("pdControlPlugin", initPlugin_pdControlPlugin, exitPlugin_pdControlPlugin, executePluginCommand_pdControlPlugin, preTickPluginCallback_pdControlPlugin, 0, 0,0);
}
#endif //SKIP_STATIC_PD_CONTROL_PLUGIN
#ifndef SKIP_COLLISION_FILTER_PLUGIN
{
m_collisionFilterPlugin = m_pluginManager.registerStaticLinkedPlugin("collisionFilterPlugin", initPlugin_collisionFilterPlugin, exitPlugin_collisionFilterPlugin, executePluginCommand_collisionFilterPlugin, 0,0,0);
m_collisionFilterPlugin = m_pluginManager.registerStaticLinkedPlugin("collisionFilterPlugin", initPlugin_collisionFilterPlugin, exitPlugin_collisionFilterPlugin, executePluginCommand_collisionFilterPlugin, 0,0,0,0);
}
#endif
#ifdef ENABLE_STATIC_GRPC_PLUGIN
{
m_grpcPlugin = m_pluginManager.registerStaticLinkedPlugin("grpcPlugin", initPlugin_grpcPlugin, exitPlugin_grpcPlugin, executePluginCommand_grpcPlugin, 0, 0, 0,processClientCommands_grpcPlugin);
}
#endif //ENABLE_STATIC_GRPC_PLUGIN
#ifndef SKIP_STATIC_TINYRENDERER_PLUGIN
int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("tinyRendererPlugin", initPlugin_tinyRendererPlugin, exitPlugin_tinyRendererPlugin, executePluginCommand_tinyRendererPlugin,0,0,getRenderInterface_tinyRendererPlugin);
int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("tinyRendererPlugin", initPlugin_tinyRendererPlugin, exitPlugin_tinyRendererPlugin, executePluginCommand_tinyRendererPlugin,0,0,getRenderInterface_tinyRendererPlugin,0);
m_pluginManager.selectPluginRenderer(renderPluginId);
#endif
}
@@ -1799,8 +1813,8 @@ PhysicsServerCommandProcessor::~PhysicsServerCommandProcessor()
void preTickCallback(btDynamicsWorld *world, btScalar timeStep)
{
PhysicsServerCommandProcessor* proc = (PhysicsServerCommandProcessor*) world->getWorldUserInfo();
bool isPreTick = true;
proc->tickPlugins(timeStep, isPreTick);
proc->tickPlugins(timeStep, true);
}
void logCallback(btDynamicsWorld *world, btScalar timeStep)
@@ -1810,8 +1824,7 @@ void logCallback(btDynamicsWorld *world, btScalar timeStep)
proc->processCollisionForces(timeStep);
proc->logObjectStates(timeStep);
bool isPreTick = false;
proc->tickPlugins(timeStep, isPreTick);
proc->tickPlugins(timeStep, false);
}
bool MyContactAddedCallback(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1)
@@ -1920,13 +1933,21 @@ void PhysicsServerCommandProcessor::processCollisionForces(btScalar timeStep)
#endif//B3_ENABLE_TINY_AUDIO
}
void PhysicsServerCommandProcessor::reportNotifications() {
void PhysicsServerCommandProcessor::processClientCommands()
{
m_data->m_pluginManager.tickPlugins(0, B3_PROCESS_CLIENT_COMMANDS_TICK);
}
void PhysicsServerCommandProcessor::reportNotifications()
{
m_data->m_pluginManager.reportNotifications();
}
void PhysicsServerCommandProcessor::tickPlugins(btScalar timeStep, bool isPreTick)
{
m_data->m_pluginManager.tickPlugins(timeStep, isPreTick);
b3PluginManagerTickMode tickMode = isPreTick ? B3_PRE_TICK_MODE : B3_POST_TICK_MODE;
m_data->m_pluginManager.tickPlugins(timeStep, tickMode);
if (!isPreTick)
{
//clear events after each postTick, so we don't receive events multiple ticks
@@ -9901,6 +9922,7 @@ bool PhysicsServerCommandProcessor::processSaveBulletCommand(const struct Shared
return hasStatus;
}
bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes )
{
// BT_PROFILE("processCommand");