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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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63
examples/SharedMemory/b3PluginManager.cpp
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@@ -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;
}