Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

implement pybullet.saveState command, for in-memory storage of state.

Browse Source 
bump up pybullet API version (SHARED_MEMORY_MAGIC_NUMBER) to 201801010
This commit is contained in:
Erwin Coumans
2017-12-31 15:37:16 -08:00
parent 4c6df650d4
commit 35b44f8a85
8 changed files with 123 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
examples/SharedMemory/PhysicsClientSharedMemory.cpp
View File

@@ -1236,6 +1236,10 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
{
break;
}
case CMD_SAVE_STATE_COMPLETED:
{
break;
}
case CMD_RESTORE_STATE_FAILED:
{
b3Warning("restoreState failed");

4
examples/SharedMemory/PhysicsDirect.cpp
View File

@@ -1007,6 +1007,10 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
{
break;
}
case CMD_SAVE_STATE_COMPLETED:
{
break;
}
case CMD_RESTORE_STATE_FAILED:
{
b3Warning("restoreState failed");

58
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -39,6 +39,7 @@
#include "Bullet3Common/b3ResizablePool.h"
#include "../Utils/b3Clock.h"
#include "b3PluginManager.h"
#include "../Extras/Serialize/BulletFileLoader/btBulletFile.h"
#ifdef STATIC_LINK_VR_PLUGIN
@@ -1459,6 +1460,12 @@ struct ContactPointsStateLogger : public InternalStateLogger
}
};
struct SaveStateData
{
bParse::btBulletFile* m_bulletFile;
btSerializer* m_serializer;
};
struct PhysicsServerCommandProcessorInternalData
{
///handle management
@@ -1476,6 +1483,8 @@ struct PhysicsServerCommandProcessorInternalData
b3VRControllerEvents m_vrControllerEvents;
btAlignedObjectArray<SaveStateData> m_savedStates;
btAlignedObjectArray<b3KeyboardEvent> m_keyboardEvents;
btAlignedObjectArray<b3MouseEvent> m_mouseEvents;
@@ -8177,6 +8186,32 @@ bool PhysicsServerCommandProcessor::processLoadTextureCommand(const struct Share
return hasStatus;
}
bool PhysicsServerCommandProcessor::processSaveStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
BT_PROFILE("CMD_RESTORE_STATE");
bool hasStatus = true;
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_SAVE_STATE_FAILED;
btDefaultSerializer* ser = new btDefaultSerializer();
int currentFlags = ser->getSerializationFlags();
ser->setSerializationFlags(currentFlags | BT_SERIALIZE_CONTACT_MANIFOLDS);
m_data->m_dynamicsWorld->serialize(ser);
bParse::btBulletFile* bulletFile = new bParse::btBulletFile((char*)ser->getBufferPointer(), ser->getCurrentBufferSize());
bulletFile->parse(false);
if (bulletFile->ok())
{
serverCmd.m_type = CMD_SAVE_STATE_COMPLETED;
serverCmd.m_saveStateResultArgs.m_stateId = m_data->m_savedStates.size();
SaveStateData sd;
sd.m_bulletFile = bulletFile;
sd.m_serializer = ser;
m_data->m_savedStates.push_back(sd);
}
return hasStatus;
}
bool PhysicsServerCommandProcessor::processRestoreStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
BT_PROFILE("CMD_RESTORE_STATE");
@@ -8191,9 +8226,11 @@ bool PhysicsServerCommandProcessor::processRestoreStateCommand(const struct Shar
if (clientCmd.m_loadStateArguments.m_stateId >= 0)
{
char* memoryBuffer = 0;
int len = 0;
ok = importer->loadFileFromMemory(memoryBuffer, len);
if (clientCmd.m_loadStateArguments.m_stateId < m_data->m_savedStates.size())
{
bParse::btBulletFile* bulletFile = m_data->m_savedStates[clientCmd.m_loadStateArguments.m_stateId].m_bulletFile;
ok = importer->convertAllObjects(bulletFile);
}
}
else
{
@@ -8227,8 +8264,7 @@ bool PhysicsServerCommandProcessor::processRestoreStateCommand(const struct Shar
if (ok)
{
serverCmd.m_type = CMD_RESTORE_STATE_COMPLETED;
}
}
return hasStatus;
}
@@ -8662,6 +8698,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
break;
}
case CMD_SAVE_STATE:
{
hasStatus = processSaveStateCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_LOAD_BULLET:
{
hasStatus = processLoadBulletCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
@@ -9060,6 +9102,12 @@ void PhysicsServerCommandProcessor::resetSimulation()
if (m_data)
{
m_data->m_visualConverter.resetAll();
for (int i = 0; i < m_data->m_savedStates.size(); i++)
{
delete m_data->m_savedStates[i].m_bulletFile;
delete m_data->m_savedStates[i].m_serializer;
}
m_data->m_savedStates.clear();
}
removePickingConstraint();

2
examples/SharedMemory/PhysicsServerCommandProcessor.h
View File

@@ -81,7 +81,7 @@ protected:
bool processSaveBulletCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processLoadMJCFCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRestoreStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processSaveStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags, btScalar globalScaling);

3
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -5,7 +5,8 @@
///increase the SHARED_MEMORY_MAGIC_NUMBER whenever incompatible changes are made in the structures
///my convention is year/month/day/rev
#define SHARED_MEMORY_MAGIC_NUMBER 201710180
#define SHARED_MEMORY_MAGIC_NUMBER 201801010
//#define SHARED_MEMORY_MAGIC_NUMBER 201710180
//#define SHARED_MEMORY_MAGIC_NUMBER 201710050
//#define SHARED_MEMORY_MAGIC_NUMBER 201708270
//#define SHARED_MEMORY_MAGIC_NUMBER 201707140