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Merge pull request #1356 from erwincoumans/master

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improve plugin system,  search for the controller
This commit is contained in:
erwincoumans
2017-10-04 07:13:31 -07:00
committed by GitHub
parent 0e893d4c56 1b03871b4d
commit 26ed9b9796
17 changed files with 255 additions and 140 deletions
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10
examples/SharedMemory/BodyJointInfoUtility.h
View File

@@ -34,8 +34,8 @@ template <typename T, typename U> void addJointInfoFromMultiBodyData(const T* mb
{
{
b3JointInfo info;
info.m_jointName = 0;
info.m_linkName = 0;
info.m_jointName[0] = 0;
info.m_linkName[0] = 0;
info.m_flags = 0;
info.m_jointIndex = link;
info.m_qIndex =
@@ -48,14 +48,16 @@ template <typename T, typename U> void addJointInfoFromMultiBodyData(const T* mb
b3Printf("mb->m_links[%d].m_linkName = %s\n", link,
mb->m_links[link].m_linkName);
}
info.m_linkName = strDup(mb->m_links[link].m_linkName);
strcpy(info.m_linkName,mb->m_links[link].m_linkName);
}
if (mb->m_links[link].m_jointName) {
if (verboseOutput) {
b3Printf("mb->m_links[%d].m_jointName = %s\n", link,
mb->m_links[link].m_jointName);
}
info.m_jointName = strDup(mb->m_links[link].m_jointName);
strcpy(info.m_jointName,mb->m_links[link].m_jointName);
//info.m_jointName = strDup(mb->m_links[link].m_jointName);
}
info.m_jointType = mb->m_links[link].m_jointType;

22
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -1438,7 +1438,10 @@ B3_SHARED_API int b3CreateSensorEnableIMUForLink(b3SharedMemoryCommandHandle com
B3_SHARED_API void b3DisconnectSharedMemory(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
cl->disconnectSharedMemory();
if (cl)
{
cl->disconnectSharedMemory();
}
delete cl;
}
@@ -1777,6 +1780,23 @@ B3_SHARED_API void b3CustomCommandLoadPlugin(b3SharedMemoryCommandHandle command
}
}
B3_SHARED_API void b3CustomCommandLoadPluginSetPostFix(b3SharedMemoryCommandHandle commandHandle, const char* postFix)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_CUSTOM_COMMAND);
if (command->m_type == CMD_CUSTOM_COMMAND)
{
command->m_updateFlags |= CMD_CUSTOM_COMMAND_LOAD_PLUGIN_POSTFIX;
command->m_customCommandArgs.m_postFix[0] = 0;
int len = strlen(postFix);
if (len<MAX_FILENAME_LENGTH)
{
strcpy(command->m_customCommandArgs.m_postFix, postFix);
}
}
}
B3_SHARED_API int b3GetStatusPluginCommandResult(b3SharedMemoryStatusHandle statusHandle)

1
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -63,6 +63,7 @@ B3_SHARED_API int b3GetStatusType(b3SharedMemoryStatusHandle statusHandle);
///Plugin system, load and unload a plugin, execute a command
B3_SHARED_API b3SharedMemoryCommandHandle b3CreateCustomCommand(b3PhysicsClientHandle physClient);
B3_SHARED_API void b3CustomCommandLoadPlugin(b3SharedMemoryCommandHandle commandHandle, const char* pluginPath);
B3_SHARED_API void b3CustomCommandLoadPluginSetPostFix(b3SharedMemoryCommandHandle commandHandle, const char* postFix);
B3_SHARED_API int b3GetStatusPluginUniqueId(b3SharedMemoryStatusHandle statusHandle);
B3_SHARED_API int b3GetStatusPluginCommandResult(b3SharedMemoryStatusHandle statusHandle);

21
examples/SharedMemory/PhysicsClientSharedMemory.cpp
View File

@@ -108,8 +108,8 @@ bool PhysicsClientSharedMemory::getBodyInfo(int bodyUniqueId, struct b3BodyInfo&
if (bodyJointsPtr && *bodyJointsPtr)
{
BodyJointInfoCache* bodyJoints = *bodyJointsPtr;
info.m_baseName = bodyJoints->m_baseName.c_str();
info.m_bodyName = bodyJoints->m_bodyName.c_str();
strcpy(info.m_baseName,bodyJoints->m_baseName.c_str());
strcpy(info.m_bodyName,bodyJoints->m_bodyName.c_str());
return true;
}
@@ -234,16 +234,6 @@ void PhysicsClientSharedMemory::resetData()
if (bodyJointsPtr && *bodyJointsPtr)
{
BodyJointInfoCache* bodyJoints = *bodyJointsPtr;
for (int j=0;j<bodyJoints->m_jointInfo.size();j++) {
if (bodyJoints->m_jointInfo[j].m_jointName)
{
free(bodyJoints->m_jointInfo[j].m_jointName);
}
if (bodyJoints->m_jointInfo[j].m_linkName)
{
free(bodyJoints->m_jointInfo[j].m_linkName);
}
}
delete (*bodyJointsPtr);
}
}
@@ -392,8 +382,8 @@ void PhysicsClientSharedMemory::processBodyJointInfo(int bodyUniqueId, const Sha
template <typename T, typename U> void addJointInfoFromConstraint(int linkIndex, const T* con, U* bodyJoints, bool verboseOutput)
{
b3JointInfo info;
info.m_jointName = 0;
info.m_linkName = 0;
info.m_jointName[0] = 0;
info.m_linkName[0] = 0;
info.m_flags = 0;
info.m_jointIndex = linkIndex;
info.m_qIndex = linkIndex+7;
@@ -402,7 +392,8 @@ template <typename T, typename U> void addJointInfoFromConstraint(int linkIndex,
if (con->m_typeConstraintData.m_name)
{
info.m_jointName = strDup(con->m_typeConstraintData.m_name);
strcpy(info.m_jointName,con->m_typeConstraintData.m_name);
//info.m_linkName = strDup(con->m_typeConstraintData.m_name);
}

15
examples/SharedMemory/PhysicsDirect.cpp
View File

@@ -112,17 +112,6 @@ void PhysicsDirect::resetData()
BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap.getAtIndex(i);
if (bodyJointsPtr && *bodyJointsPtr)
{
BodyJointInfoCache2* bodyJoints = *bodyJointsPtr;
for (int j = 0; j<bodyJoints->m_jointInfo.size(); j++) {
if (bodyJoints->m_jointInfo[j].m_jointName)
{
free(bodyJoints->m_jointInfo[j].m_jointName);
}
if (bodyJoints->m_jointInfo[j].m_linkName)
{
free(bodyJoints->m_jointInfo[j].m_linkName);
}
}
delete (*bodyJointsPtr);
}
}
@@ -1085,8 +1074,8 @@ bool PhysicsDirect::getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const
if (bodyJointsPtr && *bodyJointsPtr)
{
BodyJointInfoCache2* bodyJoints = *bodyJointsPtr;
info.m_baseName = bodyJoints->m_baseName.c_str();
info.m_bodyName = bodyJoints->m_bodyName.c_str();
strcpy(info.m_baseName,bodyJoints->m_baseName.c_str());
strcpy(info.m_bodyName ,bodyJoints->m_bodyName .c_str());
return true;
}

28
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -40,6 +40,11 @@
#include "../Utils/b3Clock.h"
#include "b3PluginManager.h"
#ifdef STATIC_LINK_VR_PLUGIN
#include "plugins/vrSyncPlugin/vrSyncPlugin.h"
#endif
#ifdef B3_ENABLE_TINY_AUDIO
#include "../TinyAudio/b3SoundEngine.h"
#endif
@@ -1546,10 +1551,11 @@ struct PhysicsServerCommandProcessorInternalData
{
//test to statically link a plugin
//#include "plugins/testPlugin/testplugin.h"
//register static plugins:
//m_pluginManager.registerStaticLinkedPlugin("path", initPlugin, exitPlugin, executePluginCommand);
#ifdef STATIC_LINK_VR_PLUGIN
m_pluginManager.registerStaticLinkedPlugin("vrSyncPlugin", initPlugin_vrSyncPlugin, exitPlugin_vrSyncPlugin, executePluginCommand_vrSyncPlugin,preTickPluginCallback_vrSyncPlugin,0);
#endif //STATIC_LINK_VR_PLUGIN
}
m_vrControllerEvents.init();
@@ -1699,7 +1705,6 @@ void logCallback(btDynamicsWorld *world, btScalar timeStep)
bool isPreTick = false;
proc->tickPlugins(timeStep, isPreTick);
}
bool MyContactAddedCallback(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1)
@@ -1810,6 +1815,11 @@ void PhysicsServerCommandProcessor::processCollisionForces(btScalar timeStep)
void PhysicsServerCommandProcessor::tickPlugins(btScalar timeStep, bool isPreTick)
{
m_data->m_pluginManager.tickPlugins(timeStep, isPreTick);
if (!isPreTick)
{
//clear events after each postTick, so we don't receive events multiple ticks
m_data->m_pluginManager.clearEvents();
}
}
@@ -8027,7 +8037,13 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
if (clientCmd.m_updateFlags & CMD_CUSTOM_COMMAND_LOAD_PLUGIN)
{
//pluginPath could be registered or load from disk
int pluginUniqueId = m_data->m_pluginManager.loadPlugin(clientCmd.m_customCommandArgs.m_pluginPath);
const char* postFix = "";
if (clientCmd.m_updateFlags & CMD_CUSTOM_COMMAND_LOAD_PLUGIN_POSTFIX)
{
postFix = clientCmd.m_customCommandArgs.m_postFix;
}
int pluginUniqueId = m_data->m_pluginManager.loadPlugin(clientCmd.m_customCommandArgs.m_pluginPath, postFix);
if (pluginUniqueId>=0)
{
serverCmd.m_customCommandResultArgs.m_pluginUniqueId = pluginUniqueId;
@@ -8291,7 +8307,7 @@ bool PhysicsServerCommandProcessor::isRealTimeSimulationEnabled() const
void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec,const struct b3VRControllerEvent* vrControllerEvents, int numVRControllerEvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents, const struct b3MouseEvent* mouseEvents, int numMouseEvents)
{
m_data->m_vrControllerEvents.addNewVREvents(vrControllerEvents,numVRControllerEvents);
m_data->m_pluginManager.addEvents(vrControllerEvents, numVRControllerEvents, keyEvents, numKeyEvents, mouseEvents, numMouseEvents);
for (int i=0;i<m_data->m_stateLoggers.size();i++)
{

3
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -114,6 +114,7 @@ enum CustomCommandEnum
CMD_CUSTOM_COMMAND_LOAD_PLUGIN=1,
CMD_CUSTOM_COMMAND_UNLOAD_PLUGIN=2,
CMD_CUSTOM_COMMAND_EXECUTE_PLUGIN_COMMAND=4,
CMD_CUSTOM_COMMAND_LOAD_PLUGIN_POSTFIX=8,
};
struct b3CustomCommand
@@ -121,6 +122,8 @@ struct b3CustomCommand
int m_pluginUniqueId;
b3PluginArguments m_arguments;
char m_pluginPath[MAX_FILENAME_LENGTH];
char m_postFix[MAX_FILENAME_LENGTH];
};
struct b3CustomCommandResultArgs

8
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -214,8 +214,8 @@ enum b3JointInfoFlags
struct b3JointInfo
{
char* m_linkName;
char* m_jointName;
char m_linkName[1024];
char m_jointName[1024];
int m_jointType;
int m_qIndex;
int m_uIndex;
@@ -254,8 +254,8 @@ struct b3UserConstraint
struct b3BodyInfo
{
const char* m_baseName;
const char* m_bodyName; // for btRigidBody, it does not have a base, but can still have a body name from urdf
char m_baseName[1024];
char m_bodyName[1024]; // for btRigidBody, it does not have a base, but can still have a body name from urdf
};
struct b3DynamicsInfo

94
examples/SharedMemory/b3PluginManager.cpp
View File

@@ -74,8 +74,11 @@ typedef b3PoolBodyHandle<b3Plugin> b3PluginHandle;
struct b3PluginManagerInternalData
{
b3ResizablePool<b3PluginHandle> m_plugins;
b3HashMap<b3HashString, b3PluginHandle> m_pluginMap;
b3HashMap<b3HashString, b3PluginHandle*> m_pluginMap;
PhysicsDirect* m_physicsDirect;
b3AlignedObjectArray<b3KeyboardEvent> m_keyEvents;
b3AlignedObjectArray<b3VRControllerEvent> m_vrEvents;
b3AlignedObjectArray<b3MouseEvent> m_mouseEvents;
};
b3PluginManager::b3PluginManager(class PhysicsCommandProcessorInterface* physSdk)
@@ -89,8 +92,8 @@ b3PluginManager::~b3PluginManager()
{
while (m_data->m_pluginMap.size())
{
b3PluginHandle* plugin = m_data->m_pluginMap.getAtIndex(0);
unloadPlugin(plugin->m_pluginUniqueId);
b3PluginHandle** plugin = m_data->m_pluginMap.getAtIndex(0);
unloadPlugin((*plugin)->m_pluginUniqueId);
}
delete m_data->m_physicsDirect;
m_data->m_pluginMap.clear();
@@ -98,16 +101,40 @@ b3PluginManager::~b3PluginManager()
delete m_data;
}
void b3PluginManager::addEvents(const struct b3VRControllerEvent* vrControllerEvents, int numVRControllerEvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents, const struct b3MouseEvent* mouseEvents, int numMouseEvents)
{
int b3PluginManager::loadPlugin(const char* pluginPath)
for (int i = 0; i < numKeyEvents; i++)
{
m_data->m_keyEvents.push_back(keyEvents[i]);
}
for (int i = 0; i < numVRControllerEvents; i++)
{
m_data->m_vrEvents.push_back(vrControllerEvents[i]);
}
for (int i = 0; i < numMouseEvents; i++)
{
m_data->m_mouseEvents.push_back(mouseEvents[i]);
}
}
void b3PluginManager::clearEvents()
{
m_data->m_keyEvents.resize(0);
m_data->m_vrEvents.resize(0);
m_data->m_mouseEvents.resize(0);
}
int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
{
int pluginUniqueId = -1;
b3Plugin* pluginOrg = m_data->m_pluginMap.find(pluginPath);
if (pluginOrg)
b3PluginHandle** pluginOrgPtr = m_data->m_pluginMap.find(pluginPath);
if (pluginOrgPtr)
{
//already loaded
pluginUniqueId = pluginOrg->m_pluginUniqueId;
pluginUniqueId = (*pluginOrgPtr)->m_pluginUniqueId;
}
else
{
@@ -118,12 +145,18 @@ int b3PluginManager::loadPlugin(const char* pluginPath)
bool ok = false;
if (pluginHandle)
{
std::string postFix = postFixStr;
std::string initStr = std::string("initPlugin") + postFix;
std::string exitStr = std::string("exitPlugin") + postFix;
std::string executePluginCommandStr = std::string("executePluginCommand") + postFix;
std::string preTickPluginCallbackStr = std::string("preTickPluginCallback") + postFix;
std::string postTickPluginCallback = std::string("postTickPluginCallback") + postFix;
plugin->m_initFunc = (PFN_INIT)B3_DYNLIB_IMPORT(pluginHandle, "initPlugin");
plugin->m_exitFunc = (PFN_EXIT)B3_DYNLIB_IMPORT(pluginHandle, "exitPlugin");
plugin->m_executeCommandFunc = (PFN_EXECUTE)B3_DYNLIB_IMPORT(pluginHandle, "executePluginCommand");
plugin->m_preTickFunc = (PFN_TICK)B3_DYNLIB_IMPORT(pluginHandle, "preTickPluginCallback");
plugin->m_postTickFunc = (PFN_TICK)B3_DYNLIB_IMPORT(pluginHandle, "postTickPluginCallback");
plugin->m_initFunc = (PFN_INIT)B3_DYNLIB_IMPORT(pluginHandle, initStr.c_str());
plugin->m_exitFunc = (PFN_EXIT)B3_DYNLIB_IMPORT(pluginHandle, exitStr.c_str());
plugin->m_executeCommandFunc = (PFN_EXECUTE)B3_DYNLIB_IMPORT(pluginHandle, executePluginCommandStr.c_str());
plugin->m_preTickFunc = (PFN_TICK)B3_DYNLIB_IMPORT(pluginHandle, preTickPluginCallbackStr.c_str());
plugin->m_postTickFunc = (PFN_TICK)B3_DYNLIB_IMPORT(pluginHandle, postTickPluginCallback.c_str());
if (plugin->m_initFunc && plugin->m_exitFunc && plugin->m_executeCommandFunc)
{
@@ -140,7 +173,7 @@ int b3PluginManager::loadPlugin(const char* pluginPath)
plugin->m_ownsPluginHandle = true;
plugin->m_pluginHandle = pluginHandle;
plugin->m_pluginPath = pluginPath;
m_data->m_pluginMap.insert(pluginPath, *plugin);
m_data->m_pluginMap.insert(pluginPath, plugin);
}
else
{
@@ -190,14 +223,28 @@ void b3PluginManager::tickPlugins(double timeStep, bool isPreTick)
{
for (int i=0;i<m_data->m_pluginMap.size();i++)
{
b3PluginHandle* plugin = m_data->m_pluginMap.getAtIndex(i);
b3PluginHandle** pluginPtr = m_data->m_pluginMap.getAtIndex(i);
b3PluginHandle* plugin = 0;
if (pluginPtr && *pluginPtr)
{
plugin = *pluginPtr;
}
else
{
continue;
}
PFN_TICK tick = isPreTick? plugin->m_preTickFunc : plugin->m_postTickFunc;
if (tick)
{
b3PluginContext context;
context.m_userPointer = plugin->m_userPointer;
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;
int result = tick(&context);
plugin->m_userPointer = context.m_userPointer;
}
@@ -214,7 +261,13 @@ int b3PluginManager::executePluginCommand(int pluginUniqueId, const b3PluginArgu
b3PluginContext context;
context.m_userPointer = plugin->m_userPointer;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
context.m_numMouseEvents = 0;
context.m_mouseEvents = 0;
context.m_numKeyEvents = 0;
context.m_keyEvents = 0;
context.m_numVRControllerEvents = 0;
context.m_vrControllerEvents = 0;
result = plugin->m_executeCommandFunc(&context, arguments);
plugin->m_userPointer = context.m_userPointer;
}
@@ -242,12 +295,19 @@ int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT
pluginHandle->m_pluginPath = pluginPath;
pluginHandle->m_userPointer = 0;
m_data->m_pluginMap.insert(pluginPath, *pluginHandle);
m_data->m_pluginMap.insert(pluginPath, pluginHandle);
{
b3PluginContext context;
context.m_userPointer = 0;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
context.m_numMouseEvents = 0;
context.m_mouseEvents = 0;
context.m_numKeyEvents = 0;
context.m_keyEvents = 0;
context.m_numVRControllerEvents = 0;
context.m_vrControllerEvents = 0;
int result = pluginHandle->m_initFunc(&context);
pluginHandle->m_userPointer = context.m_userPointer;
}

6
examples/SharedMemory/b3PluginManager.h
View File

@@ -12,10 +12,14 @@ class b3PluginManager
b3PluginManager(class PhysicsCommandProcessorInterface* physSdk);
virtual ~b3PluginManager();
int loadPlugin(const char* pluginPath);
int loadPlugin(const char* pluginPath, const char* postFixStr ="");
void unloadPlugin(int pluginUniqueId);
int executePluginCommand(int pluginUniqueId, const struct b3PluginArguments* arguments);
void addEvents(const struct b3VRControllerEvent* vrControllerEvents, int numVRControllerEvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents, const struct b3MouseEvent* mouseEvents, int numMouseEvents);
void clearEvents();
void tickPlugins(double timeStep, bool isPreTick);
int registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc,PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc);
};

7
examples/SharedMemory/plugins/b3PluginContext.h
View File

@@ -5,12 +5,17 @@
struct b3PluginContext
{
b3PhysicsClientHandle m_physClient;
//plugin can modify the m_userPointer to store persistent object pointer (class or struct instance etc)
void* m_userPointer;
const struct b3VRControllerEvent* m_vrControllerEvents;
int m_numVRControllerEvents;
const struct b3KeyboardEvent* m_keyEvents;
int m_numKeyEvents;
const struct b3MouseEvent* m_mouseEvents;
int m_numMouseEvents;
};

25
examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.cpp
View File

@@ -37,7 +37,7 @@ struct MyClass
}
};
B3_SHARED_API int initPlugin(struct b3PluginContext* context)
B3_SHARED_API int initPlugin_vrSyncPlugin(struct b3PluginContext* context)
{
MyClass* obj = new MyClass();
context->m_userPointer = obj;
@@ -47,28 +47,17 @@ B3_SHARED_API int initPlugin(struct b3PluginContext* context)
}
B3_SHARED_API int preTickPluginCallback(struct b3PluginContext* context)
B3_SHARED_API int preTickPluginCallback_vrSyncPlugin(struct b3PluginContext* context)
{
MyClass* obj = (MyClass* )context->m_userPointer;
if (obj->m_controllerId>=0)
if (obj && obj->m_controllerId>=0)
{
b3SharedMemoryCommandHandle commandHandle = b3RequestVREventsCommandInit(context->m_physClient);
int deviceTypeFilter = VR_DEVICE_CONTROLLER;
b3VREventsSetDeviceTypeFilter(commandHandle, deviceTypeFilter);
b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(context->m_physClient, commandHandle);
int statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_REQUEST_VR_EVENTS_DATA_COMPLETED)
{
struct b3VREventsData vrEvents;
int i = 0;
b3GetVREventsData(context->m_physClient, &vrEvents);
if (vrEvents.m_numControllerEvents)
{
for (int n=0;n<vrEvents.m_numControllerEvents;n++)
for (int n=0;n<context->m_numVRControllerEvents;n++)
{
b3VRControllerEvent& event = vrEvents.m_controllerEvents[n];
const b3VRControllerEvent& event = context->m_vrControllerEvents[n];
if (event.m_controllerId ==obj->m_controllerId)
{
if (obj->m_constraintId>=0)
@@ -171,7 +160,7 @@ B3_SHARED_API int preTickPluginCallback(struct b3PluginContext* context)
B3_SHARED_API int executePluginCommand(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
B3_SHARED_API int executePluginCommand_vrSyncPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
{
MyClass* obj = (MyClass*) context->m_userPointer;
if (arguments->m_numInts>=4 && arguments->m_numFloats >= 2)
@@ -199,7 +188,7 @@ B3_SHARED_API int executePluginCommand(struct b3PluginContext* context, const st
}
B3_SHARED_API void exitPlugin(struct b3PluginContext* context)
B3_SHARED_API void exitPlugin_vrSyncPlugin(struct b3PluginContext* context)
{
MyClass* obj = (MyClass*) context->m_userPointer;
delete obj;

8
examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.h
View File

@@ -9,12 +9,12 @@ extern "C"
#endif
//initPlugin, exitPlugin and executePluginCommand are required, otherwise plugin won't load
B3_SHARED_API int initPlugin(struct b3PluginContext* context);
B3_SHARED_API void exitPlugin(struct b3PluginContext* context);
B3_SHARED_API int executePluginCommand(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
B3_SHARED_API int initPlugin_vrSyncPlugin(struct b3PluginContext* context);
B3_SHARED_API void exitPlugin_vrSyncPlugin(struct b3PluginContext* context);
B3_SHARED_API int executePluginCommand_vrSyncPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
//preTickPluginCallback and postTickPluginCallback are optional.
B3_SHARED_API int preTickPluginCallback(struct b3PluginContext* context);
B3_SHARED_API int preTickPluginCallback_vrSyncPlugin(struct b3PluginContext* context);

28
examples/pybullet/examples/vr_kuka_setup_vrSyncPlugin.py
View File

@@ -95,8 +95,32 @@ p.setGravity(0,0,-10)
p.setRealTimeSimulation(1)
plugin = p.loadPlugin("e:/develop/bullet3/bin/pybullet_vrSyncPlugin_vs2010_x64_release.dll")
controllerId = 3
CONTROLLER_ID = 0
POSITION = 1
ORIENTATION = 2
BUTTONS = 6
controllerId = -1
print("waiting for VR controller trigger")
while (controllerId<0):
events = p.getVREvents()
for e in (events):
if (e[BUTTONS][33]==p.VR_BUTTON_IS_DOWN):
controllerId = e[CONTROLLER_ID]
if (e[BUTTONS][32]==p.VR_BUTTON_IS_DOWN):
controllerId = e[CONTROLLER_ID]
print("Using controllerId="+str(controllerId))
plugin = p.loadPlugin("d:/develop/bullet3/bin/pybullet_vrSyncPlugin_vs2010_x64_release.dll","_vrSyncPlugin")
#plugin = p.loadPlugin("vrSyncPlugin")
print("PluginId="+str(plugin))
p.executePluginCommand(plugin ,"bla", [controllerId,pr2_cid, pr2_cid2,pr2_gripper],[50,3])
while (1):

10
examples/pybullet/pybullet.c
View File

@@ -6681,13 +6681,15 @@ static PyObject* pybullet_loadPlugin(PyObject* self,
int physicsClientId = 0;
char* pluginPath = 0;
char* postFix = 0;
b3SharedMemoryCommandHandle command = 0;
b3SharedMemoryStatusHandle statusHandle = 0;
int statusType = -1;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = { "pluginPath", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|i", kwlist, &pluginPath, &physicsClientId))
static char* kwlist[] = { "pluginPath", "postFix", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|si", kwlist, &pluginPath, &postFix, &physicsClientId))
{
return NULL;
}
@@ -6701,6 +6703,10 @@ static PyObject* pybullet_loadPlugin(PyObject* self,
command = b3CreateCustomCommand(sm);
b3CustomCommandLoadPlugin(command, pluginPath);
if (postFix)
{
b3CustomCommandLoadPluginSetPostFix(command, postFix);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusPluginUniqueId(statusHandle);
return PyInt_FromLong(statusType);

29
examples/pybullet/unity3d/autogen/NativeMethods.cs
View File

@@ -425,13 +425,13 @@ public enum b3JointInfoFlags {
[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
public struct b3JointInfo {
/// char*
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)]
/// char[1024]
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst = 1024)]
public string m_linkName;
/// char*
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)]
/// char[1024]
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst = 1024)]
public string m_jointName;
/// int
@@ -531,13 +531,13 @@ public struct b3UserConstraint {
[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
public struct b3BodyInfo {
/// char*
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)]
/// char[1024]
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst = 1024)]
public string m_baseName;
/// char*
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)]
/// char[1024]
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst = 1024)]
public string m_bodyName;
}
@@ -624,8 +624,7 @@ public struct b3CameraImageData {
public int m_pixelHeight;
/// char*
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)]
public string m_rgbColorData;
public System.IntPtr m_rgbColorData;
/// float*
public System.IntPtr m_depthValues;
@@ -1444,7 +1443,7 @@ public static extern int b3GetBodyUniqueId(IntPtr physClient, int serialIndex)
///bodyUniqueId: int
///info: b3BodyInfo*
[System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetBodyInfo")]
public static extern int b3GetBodyInfo(IntPtr physClient, int bodyUniqueId, ref b3BodyInfo info) ;
public static extern int b3GetBodyInfo(IntPtr physClient, int bodyUniqueId, ref b3BodyInfo info) ;
/// Return Type: int

80
examples/pybullet/unity3d/examples/NewBehaviourScript.cs
View File

@@ -10,29 +10,7 @@ using System;
public class NewBehaviourScript : MonoBehaviour {
[DllImport("TestCppPlug.dll")]
static extern int Add(int a, int b);
[DllImport("TestCppPlug.dll")]
static extern int CallMe(Action<int> action);
[DllImport("TestCppPlug.dll")]
static extern IntPtr CreateSharedAPI(int id);
[DllImport("TestCppPlug.dll")]
static extern int GetMyIdPlusTen(IntPtr api);
[DllImport("TestCppPlug.dll")]
static extern void DeleteSharedAPI(IntPtr api);
private void IWasCalled(int value)
{
text.text = value.ToString();
}
Text text;
IntPtr sharedAPI;
IntPtr pybullet;
@@ -40,48 +18,76 @@ public class NewBehaviourScript : MonoBehaviour {
// Use this for initialization
void Start () {
text = GetComponent<Text>();
CallMe(IWasCalled);
sharedAPI = CreateSharedAPI(30);
pybullet = NativeMethods.b3ConnectPhysicsDirect();// SharedMemory(12347);
pybullet = NativeMethods.b3ConnectPhysicsDirect();// NativeMethods.b3ConnectSharedMemory(NativeConstants.SHARED_MEMORY_KEY);
IntPtr cmd = NativeMethods.b3InitResetSimulationCommand(pybullet);
IntPtr status = NativeMethods.b3SubmitClientCommandAndWaitStatus(pybullet, cmd);
int numBodies = NativeMethods.b3GetNumBodies(pybullet);
cmd = NativeMethods.b3LoadUrdfCommandInit(pybullet, "plane.urdf");
status = NativeMethods.b3SubmitClientCommandAndWaitStatus(pybullet, cmd);
EnumSharedMemoryServerStatus statusType = (EnumSharedMemoryServerStatus)NativeMethods.b3GetStatusType(status);
if (statusType == EnumSharedMemoryServerStatus.CMD_URDF_LOADING_COMPLETED)
if (statusType == (EnumSharedMemoryServerStatus)EnumSharedMemoryServerStatus.CMD_URDF_LOADING_COMPLETED)
{
numBodies = NativeMethods.b3GetNumBodies(pybullet);
text.text = numBodies.ToString();
cmd = NativeMethods.b3InitRequestVisualShapeInformation(pybullet, 0);
status = NativeMethods.b3SubmitClientCommandAndWaitStatus(pybullet, cmd);
statusType = (EnumSharedMemoryServerStatus) NativeMethods.b3GetStatusType(status);
if (statusType == (EnumSharedMemoryServerStatus)EnumSharedMemoryServerStatus.CMD_VISUAL_SHAPE_INFO_COMPLETED)
{
b3VisualShapeInformation visuals = new b3VisualShapeInformation();
NativeMethods.b3GetVisualShapeInformation(pybullet, ref visuals);
System.Console.WriteLine("visuals.m_numVisualShapes=" + visuals.m_numVisualShapes);
System.IntPtr visualPtr = visuals.m_visualShapeData;
for (int s = 0; s < visuals.m_numVisualShapes; s++)
{
b3VisualShapeData visual = (b3VisualShapeData)Marshal.PtrToStructure(visualPtr, typeof(b3VisualShapeData));
visualPtr = new IntPtr(visualPtr.ToInt64()+(Marshal.SizeOf(typeof(b3VisualShapeData))));
double x = visual.m_dimensions[0];
double y = visual.m_dimensions[1];
double z = visual.m_dimensions[2];
System.Console.WriteLine("visual.m_visualGeometryType = " + visual.m_visualGeometryType);
System.Console.WriteLine("visual.m_dimensions" + x + "," + y + "," + z);
if (visual.m_visualGeometryType == (int)eUrdfGeomTypes.GEOM_MESH)
{
System.Console.WriteLine("visual.m_meshAssetFileName=" + visual.m_meshAssetFileName);
text.text = visual.m_meshAssetFileName;
}
}
}
if (numBodies > 0)
{
//b3BodyInfo info=new b3BodyInfo();
//NativeMethods.b3GetBodyInfo(pybullet, 0, ref info );
//text.text = info.m_baseName;
b3BodyInfo info=new b3BodyInfo();
NativeMethods.b3GetBodyInfo(pybullet, 0, ref info );
text.text = info.m_baseName;
}
}
//IntPtr clientPtr = b3CreateInProcessPhysicsServerAndConnect(0, ref ptr);
}
// Update is called once per frame
void Update () {
//if (pybullet != IntPtr.Zero)
if (pybullet != IntPtr.Zero)
{
IntPtr cmd = NativeMethods.b3InitStepSimulationCommand(pybullet);
IntPtr status = NativeMethods.b3SubmitClientCommandAndWaitStatus(pybullet, cmd);
//text.text = System.IO.Directory.GetCurrentDirectory().ToString();
//text.text = Add(4, 5).ToString();
//text.text = UnityEngine.Random.Range(0f, 1f).ToString();// GetMyIdPlusTen(sharedAPI).ToString();
}
}
void OnDestroy()
{
NativeMethods.b3DisconnectSharedMemory(pybullet);
if (pybullet != IntPtr.Zero)
{
NativeMethods.b3DisconnectSharedMemory(pybullet);
}
}
}