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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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111
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -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++)
{