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get mesh data api

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fix compile

fix typo
This commit is contained in:
Chuyuan Fu
2019-06-17 17:32:01 -07:00
parent 1061b3d816
commit 229e87c3c9
14 changed files with 268 additions and 5 deletions
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93
examples/SharedMemory/PhysicsDirect.cpp
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@@ -66,6 +66,9 @@ struct PhysicsDirectInternalData
btAlignedObjectArray<b3VisualShapeData> m_cachedVisualShapes;
btAlignedObjectArray<b3CollisionShapeData> m_cachedCollisionShapes;
b3MeshData m_cachedMeshData;
btAlignedObjectArray<double> m_cachedVertexPositions;
btAlignedObjectArray<b3VRControllerEvent> m_cachedVREvents;
btAlignedObjectArray<b3KeyboardEvent> m_cachedKeyboardEvents;
@@ -586,6 +589,76 @@ bool PhysicsDirect::processCamera(const struct SharedMemoryCommand& orgCommand)
return m_data->m_hasStatus;
}
bool PhysicsDirect::processMeshData(const struct SharedMemoryCommand& orgCommand)
{
SharedMemoryCommand command = orgCommand;
const SharedMemoryStatus& serverCmd = m_data->m_serverStatus;
do
{
bool hasStatus = m_data->m_commandProcessor->processCommand(command, m_data->m_serverStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = m_data->m_timeOutInSeconds;
while ((!hasStatus) && (clock.getTimeInSeconds() - startTime < timeOutInSeconds))
{
const SharedMemoryStatus* stat = processServerStatus();
if (stat)
{
hasStatus = true;
}
}
m_data->m_hasStatus = hasStatus;
if (hasStatus)
{
btAssert(m_data->m_serverStatus.m_type == CMD_REQUEST_MESH_DATA_COMPLETED);
if (m_data->m_verboseOutput)
{
b3Printf("Mesh data OK\n");
}
const b3SendMeshDataArgs& args = serverCmd.m_sendMeshDataArgs;
int numTotalPixels =args.m_startingVertex +
args.m_numVerticesCopied + args.m_numVerticesRemaining;
double* verticesReceived =
(double*)&m_data->m_bulletStreamDataServerToClient[0];
// flattened position
const int dimension = 3;
m_data->m_cachedVertexPositions.resize((args.m_startingVertex +
args.m_numVerticesCopied)*dimension);
for (int i = 0; i < dimension*args.m_numVerticesCopied; i++)
{
m_data->m_cachedVertexPositions[i + dimension*args.m_startingVertex] = verticesReceived[i];
}
if (args.m_numVerticesRemaining > 0 && args.m_numVerticesCopied)
{
m_data->m_hasStatus = false;
// continue requesting remaining vertices
command.m_type = CMD_REQUEST_MESH_DATA;
command.m_requestMeshDataArgs.m_startingVertex =
args.m_startingVertex + args.m_numVerticesCopied;
}
else
{
m_data->m_cachedMeshData.m_numVertices=args.m_startingVertex +
args.m_numVerticesCopied;
}
}
} while (serverCmd.m_sendMeshDataArgs.m_numVerticesRemaining > 0 && serverCmd.m_sendMeshDataArgs.m_numVerticesCopied);
return m_data->m_hasStatus;
}
void PhysicsDirect::processBodyJointInfo(int bodyUniqueId, const SharedMemoryStatus& serverCmd)
{
BodyJointInfoCache2** cachePtr = m_data->m_bodyJointMap[bodyUniqueId];
@@ -883,7 +956,6 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = m_data->m_timeOutInSeconds;
while ((!hasStatus) && (clock.getTimeInSeconds() - startTime < timeOutInSeconds))
{
hasStatus = m_data->m_commandProcessor->receiveStatus(m_data->m_tmpInfoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
@@ -958,6 +1030,7 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
b3Warning("createVisualShape failed");
break;
}
case CMD_CREATE_VISUAL_SHAPE_COMPLETED:
{
break;
@@ -977,7 +1050,15 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
b3Warning("Request getCollisionInfo failed");
break;
}
case CMD_REQUEST_MESH_DATA_COMPLETED:
{
break;
}
case CMD_REQUEST_MESH_DATA_FAILED:
{
b3Warning("Request mesh data failed");
break;
}
case CMD_CUSTOM_COMMAND_COMPLETED:
{
break;
@@ -1203,6 +1284,11 @@ bool PhysicsDirect::submitClientCommand(const struct SharedMemoryCommand& comman
return processOverlappingObjects(command);
}
if (command.m_type == CMD_REQUEST_MESH_DATA)
{
return processMeshData(command);
}
bool hasStatus = m_data->m_commandProcessor->processCommand(command, m_data->m_serverStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
m_data->m_hasStatus = hasStatus;
@@ -1440,6 +1526,9 @@ void PhysicsDirect::getCachedCameraImage(b3CameraImageData* cameraData)
}
}
void PhysicsDirect::getCachedMeshData(struct b3MeshData* meshData){
*meshData = m_data->m_cachedMeshData;
}
void PhysicsDirect::getCachedContactPointInformation(struct b3ContactInformation* contactPointData)
{
contactPointData->m_numContactPoints = m_data->m_cachedContactPoints.size();