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expose some sleep timeout pybullet.setPhysicsEngineParameter(maxNumCmdPer1ms=100) or b3PhysicsParamSetMaxNumCommandsPer1ms,

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if more commands than those are processed per millisecond, a 1ms sleep will follow, to avoid other threads being stalled.
This commit is contained in:
Erwin Coumans
2017-03-01 13:48:57 -08:00
parent ac28f50fa5
commit 2f3ba49357
7 changed files with 50 additions and 9 deletions
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10
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -347,6 +347,16 @@ int b3PhysicsParamSetContactBreakingThreshold(b3SharedMemoryCommandHandle comman
command->m_updateFlags |= SIM_PARAM_UPDATE_CONTACT_BREAKING_THRESHOLD;
return 0;
}
int b3PhysicsParamSetMaxNumCommandsPer1ms(b3SharedMemoryCommandHandle commandHandle, int maxNumCmdPer1ms)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_maxNumCmdPer1ms = maxNumCmdPer1ms;
command->m_updateFlags |= SIM_PARAM_MAX_CMD_PER_1MS;
return 0;
}
int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations)
{

1
examples/SharedMemory/PhysicsClientC_API.h
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@@ -198,6 +198,7 @@ int b3PhysicsParamSetCollisionFilterMode(b3SharedMemoryCommandHandle commandHand
int b3PhysicsParamSetUseSplitImpulse(b3SharedMemoryCommandHandle commandHandle, int useSplitImpulse);
int b3PhysicsParamSetSplitImpulsePenetrationThreshold(b3SharedMemoryCommandHandle commandHandle, double splitImpulsePenetrationThreshold);
int b3PhysicsParamSetContactBreakingThreshold(b3SharedMemoryCommandHandle commandHandle, double contactBreakingThreshold);
int b3PhysicsParamSetMaxNumCommandsPer1ms(b3SharedMemoryCommandHandle commandHandle, int maxNumCmdPer1ms);
//b3PhysicsParamSetInternalSimFlags is for internal/temporary/easter-egg/experimental demo purposes
//Use at own risk: magic things may or my not happen when calling this API

6
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -48,6 +48,7 @@ bool gResetSimulation = 0;
int gVRTrackingObjectUniqueId = -1;
btTransform gVRTrackingObjectTr = btTransform::getIdentity();
int gMaxNumCmdPer1ms = 100;//experiment: add some delay to avoid threads starving other threads
int gCreateObjectSimVR = -1;
int gEnableKukaControl = 0;
btVector3 gVRTeleportPos1(0,0,0);
@@ -3161,6 +3162,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
gContactBreakingThreshold = clientCmd.m_physSimParamArgs.m_contactBreakingThreshold;
}
if (clientCmd.m_updateFlags&SIM_PARAM_MAX_CMD_PER_1MS)
{
gMaxNumCmdPer1ms = clientCmd.m_physSimParamArgs.m_maxNumCmdPer1ms;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_COLLISION_FILTER_MODE)
{
m_data->m_broadphaseCollisionFilterCallback->m_filterMode = clientCmd.m_physSimParamArgs.m_collisionFilterMode;

19
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -277,7 +277,7 @@ struct MotionThreadLocalStorage
float clampedDeltaTime = 0.2;
float sleepTimeThreshold = 8./1000.;
extern int gMaxNumCmdPer1ms;
void MotionThreadFunc(void* userPtr,void* lsMemory)
@@ -289,6 +289,7 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
//int workLeft = true;
b3Clock clock;
clock.reset();
b3Clock sleepClock;
bool init = true;
if (init)
{
@@ -299,6 +300,8 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
double deltaTimeInSeconds = 0;
int numCmdSinceSleep1ms = 0;
do
{
BT_PROFILE("loop");
@@ -307,6 +310,19 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
BT_PROFILE("usleep(0)");
b3Clock::usleep(0);
}
if (numCmdSinceSleep1ms>gMaxNumCmdPer1ms)
{
BT_PROFILE("usleep(1000)");
b3Clock::usleep(1000);
numCmdSinceSleep1ms = 0;
sleepClock.reset();
}
if (sleepClock.getTimeMilliseconds()>1)
{
sleepClock.reset();
numCmdSinceSleep1ms = 0;
}
double dt = double(clock.getTimeMicroseconds())/1000000.;
clock.reset();
deltaTimeInSeconds+= dt;
@@ -434,6 +450,7 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
{
BT_PROFILE("processClientCommands");
args->m_physicsServerPtr->processClientCommands();
numCmdSinceSleep1ms++;
}
} while (args->m_cs->getSharedParam(0)!=eRequestTerminateMotion);

2
examples/SharedMemory/SharedMemoryCommands.h
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@@ -315,6 +315,7 @@ enum EnumSimParamUpdateFlags
SIM_PARAM_UPDATE_SPLIT_IMPULSE_PENETRATION_THRESHOLD = 256,
SIM_PARAM_UPDATE_COLLISION_FILTER_MODE=512,
SIM_PARAM_UPDATE_CONTACT_BREAKING_THRESHOLD = 1024,
SIM_PARAM_MAX_CMD_PER_1MS = 2048,
};
enum EnumLoadBunnyUpdateFlags
@@ -342,6 +343,7 @@ struct SendPhysicsSimulationParameters
int m_useSplitImpulse;
double m_splitImpulsePenetrationThreshold;
double m_contactBreakingThreshold;
int m_maxNumCmdPer1ms;
int m_internalSimFlags;
double m_defaultContactERP;
int m_collisionFilterMode;