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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
Download Patch File Download Diff File Expand all files Collapse all files

63
examples/SharedMemory/b3PluginManager.cpp
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@@ -43,6 +43,7 @@ struct b3Plugin
PFN_TICK m_preTickFunc;
PFN_TICK m_postTickFunc;
PFN_TICK m_processNotificationsFunc;
PFN_TICK m_processClientCommandsFunc;
PFN_GET_RENDER_INTERFACE m_getRendererFunc;
@@ -58,6 +59,7 @@ struct b3Plugin
m_preTickFunc(0),
m_postTickFunc(0),
m_processNotificationsFunc(0),
m_processClientCommandsFunc(0),
m_getRendererFunc(0),
m_userPointer(0)
{
@@ -74,8 +76,10 @@ struct b3Plugin
m_executeCommandFunc = 0;
m_preTickFunc = 0;
m_postTickFunc = 0;
m_userPointer = 0;
m_processNotificationsFunc = 0;
m_processClientCommandsFunc = 0;
m_getRendererFunc = 0;
m_userPointer = 0;
}
};
@@ -86,6 +90,7 @@ struct b3PluginManagerInternalData
b3ResizablePool<b3PluginHandle> m_plugins;
b3HashMap<b3HashString, int> m_pluginMap;
PhysicsDirect* m_physicsDirect;
PhysicsCommandProcessorInterface* m_rpcCommandProcessorInterface;
b3AlignedObjectArray<b3KeyboardEvent> m_keyEvents;
b3AlignedObjectArray<b3VRControllerEvent> m_vrEvents;
b3AlignedObjectArray<b3MouseEvent> m_mouseEvents;
@@ -95,7 +100,7 @@ struct b3PluginManagerInternalData
int m_numNotificationPlugins;
b3PluginManagerInternalData()
:m_activeNotificationsBufferIndex(0), m_activeRendererPluginUid(-1),
:m_rpcCommandProcessorInterface(0), m_activeNotificationsBufferIndex(0), m_activeRendererPluginUid(-1),
m_numNotificationPlugins(0)
{
}
@@ -104,6 +109,7 @@ struct b3PluginManagerInternalData
b3PluginManager::b3PluginManager(class PhysicsCommandProcessorInterface* physSdk)
{
m_data = new b3PluginManagerInternalData;
m_data->m_rpcCommandProcessorInterface = physSdk;
m_data->m_physicsDirect = new PhysicsDirect(physSdk,false);
}
@@ -184,6 +190,7 @@ int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
std::string preTickPluginCallbackStr = std::string("preTickPluginCallback") + postFix;
std::string postTickPluginCallback = std::string("postTickPluginCallback") + postFix;
std::string processNotificationsStr = std::string("processNotifications") + postFix;
std::string processClientCommandsStr = std::string("processClientCommands") + postFix;
std::string getRendererStr = std::string("getRenderInterface") + postFix;
plugin->m_initFunc = (PFN_INIT)B3_DYNLIB_IMPORT(pluginHandle, initStr.c_str());
@@ -192,11 +199,13 @@ int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
plugin->m_preTickFunc = (PFN_TICK)B3_DYNLIB_IMPORT(pluginHandle, preTickPluginCallbackStr.c_str());
plugin->m_postTickFunc = (PFN_TICK)B3_DYNLIB_IMPORT(pluginHandle, postTickPluginCallback.c_str());
plugin->m_processNotificationsFunc = (PFN_TICK)B3_DYNLIB_IMPORT(pluginHandle, processNotificationsStr.c_str());
if (plugin->m_processNotificationsFunc)
{
m_data->m_numNotificationPlugins++;
}
plugin->m_processClientCommandsFunc = (PFN_TICK)B3_DYNLIB_IMPORT(pluginHandle, processClientCommandsStr.c_str());
plugin->m_getRendererFunc = (PFN_GET_RENDER_INTERFACE)B3_DYNLIB_IMPORT(pluginHandle, getRendererStr.c_str());
@@ -206,6 +215,7 @@ int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
b3PluginContext context;
context.m_userPointer = plugin->m_userPointer;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
context.m_rpcCommandProcessorInterface = m_data->m_rpcCommandProcessorInterface;
int version = plugin->m_initFunc(&context);
//keep the user pointer persistent
plugin->m_userPointer = context.m_userPointer;
@@ -275,8 +285,10 @@ void b3PluginManager::unloadPlugin(int pluginUniqueId)
m_data->m_plugins.freeHandle(pluginUniqueId);
}
}
void b3PluginManager::tickPlugins(double timeStep, bool isPreTick)
void b3PluginManager::tickPlugins(double timeStep, b3PluginManagerTickMode tickMode)
{
for (int i=0;i<m_data->m_pluginMap.size();i++)
{
@@ -293,18 +305,44 @@ void b3PluginManager::tickPlugins(double timeStep, bool isPreTick)
continue;
}
PFN_TICK tick = isPreTick? plugin->m_preTickFunc : plugin->m_postTickFunc;
PFN_TICK tick = 0;
switch (tickMode)
{
case B3_PRE_TICK_MODE:
{
tick = plugin->m_preTickFunc;
break;
}
case B3_POST_TICK_MODE:
{
tick = plugin->m_postTickFunc;
break;
}
case B3_PROCESS_CLIENT_COMMANDS_TICK:
{
tick = plugin->m_processClientCommandsFunc;
break;
}
default:
{
}
}
if (tick)
{
b3PluginContext context = {0};
b3PluginContext context = { 0 };
context.m_userPointer = plugin->m_userPointer;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
context.m_physClient = (b3PhysicsClientHandle)m_data->m_physicsDirect;
context.m_numMouseEvents = m_data->m_mouseEvents.size();
context.m_mouseEvents = m_data->m_mouseEvents.size() ? &m_data->m_mouseEvents[0] : 0;
context.m_numKeyEvents = m_data->m_keyEvents.size();
context.m_keyEvents = m_data->m_keyEvents.size() ? &m_data->m_keyEvents[0] : 0;
context.m_numVRControllerEvents = m_data->m_vrEvents.size();
context.m_vrControllerEvents = m_data->m_vrEvents.size()? &m_data->m_vrEvents[0]:0;
context.m_vrControllerEvents = m_data->m_vrEvents.size() ? &m_data->m_vrEvents[0] : 0;
if (tickMode == B3_PROCESS_CLIENT_COMMANDS_TICK)
{
context.m_rpcCommandProcessorInterface = m_data->m_rpcCommandProcessorInterface;
}
int result = tick(&context);
plugin->m_userPointer = context.m_userPointer;
}
@@ -359,7 +397,7 @@ int b3PluginManager::executePluginCommand(int pluginUniqueId, const b3PluginArgu
b3PluginContext context = {0};
context.m_userPointer = plugin->m_userPointer;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
context.m_rpcCommandProcessorInterface = m_data->m_rpcCommandProcessorInterface;
result = plugin->m_executeCommandFunc(&context, arguments);
plugin->m_userPointer = context.m_userPointer;
}
@@ -367,7 +405,7 @@ int b3PluginManager::executePluginCommand(int pluginUniqueId, const b3PluginArgu
}
int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc,PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc, PFN_GET_RENDER_INTERFACE getRendererFunc)
int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc,PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc, PFN_GET_RENDER_INTERFACE getRendererFunc, PFN_TICK processClientCommandsFunc)
{
b3Plugin orgPlugin;
@@ -383,6 +421,7 @@ int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT
pluginHandle->m_preTickFunc = preTickFunc;
pluginHandle->m_postTickFunc = postTickFunc;
pluginHandle->m_getRendererFunc = getRendererFunc;
pluginHandle->m_processClientCommandsFunc = processClientCommandsFunc;
pluginHandle->m_pluginHandle = 0;
pluginHandle->m_pluginPath = pluginPath;
pluginHandle->m_userPointer = 0;
@@ -399,7 +438,7 @@ int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT
b3PluginContext context = {0};
context.m_userPointer = 0;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
context.m_rpcCommandProcessorInterface = m_data->m_rpcCommandProcessorInterface;
int result = pluginHandle->m_initFunc(&context);
pluginHandle->m_userPointer = context.m_userPointer;
}