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Merge pull request #911 from erwincoumans/master

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Add pybullet setVRCameraState, allow 2 simultaneous shared memory connections (with a few restrictions)
This commit is contained in:
erwincoumans
2017-01-06 12:46:39 -08:00
committed by GitHub
parent 5b2ad7285c 4fc697f646
commit 1bd88cac69
15 changed files with 539 additions and 244 deletions
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BIN
docs/pybullet_quickstartguide.pdf
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16
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
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@@ -162,7 +162,12 @@ FILE* gTimingFile = 0;
#ifndef __STDC_FORMAT_MACROS
#define __STDC_FORMAT_MACROS
#endif //__STDC_FORMAT_MACROS
//see http://stackoverflow.com/questions/18107426/printf-format-for-unsigned-int64-on-windows
#ifndef _WIN32
#include <inttypes.h>
#endif
#define BT_TIMING_CAPACITY 16*65536
static bool m_firstTiming = true;
@@ -246,12 +251,21 @@ struct btTimings
char newname[1024];
static int counter2=0;
sprintf(newname,"%s%d",name,counter2++);
#ifdef _WIN32
fprintf(gTimingFile,"{\"cat\":\"timing\",\"pid\":1,\"tid\":%d,\"ts\":%I64d.%s ,\"ph\":\"B\",\"name\":\"%s\",\"args\":{}},\n",
threadId, startTimeDiv1000,startTimeRem1000Str, newname);
fprintf(gTimingFile,"{\"cat\":\"timing\",\"pid\":1,\"tid\":%d,\"ts\":%I64d.%s ,\"ph\":\"E\",\"name\":\"%s\",\"args\":{}}",
threadId, endTimeDiv1000,endTimeRem1000Str,newname);
#else
fprintf(gTimingFile,"{\"cat\":\"timing\",\"pid\":1,\"tid\":%d,\"ts\":%" PRIu64 ".%s ,\"ph\":\"B\",\"name\":\"%s\",\"args\":{}},\n",
threadId, startTimeDiv1000,startTimeRem1000Str, newname);
fprintf(gTimingFile,"{\"cat\":\"timing\",\"pid\":1,\"tid\":%d,\"ts\":%" PRIu64 ".%s ,\"ph\":\"E\",\"name\":\"%s\",\"args\":{}}",
threadId, endTimeDiv1000,endTimeRem1000Str,newname);
#endif
#endif
}

15
examples/OpenGLWindow/SimpleCamera.cpp
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@@ -71,6 +71,21 @@ void SimpleCamera::setVRCamera(const float viewMat[16], const float projectionMa
}
}
bool SimpleCamera::getVRCamera(float viewMat[16], float projectionMatrix[16])
{
if (m_data->m_enableVR)
{
for (int i=0;i<16;i++)
{
viewMat[i] = m_data->m_viewMatrixVR[i];
projectionMatrix[i] = m_data->m_projectionMatrixVR[i];
}
}
return false;
}
void SimpleCamera::disableVRCamera()
{
m_data->m_enableVR = false;

2
examples/OpenGLWindow/SimpleCamera.h
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@@ -15,6 +15,8 @@ struct SimpleCamera : public CommonCameraInterface
virtual void getCameraViewMatrix(float m[16]) const;
virtual void setVRCamera(const float viewMat[16], const float projectionMatrix[16]);
virtual bool getVRCamera(float viewMat[16], float projectionMatrix[16]);
virtual void setVRCameraOffsetTransform(const float offset[16]);
virtual void disableVRCamera();

51
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2191,3 +2191,54 @@ void b3GetVREventsData(b3PhysicsClientHandle physClient, struct b3VREventsData*
cl->getCachedVREvents(vrEventsData);
}
}
b3SharedMemoryCommandHandle b3SetVRCameraStateCommandInit(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_SET_VR_CAMERA_STATE;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle)command;
}
int b3SetVRCameraRootPosition(b3SharedMemoryCommandHandle commandHandle, double rootPos[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_SET_VR_CAMERA_STATE);
command->m_updateFlags |= VR_CAMERA_ROOT_POSITION;
command->m_vrCameraStateArguments.m_rootPosition[0] = rootPos[0];
command->m_vrCameraStateArguments.m_rootPosition[1] = rootPos[1];
command->m_vrCameraStateArguments.m_rootPosition[2] = rootPos[2];
return 0;
}
int b3SetVRCameraRootOrientation(b3SharedMemoryCommandHandle commandHandle, double rootOrn[4])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_SET_VR_CAMERA_STATE);
command->m_updateFlags |= VR_CAMERA_ROOT_ORIENTATION;
command->m_vrCameraStateArguments.m_rootOrientation[0] = rootOrn[0];
command->m_vrCameraStateArguments.m_rootOrientation[1] = rootOrn[1];
command->m_vrCameraStateArguments.m_rootOrientation[2] = rootOrn[2];
return 0;
}
int b3SetVRCameraTrackingObject(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_SET_VR_CAMERA_STATE);
command->m_updateFlags |= VR_CAMERA_ROOT_TRACKING_OBJECT;
command->m_vrCameraStateArguments.m_trackingObjectUniqueId = objectUniqueId;
return 0;
}

6
examples/SharedMemory/PhysicsClientC_API.h
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@@ -314,6 +314,12 @@ int b3LoadBunnySetCollisionMargin(b3SharedMemoryCommandHandle commandHandle, dou
b3SharedMemoryCommandHandle b3RequestVREventsCommandInit(b3PhysicsClientHandle physClient);
void b3GetVREventsData(b3PhysicsClientHandle physClient, struct b3VREventsData* vrEventsData);
b3SharedMemoryCommandHandle b3SetVRCameraStateCommandInit(b3PhysicsClientHandle physClient);
int b3SetVRCameraRootPosition(b3SharedMemoryCommandHandle commandHandle, double rootPos[3]);
int b3SetVRCameraRootOrientation(b3SharedMemoryCommandHandle commandHandle, double rootOrn[4]);
int b3SetVRCameraTrackingObject(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId);
#ifdef __cplusplus

41
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -44,11 +44,14 @@ bool gEnableRealTimeSimVR=false;
bool gCreateDefaultRobotAssets = false;
int gInternalSimFlags = 0;
bool gResetSimulation = 0;
int gHuskyId = -1;
btTransform huskyTr = btTransform::getIdentity();
int gVRTrackingObjectUniqueId = -1;
btTransform gVRTrackingObjectTr = btTransform::getIdentity();
int gCreateObjectSimVR = -1;
int gEnableKukaControl = 0;
btVector3 gVRTeleportPos1(0,0,0);
btQuaternion gVRTeleportOrn(0, 0, 0,1);
btScalar simTimeScalingFactor = 1;
btScalar gRhsClamp = 1.f;
@@ -1369,6 +1372,32 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
#endif
case CMD_SET_VR_CAMERA_STATE:
{
if (clientCmd.m_updateFlags & VR_CAMERA_ROOT_POSITION)
{
gVRTeleportPos1[0] = clientCmd.m_vrCameraStateArguments.m_rootPosition[0];
gVRTeleportPos1[1] = clientCmd.m_vrCameraStateArguments.m_rootPosition[1];
gVRTeleportPos1[2] = clientCmd.m_vrCameraStateArguments.m_rootPosition[2];
}
if (clientCmd.m_updateFlags & VR_CAMERA_ROOT_ORIENTATION)
{
gVRTeleportOrn[0] = clientCmd.m_vrCameraStateArguments.m_rootOrientation[0];
gVRTeleportOrn[1] = clientCmd.m_vrCameraStateArguments.m_rootOrientation[1];
gVRTeleportOrn[2] = clientCmd.m_vrCameraStateArguments.m_rootOrientation[2];
gVRTeleportOrn[3] = clientCmd.m_vrCameraStateArguments.m_rootOrientation[3];
}
if (clientCmd.m_updateFlags & VR_CAMERA_ROOT_TRACKING_OBJECT)
{
gVRTrackingObjectUniqueId = clientCmd.m_vrCameraStateArguments.m_trackingObjectUniqueId;
}
serverStatusOut.m_type = CMD_CLIENT_COMMAND_COMPLETED;
hasStatus = true;
break;
}
case CMD_REQUEST_VR_EVENTS_DATA:
{
serverStatusOut.m_sendVREvents.m_numVRControllerEvents = 0;
@@ -4287,12 +4316,12 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec, const
gSubStep = m_data->m_physicsDeltaTime;
}
if (gHuskyId >= 0)
if (gVRTrackingObjectUniqueId >= 0)
{
InternalBodyHandle* bodyHandle = m_data->getHandle(gHuskyId);
InternalBodyHandle* bodyHandle = m_data->getHandle(gVRTrackingObjectUniqueId);
if (bodyHandle && bodyHandle->m_multiBody)
{
huskyTr = bodyHandle->m_multiBody->getBaseWorldTransform();
gVRTrackingObjectTr = bodyHandle->m_multiBody->getBaseWorldTransform();
}
}
@@ -4595,8 +4624,6 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
//loadUrdf("knight.urdf", btVector3(-1.2, 0.2, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("husky/husky.urdf", btVector3(2, -5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
gHuskyId = bodyId;
b3Printf("huskyId = %d", gHuskyId);
m_data->m_huskyId = bodyId;
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, -10));

74
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -26,9 +26,14 @@
//@todo(erwincoumans) those globals are hacks for a VR demo, move this to Python/pybullet!
extern btVector3 gLastPickPos;
btVector3 gVRTeleportPos1(0,0,0);
btVector3 gVRTeleportPosLocal(0,0,0);
btQuaternion gVRTeleportOrnLocal(0,0,0,1);
extern btVector3 gVRTeleportPos1;
extern btQuaternion gVRTeleportOrn;
btScalar gVRTeleportRotZ = 0;
btQuaternion gVRTeleportOrn(0, 0, 0,1);
extern btVector3 gVRGripperPos;
extern btQuaternion gVRGripperOrn;
extern btVector3 gVRController2Pos;
@@ -57,9 +62,9 @@ static void saveCurrentSettingsVR()
FILE* f = fopen(startFileNameVR, "w");
if (f)
{
fprintf(f, "--camPosX= %f\n", gVRTeleportPos1[0]);
fprintf(f, "--camPosY= %f\n", gVRTeleportPos1[1]);
fprintf(f, "--camPosZ= %f\n", gVRTeleportPos1[2]);
fprintf(f, "--camPosX= %f\n", gVRTeleportPosLocal[0]);
fprintf(f, "--camPosY= %f\n", gVRTeleportPosLocal[1]);
fprintf(f, "--camPosZ= %f\n", gVRTeleportPosLocal[2]);
fprintf(f, "--camRotZ= %f\n", gVRTeleportRotZ);
fclose(f);
}
@@ -109,9 +114,9 @@ void midiCallback(double deltatime, std::vector< unsigned char > *message, void
if (message->at(1) == 16)
{
gVRTeleportRotZ= getParamf(-3.1415, 3.1415, message->at(2));
gVRTeleportOrn = btQuaternion(btVector3(0, 0, 1), gVRTeleportRotZ);
gVRTeleportOrnLocal = btQuaternion(btVector3(0, 0, 1), gVRTeleportRotZ);
saveCurrentSettingsVR();
// b3Printf("gVRTeleportOrn rotZ = %f\n", gVRTeleportRotZ);
// b3Printf("gVRTeleportOrnLocal rotZ = %f\n", gVRTeleportRotZ);
}
if (message->at(1) == 32)
@@ -123,9 +128,9 @@ void midiCallback(double deltatime, std::vector< unsigned char > *message, void
{
if (message->at(1) == i)
{
gVRTeleportPos1[i] = getParamf(-2, 2, message->at(2));
gVRTeleportPosLocal[i] = getParamf(-2, 2, message->at(2));
saveCurrentSettingsVR();
// b3Printf("gVRTeleportPos[%d] = %f\n", i,gVRTeleportPos1[i]);
// b3Printf("gVRTeleportPos[%d] = %f\n", i,gVRTeleportPosLocal[i]);
}
}
@@ -1040,19 +1045,19 @@ public:
setSharedMemoryKey(shmemKey);
}
if (args.GetCmdLineArgument("camPosX", gVRTeleportPos1[0]))
if (args.GetCmdLineArgument("camPosX", gVRTeleportPosLocal[0]))
{
printf("camPosX=%f\n", gVRTeleportPos1[0]);
printf("camPosX=%f\n", gVRTeleportPosLocal[0]);
}
if (args.GetCmdLineArgument("camPosY", gVRTeleportPos1[1]))
if (args.GetCmdLineArgument("camPosY", gVRTeleportPosLocal[1]))
{
printf("camPosY=%f\n", gVRTeleportPos1[1]);
printf("camPosY=%f\n", gVRTeleportPosLocal[1]);
}
if (args.GetCmdLineArgument("camPosZ", gVRTeleportPos1[2]))
if (args.GetCmdLineArgument("camPosZ", gVRTeleportPosLocal[2]))
{
printf("camPosZ=%f\n", gVRTeleportPos1[2]);
printf("camPosZ=%f\n", gVRTeleportPosLocal[2]);
}
float camRotZ = 0.f;
@@ -1060,7 +1065,7 @@ public:
{
printf("camRotZ = %f\n", camRotZ);
btQuaternion ornZ(btVector3(0, 0, 1), camRotZ);
gVRTeleportOrn = ornZ;
gVRTeleportOrnLocal = ornZ;
}
if (args.CheckCmdLineFlag("robotassets"))
@@ -1439,22 +1444,6 @@ void PhysicsServerExample::stepSimulation(float deltaTime)
#if 0
if (m_options == PHYSICS_SERVER_USE_RTC_CLOCK)
{
btClock rtc;
btScalar endTime = rtc.getTimeMilliseconds() + deltaTime*btScalar(800);
while (rtc.getTimeMilliseconds()<endTime)
{
m_physicsServer.processClientCommands();
}
} else
{
//for (int i=0;i<10;i++)
m_physicsServer.processClientCommands();
}
#endif
{
if (m_multiThreadedHelper->m_childGuiHelper->getRenderInterface())
@@ -1474,8 +1463,8 @@ extern int gDroppedSimulationSteps;
extern int gNumSteps;
extern double gDtInSec;
extern double gSubStep;
extern int gHuskyId;
extern btTransform huskyTr;
extern int gVRTrackingObjectUniqueId;
extern btTransform gVRTrackingObjectTr;
struct LineSegment
{
@@ -1607,15 +1596,22 @@ void PhysicsServerExample::drawUserDebugLines()
void PhysicsServerExample::renderScene()
{
btTransform vrTrans;
gVRTeleportPos1 = gVRTeleportPosLocal;
gVRTeleportOrn = gVRTeleportOrnLocal;
#if 0
///little VR test to follow/drive Husky vehicle
if (gHuskyId >= 0)
if (gVRTrackingObjectUniqueId >= 0)
{
gVRTeleportPos1 = huskyTr.getOrigin();
gVRTeleportOrn = huskyTr.getRotation();
btTransform vrTrans;
vrTrans.setOrigin(gVRTeleportPosLocal);
vrTrans.setRotation(gVRTeleportOrnLocal);
vrTrans = vrTrans * gVRTrackingObjectTr;
gVRTeleportPos1 = vrTrans.getOrigin();
gVRTeleportOrn = vrTrans.getRotation();
}
#endif
B3_PROFILE("PhysicsServerExample::RenderScene");

162
examples/SharedMemory/PhysicsServerSharedMemory.cpp
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@@ -14,7 +14,8 @@
#include "PhysicsServerCommandProcessor.h"
//number of shared memory blocks == number of simultaneous connections
#define MAX_SHARED_MEMORY_BLOCKS 2
struct PhysicsServerSharedMemoryInternalData
{
@@ -25,36 +26,39 @@ struct PhysicsServerSharedMemoryInternalData
SharedMemoryInterface* m_sharedMemory;
bool m_ownsSharedMemory;
SharedMemoryBlock* m_testBlock1;
SharedMemoryBlock* m_testBlocks[MAX_SHARED_MEMORY_BLOCKS];
int m_sharedMemoryKey;
bool m_isConnected;
bool m_areConnected[MAX_SHARED_MEMORY_BLOCKS];
bool m_verboseOutput;
PhysicsServerCommandProcessor* m_commandProcessor;
PhysicsServerSharedMemoryInternalData()
:m_sharedMemory(0),
m_ownsSharedMemory(false),
m_testBlock1(0),
m_sharedMemoryKey(SHARED_MEMORY_KEY),
m_isConnected(false),
m_verboseOutput(false),
m_commandProcessor(0)
{
for (int i=0;i<MAX_SHARED_MEMORY_BLOCKS;i++)
{
m_testBlocks[i]=0;
m_areConnected[i]=false;
}
}
SharedMemoryStatus& createServerStatus(int statusType, int sequenceNumber, int timeStamp)
SharedMemoryStatus& createServerStatus(int statusType, int sequenceNumber, int timeStamp, int blockIndex)
{
SharedMemoryStatus& serverCmd =m_testBlock1->m_serverCommands[0];
SharedMemoryStatus& serverCmd =m_testBlocks[blockIndex]->m_serverCommands[0];
serverCmd .m_type = statusType;
serverCmd.m_sequenceNumber = sequenceNumber;
serverCmd.m_timeStamp = timeStamp;
return serverCmd;
}
void submitServerStatus(SharedMemoryStatus& status)
void submitServerStatus(SharedMemoryStatus& status,int blockIndex)
{
m_testBlock1->m_numServerCommands++;
m_testBlocks[blockIndex]->m_numServerCommands++;
}
};
@@ -84,8 +88,24 @@ PhysicsServerSharedMemory::PhysicsServerSharedMemory(SharedMemoryInterface* shar
PhysicsServerSharedMemory::~PhysicsServerSharedMemory()
{
m_data->m_commandProcessor->deleteDynamicsWorld();
delete m_data->m_commandProcessor;
if (m_data->m_sharedMemory)
{
if (m_data->m_verboseOutput)
{
b3Printf("m_sharedMemory\n");
}
if (m_data->m_ownsSharedMemory)
{
delete m_data->m_sharedMemory;
}
m_data->m_sharedMemory = 0;
}
delete m_data;
}
@@ -107,55 +127,61 @@ bool PhysicsServerSharedMemory::connectSharedMemory( struct GUIHelperInterface*
bool allowCreation = true;
bool allConnected = false;
if (m_data->m_isConnected)
{
b3Warning("connectSharedMemory, while already connected");
return m_data->m_isConnected;
}
int counter = 0;
for (int block=0;block<MAX_SHARED_MEMORY_BLOCKS;block++)
{
if (m_data->m_areConnected[block])
{
allConnected = true;
b3Warning("connectSharedMemory, while already connected");
continue;
}
do
{
m_data->m_testBlock1 = (SharedMemoryBlock*)m_data->m_sharedMemory->allocateSharedMemory(m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE,allowCreation);
if (m_data->m_testBlock1)
m_data->m_testBlocks[block] = (SharedMemoryBlock*)m_data->m_sharedMemory->allocateSharedMemory(m_data->m_sharedMemoryKey+block, SHARED_MEMORY_SIZE,allowCreation);
if (m_data->m_testBlocks[block])
{
int magicId =m_data->m_testBlock1->m_magicId;
int magicId =m_data->m_testBlocks[block]->m_magicId;
if (m_data->m_verboseOutput)
{
b3Printf("magicId = %d\n", magicId);
}
if (m_data->m_testBlock1->m_magicId !=SHARED_MEMORY_MAGIC_NUMBER)
if (m_data->m_testBlocks[block]->m_magicId !=SHARED_MEMORY_MAGIC_NUMBER)
{
InitSharedMemoryBlock(m_data->m_testBlock1);
InitSharedMemoryBlock(m_data->m_testBlocks[block]);
if (m_data->m_verboseOutput)
{
b3Printf("Created and initialized shared memory block\n");
}
m_data->m_isConnected = true;
m_data->m_areConnected[block] = true;
} else
{
m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE);
m_data->m_testBlock1 = 0;
m_data->m_isConnected = false;
m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey+block, SHARED_MEMORY_SIZE);
m_data->m_testBlocks[block] = 0;
m_data->m_areConnected[block] = false;
}
} else
{
b3Error("Cannot connect to shared memory");
m_data->m_isConnected = false;
m_data->m_areConnected[block] = false;
}
} while (counter++ < 10 && !m_data->m_isConnected);
if (!m_data->m_isConnected)
} while (counter++ < 10 && !m_data->m_areConnected[block]);
if (!m_data->m_areConnected[block])
{
b3Error("Server cannot connect to shared memory.\n");
}
}
return m_data->m_isConnected;
return allConnected;
}
@@ -167,7 +193,9 @@ void PhysicsServerSharedMemory::disconnectSharedMemory(bool deInitializeSharedMe
{
b3Printf("releaseSharedMemory1\n");
}
if (m_data->m_testBlock1)
for (int block = 0;block<MAX_SHARED_MEMORY_BLOCKS;block++)
{
if (m_data->m_testBlocks[block])
{
if (m_data->m_verboseOutput)
{
@@ -175,64 +203,24 @@ void PhysicsServerSharedMemory::disconnectSharedMemory(bool deInitializeSharedMe
}
if (deInitializeSharedMemory)
{
m_data->m_testBlock1->m_magicId = 0;
m_data->m_testBlocks[block]->m_magicId = 0;
if (m_data->m_verboseOutput)
{
b3Printf("De-initialized shared memory, magic id = %d\n",m_data->m_testBlock1->m_magicId);
b3Printf("De-initialized shared memory, magic id = %d\n",m_data->m_testBlocks[block]->m_magicId);
}
}
btAssert(m_data->m_sharedMemory);
m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE);
m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey+block, SHARED_MEMORY_SIZE);
}
if (m_data->m_sharedMemory)
{
if (m_data->m_verboseOutput)
{
b3Printf("m_sharedMemory\n");
}
if (m_data->m_ownsSharedMemory)
{
delete m_data->m_sharedMemory;
}
m_data->m_sharedMemory = 0;
m_data->m_testBlock1 = 0;
m_data->m_testBlocks[block] = 0;
m_data->m_areConnected[block] = false;
}
}
void PhysicsServerSharedMemory::releaseSharedMemory()
{
if (m_data->m_verboseOutput)
{
b3Printf("releaseSharedMemory1\n");
}
if (m_data->m_testBlock1)
{
if (m_data->m_verboseOutput)
{
b3Printf("m_testBlock1\n");
}
m_data->m_testBlock1->m_magicId = 0;
if (m_data->m_verboseOutput)
{
b3Printf("magic id = %d\n",m_data->m_testBlock1->m_magicId);
}
btAssert(m_data->m_sharedMemory);
m_data->m_sharedMemory->releaseSharedMemory( m_data->m_sharedMemoryKey
, SHARED_MEMORY_SIZE);
}
if (m_data->m_sharedMemory)
{
if (m_data->m_verboseOutput)
{
b3Printf("m_sharedMemory\n");
}
if (m_data->m_ownsSharedMemory)
{
delete m_data->m_sharedMemory;
}
m_data->m_sharedMemory = 0;
m_data->m_testBlock1 = 0;
}
disconnectSharedMemory(true);
}
@@ -250,33 +238,37 @@ void PhysicsServerSharedMemory::enableRealTimeSimulation(bool enableRealTimeSim)
void PhysicsServerSharedMemory::processClientCommands()
{
if (m_data->m_isConnected && m_data->m_testBlock1)
for (int block = 0;block<MAX_SHARED_MEMORY_BLOCKS;block++)
{
m_data->m_commandProcessor->replayLogCommand(&m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
if (m_data->m_areConnected[block] && m_data->m_testBlocks[block])
{
m_data->m_commandProcessor->replayLogCommand(&m_data->m_testBlocks[block]->m_bulletStreamDataServerToClientRefactor[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
///we ignore overflow of integer for now
if (m_data->m_testBlock1->m_numClientCommands> m_data->m_testBlock1->m_numProcessedClientCommands)
if (m_data->m_testBlocks[block]->m_numClientCommands> m_data->m_testBlocks[block]->m_numProcessedClientCommands)
{
//until we implement a proper ring buffer, we assume always maximum of 1 outstanding commands
btAssert(m_data->m_testBlock1->m_numClientCommands==m_data->m_testBlock1->m_numProcessedClientCommands+1);
btAssert(m_data->m_testBlocks[block]->m_numClientCommands==m_data->m_testBlocks[block]->m_numProcessedClientCommands+1);
const SharedMemoryCommand& clientCmd =m_data->m_testBlock1->m_clientCommands[0];
const SharedMemoryCommand& clientCmd =m_data->m_testBlocks[block]->m_clientCommands[0];
m_data->m_testBlock1->m_numProcessedClientCommands++;
m_data->m_testBlocks[block]->m_numProcessedClientCommands++;
//todo, timeStamp
int timeStamp = 0;
SharedMemoryStatus& serverStatusOut = m_data->createServerStatus(CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED,clientCmd.m_sequenceNumber,timeStamp);
bool hasStatus = m_data->m_commandProcessor->processCommand(clientCmd, serverStatusOut,&m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
SharedMemoryStatus& serverStatusOut = m_data->createServerStatus(CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED,clientCmd.m_sequenceNumber,timeStamp,block);
bool hasStatus = m_data->m_commandProcessor->processCommand(clientCmd, serverStatusOut,&m_data->m_testBlocks[block]->m_bulletStreamDataServerToClientRefactor[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
if (hasStatus)
{
m_data->submitServerStatus(serverStatusOut);
m_data->submitServerStatus(serverStatusOut,block);
}
}
}
}
}
void PhysicsServerSharedMemory::renderScene()
{

91
examples/SharedMemory/PosixSharedMemory.cpp
View File

@@ -1,6 +1,7 @@
#include "PosixSharedMemory.h"
#include "Bullet3Common/b3Logging.h"
#include "LinearMath/btScalar.h" //for btAssert
#include "LinearMath/btAlignedObjectArray.h"
//Windows implementation is in Win32SharedMemory.cpp
#ifndef _WIN32
@@ -16,16 +17,28 @@
#endif
struct PosixSharedMemoryInteralData
struct btSharedMemorySegment
{
bool m_createdSharedMemory;
int m_key;
int m_sharedMemoryId;
void* m_sharedMemoryPtr;
bool m_createdSharedMemory;
btSharedMemorySegment()
: m_sharedMemoryId(-1),
m_sharedMemoryPtr(0),
m_createdSharedMemory(true)
{
}
};
struct PosixSharedMemoryInteralData
{
btAlignedObjectArray<btSharedMemorySegment> m_segments;
PosixSharedMemoryInteralData()
:m_createdSharedMemory(false),
m_sharedMemoryId(-1),
m_sharedMemoryPtr(0)
{
}
};
@@ -53,6 +66,27 @@ struct btPointerCaster
void* PosixSharedMemory::allocateSharedMemory(int key, int size, bool allowCreation)
{
#ifdef TEST_SHARED_MEMORY
{
btSharedMemorySegment* seg = 0;
int i=0;
for (i=0;i<m_internalData->m_segments.size();i++)
{
if (m_internalData->m_segments[i].m_key == key)
{
seg = &m_internalData->m_segments[i];
break;
}
}
if (seg)
{
b3Error("already created shared memory segment using same key");
return seg->m_sharedMemoryPtr;
}
}
int flags = (allowCreation ? IPC_CREAT : 0) | 0666;
int id = shmget((key_t) key, (size_t) size,flags);
if (id < 0)
@@ -67,9 +101,12 @@ void* PosixSharedMemory::allocateSharedMemory(int key, int size, bool allowCr
b3Error("shmat returned -1");
} else
{
m_internalData->m_createdSharedMemory = allowCreation;
m_internalData->m_sharedMemoryId = id;
m_internalData->m_sharedMemoryPtr = result.ptr;
btSharedMemorySegment seg;
seg.m_key = key;
seg.m_createdSharedMemory = allowCreation;
seg.m_sharedMemoryId = id;
seg.m_sharedMemoryPtr = result.ptr;
m_internalData->m_segments.push_back(seg);
return result.ptr;
}
}
@@ -82,14 +119,33 @@ void* PosixSharedMemory::allocateSharedMemory(int key, int size, bool allowCr
void PosixSharedMemory::releaseSharedMemory(int key, int size)
{
#ifdef TEST_SHARED_MEMORY
if (m_internalData->m_sharedMemoryId < 0)
btSharedMemorySegment* seg = 0;
int i=0;
for (i=0;i<m_internalData->m_segments.size();i++)
{
if (m_internalData->m_segments[i].m_key == key)
{
seg = &m_internalData->m_segments[i];
break;
}
}
if (0==seg)
{
b3Error("PosixSharedMemory::releaseSharedMemory: shared memory key not found");
return;
}
if (seg->m_sharedMemoryId < 0)
{
b3Error("PosixSharedMemory::releaseSharedMemory: shared memory id is not set");
} else
{
if (m_internalData->m_createdSharedMemory)
if (seg->m_createdSharedMemory)
{
int result = shmctl(m_internalData->m_sharedMemoryId,IPC_RMID,0);
int result = shmctl(seg->m_sharedMemoryId,IPC_RMID,0);
if (result == -1)
{
b3Error("PosixSharedMemory::releaseSharedMemory: shmat returned -1");
@@ -97,15 +153,18 @@ void PosixSharedMemory::releaseSharedMemory(int key, int size)
{
b3Printf("PosixSharedMemory::releaseSharedMemory removed shared memory");
}
m_internalData->m_createdSharedMemory = false;
m_internalData->m_sharedMemoryId = -1;
seg->m_createdSharedMemory = false;
seg->m_sharedMemoryId = -1;
}
if (m_internalData->m_sharedMemoryPtr)
if (seg->m_sharedMemoryPtr)
{
shmdt(m_internalData->m_sharedMemoryPtr);
m_internalData->m_sharedMemoryPtr = 0;
shmdt(seg->m_sharedMemoryPtr);
seg->m_sharedMemoryPtr = 0;
b3Printf("PosixSharedMemory::releaseSharedMemory detached shared memory\n");
}
}
m_internalData->m_segments.removeAtIndex(i);
#endif
}

28
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -594,6 +594,26 @@ struct UserDebugDrawResultArgs
int m_debugItemUniqueId;
};
struct SendVREvents
{
int m_numVRControllerEvents;
b3VRControllerEvent m_controllerEvents[MAX_VR_CONTROLLERS];
};
enum eVRCameraEnums
{
VR_CAMERA_ROOT_POSITION=1,
VR_CAMERA_ROOT_ORIENTATION=2,
VR_CAMERA_ROOT_TRACKING_OBJECT=4
};
struct VRCameraState
{
double m_rootPosition[3];
double m_rootOrientation[4];
int m_trackingObjectUniqueId;
};
struct SharedMemoryCommand
{
@@ -635,6 +655,7 @@ struct SharedMemoryCommand
struct UserDebugDrawArgs m_userDebugDrawArgs;
struct RequestRaycastIntersections m_requestRaycastIntersections;
struct LoadBunnyArgs m_loadBunnyArguments;
struct VRCameraState m_vrCameraStateArguments;
};
};
@@ -657,11 +678,8 @@ struct SendOverlappingObjectsArgs
int m_numRemainingOverlappingObjects;
};
struct SendVREvents
{
int m_numVRControllerEvents;
b3VRControllerEvent m_controllerEvents[MAX_VR_CONTROLLERS];
};

2
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -46,6 +46,8 @@ enum EnumSharedMemoryClientCommand
CMD_SET_SHADOW,
CMD_USER_DEBUG_DRAW,
CMD_REQUEST_VR_EVENTS_DATA,
CMD_SET_VR_CAMERA_STATE,
//don't go beyond this command!
CMD_MAX_CLIENT_COMMANDS,

100
examples/SharedMemory/Win32SharedMemory.cpp
View File

@@ -2,22 +2,36 @@
#include "Win32SharedMemory.h"
#include "Bullet3Common/b3Logging.h"
#include "Bullet3Common/b3Scalar.h"
#include "LinearMath/btAlignedObjectArray.h"
#include <windows.h>
#include <stdio.h>
//see also https://msdn.microsoft.com/en-us/library/windows/desktop/aa366551%28v=vs.85%29.aspx
struct Win32SharedMemoryInteralData
struct Win32SharedMemorySegment
{
int m_key;
HANDLE m_hMapFile;
void* m_buf;
TCHAR m_szName[1024];
Win32SharedMemoryInteralData()
Win32SharedMemorySegment()
:m_hMapFile(0),
m_buf(0)
m_buf(0),
m_key(-1)
{
m_szName[0] = 0;
}
};
struct Win32SharedMemoryInteralData
{
btAlignedObjectArray<Win32SharedMemorySegment> m_segments;
Win32SharedMemoryInteralData()
{
}
};
@@ -33,32 +47,53 @@ Win32SharedMemory::~Win32SharedMemory()
void* Win32SharedMemory::allocateSharedMemory(int key, int size, bool allowCreation)
{
b3Assert(m_internalData->m_buf==0);
{
Win32SharedMemorySegment* seg = 0;
int i=0;
for (i=0;i<m_internalData->m_segments.size();i++)
{
if (m_internalData->m_segments[i].m_key == key)
{
seg = &m_internalData->m_segments[i];
break;
}
}
if (seg)
{
b3Error("already created shared memory segment using same key");
return seg->m_buf;
}
}
Win32SharedMemorySegment seg;
seg.m_key = key;
#ifdef UNICODE
swprintf_s (m_internalData->m_szName,TEXT("MyFileMappingObject%d"),key);
swprintf_s (seg.m_szName,TEXT("MyFileMappingObject%d"),key);
#else
sprintf(m_internalData->m_szName,"MyFileMappingObject%d",key);
sprintf(seg.m_szName,"MyFileMappingObject%d",key);
#endif
m_internalData->m_hMapFile = OpenFileMapping(
seg.m_hMapFile = OpenFileMapping(
FILE_MAP_ALL_ACCESS, // read/write access
FALSE, // do not inherit the name
m_internalData->m_szName); // name of mapping object
seg.m_szName); // name of mapping object
if (m_internalData->m_hMapFile==NULL)
if (seg.m_hMapFile==NULL)
{
if (allowCreation)
{
m_internalData->m_hMapFile = CreateFileMapping(
seg.m_hMapFile = CreateFileMapping(
INVALID_HANDLE_VALUE, // use paging file
NULL, // default security
PAGE_READWRITE, // read/write access
0, // maximum object size (high-order DWORD)
size, // maximum object size (low-order DWORD)
m_internalData->m_szName); // name of mapping object
seg.m_szName); // name of mapping object
} else
{
b3Warning("Could not create file mapping object (%d).\n",GetLastError());
@@ -67,37 +102,56 @@ void* Win32SharedMemory::allocateSharedMemory(int key, int size, bool allowCre
}
m_internalData->m_buf = MapViewOfFile(m_internalData->m_hMapFile, // handle to map object
seg.m_buf = MapViewOfFile(seg.m_hMapFile, // handle to map object
FILE_MAP_ALL_ACCESS, // read/write permission
0,
0,
size);
if (m_internalData->m_buf == NULL)
if (seg.m_buf == NULL)
{
b3Warning("Could not map view of file (%d).\n",GetLastError());
CloseHandle(m_internalData->m_hMapFile);
CloseHandle(seg.m_hMapFile);
return 0;
}
return m_internalData->m_buf;
m_internalData->m_segments.push_back(seg);
return seg.m_buf;
}
void Win32SharedMemory::releaseSharedMemory(int key, int size)
{
if (m_internalData->m_buf)
{
Win32SharedMemorySegment* seg = 0;
int i=0;
UnmapViewOfFile(m_internalData->m_buf);
m_internalData->m_buf=0;
for (i=0;i<m_internalData->m_segments.size();i++)
{
if (m_internalData->m_segments[i].m_key == key)
{
seg = &m_internalData->m_segments[i];
break;
}
}
if (m_internalData->m_hMapFile)
if (seg==0)
{
CloseHandle(m_internalData->m_hMapFile);
m_internalData->m_hMapFile = 0;
b3Error("Couldn't find shared memory segment");
return;
}
if (seg->m_buf)
{
UnmapViewOfFile(seg->m_buf);
seg->m_buf=0;
}
if (seg->m_hMapFile)
{
CloseHandle(seg->m_hMapFile);
seg->m_hMapFile = 0;
}
m_internalData->m_segments.removeAtIndex(i);
}
Win32SharedMemoryServer::Win32SharedMemoryServer()

70
examples/pybullet/pybullet.c
View File

@@ -1174,6 +1174,8 @@ static PyObject* pybullet_setGravity(PyObject* self, PyObject* args, PyObject* k
double gravZ = -10.0;
int ret;
b3PhysicsClientHandle sm = 0;
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
int physicsClientId = 0;
static char *kwlist[] = { "gravX", "gravY", "gravZ", "physicsClientId", NULL };
@@ -1189,8 +1191,7 @@ static PyObject* pybullet_setGravity(PyObject* self, PyObject* args, PyObject* k
}
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(sm);
b3SharedMemoryStatusHandle statusHandle;
command = b3InitPhysicsParamCommand(sm);
ret = b3PhysicsParamSetGravity(command, gravX, gravY, gravZ);
// ret = b3PhysicsParamSetTimeStep(command, timeStep);
@@ -2431,6 +2432,56 @@ static PyObject* pybullet_getMatrixFromQuaterion(PyObject* self, PyObject* args)
};
static PyObject* pybullet_setVRCameraState(PyObject* self, PyObject* args, PyObject *keywds)
{
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
PyObject* rootPosObj=0;
PyObject* rootOrnObj=0;
int trackObjectUid=-2;
double rootPos[3];
double rootOrn[4];
static char *kwlist[] = {"rootPosition", "rootOrientation", "trackObject", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|OOii", kwlist,&rootPosObj, &rootOrnObj, &trackObjectUid,&physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
commandHandle = b3SetVRCameraStateCommandInit(sm);
if (pybullet_internalSetVectord(rootPosObj,rootPos))
{
b3SetVRCameraRootPosition(commandHandle,rootPos);
}
if (pybullet_internalSetVector4d(rootOrnObj,rootOrn))
{
b3SetVRCameraRootOrientation(commandHandle,rootOrn);
}
if (trackObjectUid>=-1)
{
b3SetVRCameraTrackingObject(commandHandle,trackObjectUid);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
Py_INCREF(Py_None);
return Py_None;
}
static PyObject* pybullet_getVREvents(PyObject* self, PyObject* args, PyObject *keywds)
{
b3SharedMemoryCommandHandle commandHandle;
@@ -3732,10 +3783,10 @@ static PyObject* pybullet_renderImageObsolete(PyObject* self, PyObject* args) {
static PyObject* pybullet_applyExternalForce(PyObject* self, PyObject* args,PyObject* keywds) {
{
int objectUniqueId, linkIndex, flags;
int objectUniqueId=-1, linkIndex=-1, flags;
double force[3];
double position[3] = {0.0, 0.0, 0.0};
PyObject* forceObj, *posObj;
PyObject* forceObj=0, *posObj=0;
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
@@ -4304,15 +4355,15 @@ static PyMethodDef SpamMethods[] = {
"Set a single joint motor control mode and desired target value. There is "
"no immediate state change, stepSimulation will process the motors."},
{"applyExternalForce",(PyCFunction) pybullet_applyExternalForce, METH_VARARGS,
{"applyExternalForce",(PyCFunction) pybullet_applyExternalForce, METH_VARARGS| METH_KEYWORDS,
"for objectUniqueId, linkIndex (-1 for base/root link), apply a force "
"[x,y,z] at the a position [x,y,z], flag to select FORCE_IN_LINK_FRAME or "
"FORCE_IN_WORLD_FRAME coordinates"},
"WORLD_FRAME coordinates"},
{"applyExternalTorque", (PyCFunction)pybullet_applyExternalTorque, METH_VARARGS| METH_KEYWORDS,
"for objectUniqueId, linkIndex (-1 for base/root link) apply a torque "
"[x,y,z] in Cartesian coordinates, flag to select TORQUE_IN_LINK_FRAME or "
"TORQUE_IN_WORLD_FRAME coordinates"},
"WORLD_FRAME coordinates"},
{"renderImage", pybullet_renderImageObsolete, METH_VARARGS,
"obsolete, please use getCameraImage and getViewProjectionMatrices instead"
@@ -4420,6 +4471,11 @@ static PyMethodDef SpamMethods[] = {
{ "getVREvents", (PyCFunction)pybullet_getVREvents, METH_VARARGS | METH_KEYWORDS,
"Get Virtual Reality events, for example to track VR controllers position/buttons"
},
{ "setVRCameraState", (PyCFunction)pybullet_setVRCameraState, METH_VARARGS | METH_KEYWORDS,
"Set properties of the VR Camera such as its root transform "
"for teleporting or to track objects (camera inside a vehicle for example)."
},
{ "rayTest", (PyCFunction)pybullet_rayTest, METH_VARARGS | METH_KEYWORDS,
"Cast a ray and return the first object hit, if any. "

13
src/LinearMath/btAlignedObjectArray.h
View File

@@ -476,15 +476,18 @@ protected:
return index;
}
void remove(const T& key)
void removeAtIndex(int index)
{
int findIndex = findLinearSearch(key);
if (findIndex<size())
if (index<size())
{
swap( findIndex,size()-1);
swap( index,size()-1);
pop_back();
}
}
void remove(const T& key)
{
int findIndex = findLinearSearch(key);
removeAtIndex(findIndex);
}
//PCK: whole function