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PyBullet: move TinyRenderer into a plugin, default statically loaded. You can also dynamically load a render plugin, as shown in renderPlugin.py example. premake has a way to compile the tinyRendererPlugin.

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This commit is contained in:
erwincoumans
2018-01-17 12:48:48 -08:00
parent df89ce6f92
commit 329a1f5a74
36 changed files with 397 additions and 140 deletions
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6
examples/SharedMemory/CMakeLists.txt
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@@ -36,9 +36,9 @@ SET(SharedMemory_SRCS
SharedMemoryCommandProcessor.h
PhysicsServerCommandProcessor.cpp
PhysicsServerCommandProcessor.h
TinyRendererVisualShapeConverter.cpp
TinyRendererVisualShapeConverter.h
SharedMemoryCommands.h
plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
SharedMemoryCommands.h
SharedMemoryPublic.h
b3PluginManager.cpp
../TinyRenderer/geometry.cpp

111
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -5,7 +5,7 @@
#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
#include "../Extras/InverseDynamics/btMultiBodyTreeCreator.hpp"
#include "TinyRendererVisualShapeConverter.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
@@ -47,6 +47,12 @@
#include "plugins/vrSyncPlugin/vrSyncPlugin.h"
#endif
#ifndef SKIP_STATIC_TINYRENDERER_PLUGIN
#include "plugins/tinyRendererPlugin/tinyRendererPlugin.h"
#endif
#ifdef B3_ENABLE_TINY_AUDIO
#include "../TinyAudio/b3SoundEngine.h"
#endif
@@ -1564,8 +1570,7 @@ struct PhysicsServerCommandProcessorInternalData
btVector3 m_hitPos;
btScalar m_oldPickingDist;
bool m_prevCanSleep;
TinyRendererVisualShapeConverter m_tempVisualConverter;//we may move this into a plugin
LinkVisualShapesConverter* m_visualConverterPtr;
#ifdef B3_ENABLE_TINY_AUDIO
b3SoundEngine m_soundEngine;
#endif
@@ -1599,14 +1604,16 @@ struct PhysicsServerCommandProcessorInternalData
m_pickingMultiBodyPoint2Point(0)
{
m_visualConverterPtr=&m_tempVisualConverter;
{
//register static plugins:
#ifdef STATIC_LINK_VR_PLUGIN
m_pluginManager.registerStaticLinkedPlugin("vrSyncPlugin", initPlugin_vrSyncPlugin, exitPlugin_vrSyncPlugin, executePluginCommand_vrSyncPlugin,preTickPluginCallback_vrSyncPlugin,0);
m_pluginManager.registerStaticLinkedPlugin("vrSyncPlugin", initPlugin_vrSyncPlugin, exitPlugin_vrSyncPlugin, executePluginCommand_vrSyncPlugin,preTickPluginCallback_vrSyncPlugin,0,0);
#endif //STATIC_LINK_VR_PLUGIN
#ifndef SKIP_STATIC_TINYRENDERER_PLUGIN
int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("tinyRendererPlugin", initPlugin_tinyRendererPlugin, exitPlugin_tinyRendererPlugin, executePluginCommand_tinyRendererPlugin,0,0,getRenderInterface_tinyRendererPlugin);
m_pluginManager.selectPluginRenderer(renderPluginId);
#endif
}
m_vrControllerEvents.init();
@@ -2121,9 +2128,9 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
//UrdfVisual vis;
//link.m_visualArray.push_back(vis);
//UrdfLink*const* linkPtr = model.m_links.getAtIndex(urdfIndex);
if (m_data->m_visualConverterPtr)
if (m_data->m_pluginManager.getRenderInterface())
{
m_data->m_visualConverterPtr->convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, &link, &model, colObj->getBroadphaseHandle()->getUid(), bodyUniqueId);
m_data->m_pluginManager.getRenderInterface()->convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, &link, &model, colObj->getBroadphaseHandle()->getUid(), bodyUniqueId);
}
}
virtual void setBodyUniqueId(int bodyId)
@@ -2708,7 +2715,7 @@ bool PhysicsServerCommandProcessor::loadMjcf(const char* fileName, char* bufferS
m_data->m_sdfRecentLoadedBodies.clear();
BulletMJCFImporter u2b(m_data->m_guiHelper, m_data->m_visualConverterPtr, flags);
BulletMJCFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(), flags);
bool useFixedBase = false;
MyMJCFLogger2 logger;
@@ -2731,7 +2738,7 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
m_data->m_sdfRecentLoadedBodies.clear();
BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_visualConverterPtr, globalScaling, flags);
BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(), globalScaling, flags);
u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
bool forceFixedBase = false;
@@ -2763,7 +2770,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_visualConverterPtr, globalScaling, flags);
BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(), globalScaling, flags);
u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
bool loadOk = u2b.loadURDF(fileName, useFixedBase);
@@ -3080,9 +3087,9 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
if ((clientCmd.m_requestPixelDataArguments.m_startPixelIndex==0) &&
(clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_PIXEL_WIDTH_HEIGHT)!=0)
{
if (m_data->m_visualConverterPtr)
if (m_data->m_pluginManager.getRenderInterface())
{
m_data->m_visualConverterPtr->setWidthAndHeight(clientCmd.m_requestPixelDataArguments.m_pixelWidth,
m_data->m_pluginManager.getRenderInterface()->setWidthAndHeight(clientCmd.m_requestPixelDataArguments.m_pixelWidth,
clientCmd.m_requestPixelDataArguments.m_pixelHeight);
}
}
@@ -3091,9 +3098,9 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
{
flags = clientCmd.m_requestPixelDataArguments.m_flags;
}
if (m_data->m_visualConverterPtr)
if (m_data->m_pluginManager.getRenderInterface())
{
m_data->m_visualConverterPtr->setFlags(flags);
m_data->m_pluginManager.getRenderInterface()->setFlags(flags);
}
int numTotalPixels = width*height;
@@ -3168,7 +3175,7 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
}
if (!handled)
{
if (m_data->m_visualConverterPtr)
if (m_data->m_pluginManager.getRenderInterface())
{
if (clientCmd.m_requestPixelDataArguments.m_startPixelIndex==0)
{
@@ -3176,48 +3183,48 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_LIGHT_DIRECTION) != 0)
{
m_data->m_visualConverterPtr->setLightDirection(clientCmd.m_requestPixelDataArguments.m_lightDirection[0], clientCmd.m_requestPixelDataArguments.m_lightDirection[1], clientCmd.m_requestPixelDataArguments.m_lightDirection[2]);
m_data->m_pluginManager.getRenderInterface()->setLightDirection(clientCmd.m_requestPixelDataArguments.m_lightDirection[0], clientCmd.m_requestPixelDataArguments.m_lightDirection[1], clientCmd.m_requestPixelDataArguments.m_lightDirection[2]);
}
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_LIGHT_COLOR) != 0)
{
m_data->m_visualConverterPtr->setLightColor(clientCmd.m_requestPixelDataArguments.m_lightColor[0], clientCmd.m_requestPixelDataArguments.m_lightColor[1], clientCmd.m_requestPixelDataArguments.m_lightColor[2]);
m_data->m_pluginManager.getRenderInterface()->setLightColor(clientCmd.m_requestPixelDataArguments.m_lightColor[0], clientCmd.m_requestPixelDataArguments.m_lightColor[1], clientCmd.m_requestPixelDataArguments.m_lightColor[2]);
}
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_LIGHT_DISTANCE) != 0)
{
m_data->m_visualConverterPtr->setLightDistance(clientCmd.m_requestPixelDataArguments.m_lightDistance);
m_data->m_pluginManager.getRenderInterface()->setLightDistance(clientCmd.m_requestPixelDataArguments.m_lightDistance);
}
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_SHADOW) != 0)
{
m_data->m_visualConverterPtr->setShadow((clientCmd.m_requestPixelDataArguments.m_hasShadow!=0));
m_data->m_pluginManager.getRenderInterface()->setShadow((clientCmd.m_requestPixelDataArguments.m_hasShadow!=0));
}
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_AMBIENT_COEFF) != 0)
{
m_data->m_visualConverterPtr->setLightAmbientCoeff(clientCmd.m_requestPixelDataArguments.m_lightAmbientCoeff);
m_data->m_pluginManager.getRenderInterface()->setLightAmbientCoeff(clientCmd.m_requestPixelDataArguments.m_lightAmbientCoeff);
}
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_DIFFUSE_COEFF) != 0)
{
m_data->m_visualConverterPtr->setLightDiffuseCoeff(clientCmd.m_requestPixelDataArguments.m_lightDiffuseCoeff);
m_data->m_pluginManager.getRenderInterface()->setLightDiffuseCoeff(clientCmd.m_requestPixelDataArguments.m_lightDiffuseCoeff);
}
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_SPECULAR_COEFF) != 0)
{
m_data->m_visualConverterPtr->setLightSpecularCoeff(clientCmd.m_requestPixelDataArguments.m_lightSpecularCoeff);
m_data->m_pluginManager.getRenderInterface()->setLightSpecularCoeff(clientCmd.m_requestPixelDataArguments.m_lightSpecularCoeff);
}
for (int i=0;i<m_data->m_dynamicsWorld->getNumCollisionObjects();i++)
{
const btCollisionObject* colObj = m_data->m_dynamicsWorld->getCollisionObjectArray()[i];
m_data->m_visualConverterPtr->syncTransform(colObj->getBroadphaseHandle()->getUid(),colObj->getWorldTransform(),colObj->getCollisionShape()->getLocalScaling());
m_data->m_pluginManager.getRenderInterface()->syncTransform(colObj->getBroadphaseHandle()->getUid(),colObj->getWorldTransform(),colObj->getCollisionShape()->getLocalScaling());
}
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES)!=0)
{
m_data->m_visualConverterPtr->render(
m_data->m_pluginManager.getRenderInterface()->render(
clientCmd.m_requestPixelDataArguments.m_viewMatrix,
clientCmd.m_requestPixelDataArguments.m_projectionMatrix);
} else
@@ -3238,18 +3245,18 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
tmpCamResult.m_target);
if (result)
{
m_data->m_visualConverterPtr->render(tmpCamResult.m_viewMatrix,tmpCamResult.m_projectionMatrix);
m_data->m_pluginManager.getRenderInterface()->render(tmpCamResult.m_viewMatrix,tmpCamResult.m_projectionMatrix);
} else
{
m_data->m_visualConverterPtr->render();
m_data->m_pluginManager.getRenderInterface()->render();
}
}
}
}
if (m_data->m_visualConverterPtr)
if (m_data->m_pluginManager.getRenderInterface())
{
m_data->m_visualConverterPtr->copyCameraImageData(pixelRGBA,numRequestedPixels,
m_data->m_pluginManager.getRenderInterface()->copyCameraImageData(pixelRGBA,numRequestedPixels,
depthBuffer,numRequestedPixels,
segmentationMaskBuffer, numRequestedPixels,
startPixelIndex,&width,&height,&numPixelsCopied);
@@ -3889,7 +3896,7 @@ bool PhysicsServerCommandProcessor::processCreateVisualShapeCommand(const struct
serverStatusOut.m_type = CMD_CREATE_VISUAL_SHAPE_FAILED;
double globalScaling = 1.f;
int flags=0;
BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_visualConverterPtr, globalScaling, flags);
BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(), globalScaling, flags);
u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
btTransform localInertiaFrame;
localInertiaFrame.setIdentity();
@@ -6525,7 +6532,7 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DETERMINISTIC_OVERLAPPING_PAIRS)
{
m_data->m_dynamicsWorld->getDispatchInfo().m_deterministicOverlappingPairs = clientCmd.m_physSimParamArgs.m_deterministicOverlappingPairs;
m_data->m_dynamicsWorld->getDispatchInfo().m_deterministicOverlappingPairs = (clientCmd.m_physSimParamArgs.m_deterministicOverlappingPairs!=0);
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DELTA_TIME)
{
@@ -7450,9 +7457,9 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared
if (bodyHandle->m_multiBody->getBaseCollider())
{
if (m_data->m_visualConverterPtr)
if (m_data->m_pluginManager.getRenderInterface())
{
m_data->m_visualConverterPtr->removeVisualShape(bodyHandle->m_multiBody->getBaseCollider()->getBroadphaseHandle()->getUid());
m_data->m_pluginManager.getRenderInterface()->removeVisualShape(bodyHandle->m_multiBody->getBaseCollider()->getBroadphaseHandle()->getUid());
}
m_data->m_dynamicsWorld->removeCollisionObject(bodyHandle->m_multiBody->getBaseCollider());
int graphicsIndex = bodyHandle->m_multiBody->getBaseCollider()->getUserIndex();
@@ -7463,9 +7470,9 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared
if (bodyHandle->m_multiBody->getLink(link).m_collider)
{
if (m_data->m_visualConverterPtr)
if (m_data->m_pluginManager.getRenderInterface())
{
m_data->m_visualConverterPtr->removeVisualShape(bodyHandle->m_multiBody->getLink(link).m_collider->getBroadphaseHandle()->getUid());
m_data->m_pluginManager.getRenderInterface()->removeVisualShape(bodyHandle->m_multiBody->getLink(link).m_collider->getBroadphaseHandle()->getUid());
}
m_data->m_dynamicsWorld->removeCollisionObject(bodyHandle->m_multiBody->getLink(link).m_collider);
int graphicsIndex = bodyHandle->m_multiBody->getLink(link).m_collider->getUserIndex();
@@ -7483,9 +7490,9 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared
}
if (bodyHandle->m_rigidBody)
{
if (m_data->m_visualConverterPtr)
if (m_data->m_pluginManager.getRenderInterface())
{
m_data->m_visualConverterPtr->removeVisualShape(bodyHandle->m_rigidBody->getBroadphaseHandle()->getUid());
m_data->m_pluginManager.getRenderInterface()->removeVisualShape(bodyHandle->m_rigidBody->getBroadphaseHandle()->getUid());
}
serverCmd.m_removeObjectArgs.m_bodyUniqueIds[serverCmd.m_removeObjectArgs.m_numBodies++] = bodyUniqueId;
@@ -8401,9 +8408,9 @@ bool PhysicsServerCommandProcessor::processRequestVisualShapeInfoCommand(const s
serverCmd.m_type = CMD_VISUAL_SHAPE_INFO_FAILED;
//retrieve the visual shape information for a specific body
if (m_data->m_visualConverterPtr)
if (m_data->m_pluginManager.getRenderInterface())
{
int totalNumVisualShapes = m_data->m_visualConverterPtr->getNumVisualShapes(clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId);
int totalNumVisualShapes = m_data->m_pluginManager.getRenderInterface()->getNumVisualShapes(clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId);
//int totalBytesPerVisualShape = sizeof (b3VisualShapeData);
//int visualShapeStorage = bufferSizeInBytes / totalBytesPerVisualShape - 1;
b3VisualShapeData* visualShapeStoragePtr = (b3VisualShapeData*)bufferServerToClient;
@@ -8411,7 +8418,7 @@ bool PhysicsServerCommandProcessor::processRequestVisualShapeInfoCommand(const s
int remain = totalNumVisualShapes - clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex;
int shapeIndex = clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex;
int success = m_data->m_visualConverterPtr->getVisualShapesData(clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId,
int success = m_data->m_pluginManager.getRenderInterface()->getVisualShapesData(clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId,
shapeIndex,
visualShapeStoragePtr);
if (success) {
@@ -8444,9 +8451,9 @@ bool PhysicsServerCommandProcessor::processUpdateVisualShapeCommand(const struct
{
if (texHandle)
{
if (m_data->m_visualConverterPtr)
if (m_data->m_pluginManager.getRenderInterface())
{
m_data->m_visualConverterPtr->activateShapeTexture(clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId, clientCmd.m_updateVisualShapeDataArguments.m_jointIndex, clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex, texHandle->m_tinyRendererTextureId);
m_data->m_pluginManager.getRenderInterface()->activateShapeTexture(clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId, clientCmd.m_updateVisualShapeDataArguments.m_jointIndex, clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex, texHandle->m_tinyRendererTextureId);
}
}
}
@@ -8476,9 +8483,9 @@ bool PhysicsServerCommandProcessor::processUpdateVisualShapeCommand(const struct
}
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR)
{
if (m_data->m_visualConverterPtr)
if (m_data->m_pluginManager.getRenderInterface())
{
m_data->m_visualConverterPtr->changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
m_data->m_pluginManager.getRenderInterface()->changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
}
m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
}
@@ -8505,9 +8512,9 @@ bool PhysicsServerCommandProcessor::processUpdateVisualShapeCommand(const struct
}
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR)
{
if (m_data->m_visualConverterPtr)
if (m_data->m_pluginManager.getRenderInterface())
{
m_data->m_visualConverterPtr->changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
m_data->m_pluginManager.getRenderInterface()->changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
}
m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
}
@@ -8534,9 +8541,9 @@ bool PhysicsServerCommandProcessor::processUpdateVisualShapeCommand(const struct
}
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR)
{
if (m_data->m_visualConverterPtr)
if (m_data->m_pluginManager.getRenderInterface())
{
m_data->m_visualConverterPtr->changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
m_data->m_pluginManager.getRenderInterface()->changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
}
m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
}
@@ -8595,9 +8602,9 @@ bool PhysicsServerCommandProcessor::processLoadTextureCommand(const struct Share
texH->m_openglTextureId = -1;
int uid = -1;
if (m_data->m_visualConverterPtr)
if (m_data->m_pluginManager.getRenderInterface())
{
m_data->m_visualConverterPtr->loadTextureFile(relativeFileName);
m_data->m_pluginManager.getRenderInterface()->loadTextureFile(relativeFileName);
}
if(uid>=0)
{
@@ -9567,9 +9574,9 @@ void PhysicsServerCommandProcessor::resetSimulation()
}
if (m_data)
{
if (m_data->m_visualConverterPtr)
if (m_data->m_pluginManager.getRenderInterface())
{
m_data->m_visualConverterPtr->resetAll();
m_data->m_pluginManager.getRenderInterface()->resetAll();
}
for (int i = 0; i < m_data->m_savedStates.size(); i++)
{

63
examples/SharedMemory/b3PluginManager.cpp
View File

@@ -39,8 +39,10 @@ struct b3Plugin
PFN_TICK m_preTickFunc;
PFN_TICK m_postTickFunc;
PFN_GET_RENDER_INTERFACE m_getRendererFunc;
void* m_userPointer;
b3Plugin()
:m_pluginHandle(0),
m_ownsPluginHandle(false),
@@ -50,6 +52,7 @@ struct b3Plugin
m_executeCommandFunc(0),
m_preTickFunc(0),
m_postTickFunc(0),
m_getRendererFunc(0),
m_userPointer(0)
{
}
@@ -66,6 +69,7 @@ struct b3Plugin
m_preTickFunc = 0;
m_postTickFunc = 0;
m_userPointer = 0;
m_getRendererFunc = 0;
}
};
@@ -79,6 +83,12 @@ struct b3PluginManagerInternalData
b3AlignedObjectArray<b3KeyboardEvent> m_keyEvents;
b3AlignedObjectArray<b3VRControllerEvent> m_vrEvents;
b3AlignedObjectArray<b3MouseEvent> m_mouseEvents;
int m_activeRendererPluginUid;
b3PluginManagerInternalData()
:m_activeRendererPluginUid(-1)
{
}
};
b3PluginManager::b3PluginManager(class PhysicsCommandProcessorInterface* physSdk)
@@ -151,12 +161,14 @@ int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
std::string executePluginCommandStr = std::string("executePluginCommand") + postFix;
std::string preTickPluginCallbackStr = std::string("preTickPluginCallback") + postFix;
std::string postTickPluginCallback = std::string("postTickPluginCallback") + postFix;
std::string getRendererStr = std::string("getRenderInterface") + postFix;
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());
plugin->m_getRendererFunc = (PFN_GET_RENDER_INTERFACE)B3_DYNLIB_IMPORT(pluginHandle, getRendererStr.c_str());
if (plugin->m_initFunc && plugin->m_exitFunc && plugin->m_executeCommandFunc)
{
@@ -201,6 +213,17 @@ int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
pluginUniqueId = -1;
}
}
//for now, automatically select the loaded plugin as active renderer. If wanted, we can add some 'select' mechanism.
if (pluginUniqueId>=0)
{
b3PluginHandle* plugin = m_data->m_plugins.getHandle(pluginUniqueId);
if (plugin && plugin->m_getRendererFunc)
{
selectPluginRenderer(pluginUniqueId);
}
}
return pluginUniqueId;
}
@@ -275,11 +298,10 @@ 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)
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)
{
b3Plugin orgPlugin;
int pluginUniqueId = m_data->m_plugins.allocHandle();
b3PluginHandle* pluginHandle = m_data->m_plugins.getHandle(pluginUniqueId);
@@ -291,10 +313,12 @@ int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT
pluginHandle->m_initFunc = initFunc;
pluginHandle->m_preTickFunc = preTickFunc;
pluginHandle->m_postTickFunc = postTickFunc;
pluginHandle->m_getRendererFunc = getRendererFunc;
pluginHandle->m_pluginHandle = 0;
pluginHandle->m_pluginPath = pluginPath;
pluginHandle->m_userPointer = 0;
m_data->m_pluginMap.insert(pluginPath, pluginHandle);
{
@@ -313,3 +337,34 @@ int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT
}
return pluginUniqueId;
}
void b3PluginManager::selectPluginRenderer(int pluginUniqueId)
{
m_data->m_activeRendererPluginUid = pluginUniqueId;
}
UrdfRenderingInterface* b3PluginManager::getRenderInterface()
{
UrdfRenderingInterface* renderer = 0;
if (m_data->m_activeRendererPluginUid>=0)
{
b3PluginHandle* plugin = m_data->m_plugins.getHandle(m_data->m_activeRendererPluginUid);
if (plugin)
{
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;
renderer = plugin->m_getRendererFunc(&context);
}
}
return renderer;
}

8
examples/SharedMemory/b3PluginManager.h
View File

@@ -17,11 +17,13 @@ class b3PluginManager
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);
int registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc,PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc, PFN_GET_RENDER_INTERFACE getRendererFunc);
void selectPluginRenderer(int pluginUniqueId);
UrdfRenderingInterface* getRenderInterface();
};
#endif //B3_PLUGIN_MANAGER_H

4
examples/SharedMemory/plugins/b3PluginAPI.h
View File

@@ -30,6 +30,10 @@ extern "C" {
typedef B3_API_ENTRY void (B3_API_CALL * PFN_EXIT)(struct b3PluginContext* context);
typedef B3_API_ENTRY int (B3_API_CALL * PFN_EXECUTE)(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
typedef B3_API_ENTRY int (B3_API_CALL * PFN_TICK)(struct b3PluginContext* context);
typedef B3_API_ENTRY struct UrdfRenderingInterface* (B3_API_CALL * PFN_GET_RENDER_INTERFACE)(struct b3PluginContext* context);
#ifdef __cplusplus
}
#endif

2
examples/SharedMemory/plugins/b3PluginContext.h
View File

@@ -9,7 +9,7 @@ struct b3PluginContext
//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;

4
examples/SharedMemory/plugins/testPlugin/testplugin.h
View File

@@ -13,10 +13,10 @@ 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);
//preTickPluginCallback and postTickPluginCallback are optional.
//all the APIs below are optional
B3_SHARED_API int preTickPluginCallback(struct b3PluginContext* context);
B3_SHARED_API int postTickPluginCallback(struct b3PluginContext* context);
B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface(struct b3PluginContext* context);
#ifdef __cplusplus

0
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp → examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
View File

34
examples/SharedMemory/TinyRendererVisualShapeConverter.h → examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h
View File

@@ -1,13 +1,9 @@
#ifndef TINY_RENDERER_VISUAL_SHAPE_CONVERTER_H
#define TINY_RENDERER_VISUAL_SHAPE_CONVERTER_H
#include "../../../Importers/ImportURDFDemo/UrdfRenderingInterface.h"
#include "../Importers/ImportURDFDemo/LinkVisualShapesConverter.h"
struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter
struct TinyRendererVisualShapeConverter : public UrdfRenderingInterface
{
struct TinyRendererVisualShapeConverterInternalData* m_data;
@@ -28,32 +24,32 @@ struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter
virtual void setUpAxis(int axis);
virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ);
virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ);
virtual void clearBuffers(struct TGAColor& clearColor);
virtual void clearBuffers(struct TGAColor& clearColor);
virtual void resetAll();
virtual void getWidthAndHeight(int& width, int& height);
virtual void getWidthAndHeight(int& width, int& height);
virtual void setWidthAndHeight(int width, int height);
virtual void setLightDirection(float x, float y, float z);
virtual void setLightColor(float x, float y, float z);
virtual void setLightDistance(float dist);
virtual void setLightAmbientCoeff(float ambientCoeff);
virtual void setLightDiffuseCoeff(float diffuseCoeff);
virtual void setLightSpecularCoeff(float specularCoeff);
virtual void setShadow(bool hasShadow);
virtual void setLightColor(float x, float y, float z);
virtual void setLightDistance(float dist);
virtual void setLightAmbientCoeff(float ambientCoeff);
virtual void setLightDiffuseCoeff(float diffuseCoeff);
virtual void setLightSpecularCoeff(float specularCoeff);
virtual void setShadow(bool hasShadow);
virtual void setFlags(int flags);
virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,int* segmentationMaskBuffer, int segmentationMaskSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied);
virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,int* segmentationMaskBuffer, int segmentationMaskSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied);
virtual void render();
virtual void render(const float viewMat[16], const float projMat[16]);
virtual int loadTextureFile(const char* filename);
virtual int registerTexture(unsigned char* texels, int width, int height);
virtual int loadTextureFile(const char* filename);
virtual int registerTexture(unsigned char* texels, int width, int height);
virtual void activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId);
virtual void activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId);
virtual void syncTransform(int shapeUid, const class btTransform& worldTransform, const class btVector3& localScaling);

57
examples/SharedMemory/plugins/tinyRendererPlugin/premake4.lua Normal file
View File

@@ -0,0 +1,57 @@
project ("pybullet_tinyRendererPlugin")
language "C++"
kind "SharedLib"
includedirs {".","../../../../src", "../../../../examples",
"../../../ThirdPartyLibs"}
defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
hasCL = findOpenCL("clew")
links{"BulletCollision", "Bullet3Common", "LinearMath"}
if os.is("MacOSX") then
-- targetextension {"so"}
links{"Cocoa.framework","Python"}
end
files {
"tinyRendererPlugin.cpp",
"tinyRendererPlugin.h",
"TinyRendererVisualShapeConverter.cpp",
"TinyRendererVisualShapeConverter.h",
"../../../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../../../Importers/ImportColladaDemo/LoadMeshFromCollada.h",
"../../../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
"../../../Importers/ImportMeshUtility/b3ImportMeshUtility.h",
"../../../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../../../Importers/ImportObjDemo/LoadMeshFromObj.h",
"../../../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
"../../../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h",
"../../../TinyRenderer/geometry.cpp",
"../../../TinyRenderer/model.cpp",
"../../../TinyRenderer/our_gl.cpp",
"../../../TinyRenderer/tgaimage.cpp",
"../../../TinyRenderer/TinyRenderer.cpp",
"../../../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../../../ThirdPartyLibs/stb_image/stb_image.cpp",
"../../../ThirdPartyLibs/stb_image/stb_image.h",
"../../../ThirdPartyLibs/tinyxml/tinystr.cpp",
"../../../ThirdPartyLibs/tinyxml/tinystr.h",
"../../../ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../../../ThirdPartyLibs/tinyxml/tinyxml.h",
"../../../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../../../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../../../OpenGLWindow/SimpleCamera.cpp",
"../../../OpenGLWindow/SimpleCamera.h",
"../../../Utils/b3Clock.cpp",
"../../../Utils/b3Clock.h",
"../../../Utils/b3ResourcePath.cpp",
"../../../Utils/b3ResourcePath.h",
}

62
examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp Normal file
View File

@@ -0,0 +1,62 @@
//tinyRenderer plugin
/*
import pybullet as p
p.connect(p.GUI)
pluginUid = p.loadPlugin("E:/develop/bullet3/bin/pybullet_testplugin_vs2010_x64_debug.dll")
commandUid = 0
argument = "plane.urdf"
p.executePluginCommand(pluginUid,commandUid,argument)
p.unloadPlugin(pluginUid)
*/
#include "tinyRendererPlugin.h"
#include "TinyRendererVisualShapeConverter.h"
#include "../../SharedMemoryPublic.h"
#include "../b3PluginContext.h"
#include <stdio.h>
struct MyRendererPluginClass
{
TinyRendererVisualShapeConverter m_renderer;
MyRendererPluginClass()
{
}
virtual ~MyRendererPluginClass()
{
}
};
B3_SHARED_API int initPlugin_tinyRendererPlugin(struct b3PluginContext* context)
{
MyRendererPluginClass* obj = new MyRendererPluginClass();
context->m_userPointer = obj;
return SHARED_MEMORY_MAGIC_NUMBER;
}
B3_SHARED_API int executePluginCommand_tinyRendererPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
{
return -1;
}
B3_SHARED_API void exitPlugin_tinyRendererPlugin(struct b3PluginContext* context)
{
MyRendererPluginClass* obj = (MyRendererPluginClass*) context->m_userPointer;
delete obj;
context->m_userPointer = 0;
}
//all the APIs below are optional
B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_tinyRendererPlugin(struct b3PluginContext* context)
{
MyRendererPluginClass* obj = (MyRendererPluginClass*) context->m_userPointer;
return &obj->m_renderer;
}

25
examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.h Normal file
View File

@@ -0,0 +1,25 @@
#ifndef TINY_RENDERER_PLUGIN_H
#define TINY_RENDERER_PLUGIN_H
#include "../b3PluginAPI.h"
#ifdef __cplusplus
extern "C"
{
#endif
//initPlugin, exitPlugin and executePluginCommand are required, otherwise plugin won't load
B3_SHARED_API int initPlugin_tinyRendererPlugin(struct b3PluginContext* context);
B3_SHARED_API void exitPlugin_tinyRendererPlugin(struct b3PluginContext* context);
B3_SHARED_API int executePluginCommand_tinyRendererPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
//all the APIs below are optional
B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_tinyRendererPlugin(struct b3PluginContext* context);
#ifdef __cplusplus
};
#endif
#endif//#define TEST_PLUGIN_H

3
examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.h
View File

@@ -13,11 +13,10 @@ 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.
//optional APIs
B3_SHARED_API int preTickPluginCallback_vrSyncPlugin(struct b3PluginContext* context);
#ifdef __cplusplus
};
#endif

54
examples/SharedMemory/premake4.lua
View File

@@ -55,13 +55,6 @@ myfiles =
"PhysicsServerCommandProcessor.h",
"b3PluginManager.cpp",
"b3PluginManager.h",
"TinyRendererVisualShapeConverter.cpp",
"TinyRendererVisualShapeConverter.h",
"../TinyRenderer/geometry.cpp",
"../TinyRenderer/model.cpp",
"../TinyRenderer/tgaimage.cpp",
"../TinyRenderer/our_gl.cpp",
"../TinyRenderer/TinyRenderer.cpp",
"../OpenGLWindow/SimpleCamera.cpp",
"../OpenGLWindow/SimpleCamera.h",
"../Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h",
@@ -115,6 +108,20 @@ if (_OPTIONS["enable_static_vr_plugin"]) then
files {"plugins/vrSyncPlugin/vrSyncPlugin.cpp"}
end
if (not _OPTIONS["disable_static_tinyrenderer_plugin"]) then
files
{
"plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
"plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
"../TinyRenderer/geometry.cpp",
"../TinyRenderer/model.cpp",
"../TinyRenderer/tgaimage.cpp",
"../TinyRenderer/our_gl.cpp",
"../TinyRenderer/TinyRenderer.cpp"
}
else
defines("SKIP_STATIC_TINYRENDERER_PLUGIN")
end
files {
"../MultiThreading/b3ThreadSupportInterface.cpp",
@@ -200,6 +207,21 @@ language "C++"
end
if (not _OPTIONS["disable_static_tinyrenderer_plugin"]) then
files
{
"plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
"plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
"../TinyRenderer/geometry.cpp",
"../TinyRenderer/model.cpp",
"../TinyRenderer/tgaimage.cpp",
"../TinyRenderer/our_gl.cpp",
"../TinyRenderer/TinyRenderer.cpp"
}
else
defines("SKIP_STATIC_TINYRENDERER_PLUGIN")
end
files {
myfiles,
@@ -344,7 +366,22 @@ if os.is("Windows") then
initOpenGL()
initGlew()
if (not _OPTIONS["disable_static_tinyrenderer_plugin"]) then
files
{
"plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
"plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
"../TinyRenderer/geometry.cpp",
"../TinyRenderer/model.cpp",
"../TinyRenderer/tgaimage.cpp",
"../TinyRenderer/our_gl.cpp",
"../TinyRenderer/TinyRenderer.cpp"
}
else
defines("SKIP_STATIC_TINYRENDERER_PLUGIN")
end
files
{
myfiles,
@@ -426,5 +463,6 @@ include "udp"
include "tcp"
include "plugins/testPlugin"
include "plugins/vrSyncPlugin"
include "plugins/tinyRendererPlugin"

6
examples/SharedMemory/tcp/premake4.lua
View File

@@ -90,9 +90,9 @@ myfiles =
"../PhysicsServerCommandProcessor.h",
"../b3PluginManager.cpp",
"../PhysicsDirect.cpp",
"../PhysicsClient.cpp",
"../TinyRendererVisualShapeConverter.cpp",
"../TinyRendererVisualShapeConverter.h",
"../PhysicsClient.cpp",
"../plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
"../plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
"../../TinyRenderer/geometry.cpp",
"../../TinyRenderer/model.cpp",
"../../TinyRenderer/tgaimage.cpp",

4
examples/SharedMemory/udp/premake4.lua
View File

@@ -82,8 +82,8 @@ myfiles =
"../b3PluginManager.cpp",
"../PhysicsDirect.cpp",
"../PhysicsClient.cpp",
"../TinyRendererVisualShapeConverter.cpp",
"../TinyRendererVisualShapeConverter.h",
"../plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
"../plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
"../../TinyRenderer/geometry.cpp",
"../../TinyRenderer/model.cpp",
"../../TinyRenderer/tgaimage.cpp",