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create a C/C++ plugin system for pybullet / C-API.

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This commit is contained in:
Erwin Coumans
2017-09-22 19:17:57 -07:00
parent b9b1b2dbca
commit 3783dccaa3
28 changed files with 1111 additions and 524 deletions
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42
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -37,6 +37,8 @@
#include "LinearMath/btRandom.h"
#include "Bullet3Common/b3ResizablePool.h"
#include "../Utils/b3Clock.h"
#include "b3PluginManager.h"
#ifdef B3_ENABLE_TINY_AUDIO
#include "../TinyAudio/b3SoundEngine.h"
#endif
@@ -1430,6 +1432,8 @@ struct PhysicsServerCommandProcessorInternalData
b3ResizablePool< InternalBodyHandle > m_bodyHandles;
b3ResizablePool<InternalCollisionShapeHandle> m_userCollisionShapeHandles;
b3PluginManager m_pluginManager;
bool m_allowRealTimeSimulation;
@@ -7968,6 +7972,38 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
break;
}
case CMD_CUSTOM_COMMAND:
{
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_CUSTOM_COMMAND_FAILED;
serverCmd.m_customCommandResultArgs.m_pluginUniqueId = -1;
if (clientCmd.m_updateFlags & CMD_CUSTOM_COMMAND_LOAD_PLUGIN)
{
//pluginPath could be registered or load from disk
int pluginUniqueId = m_data->m_pluginManager.loadPlugin(clientCmd.m_customCommandArgs.m_pluginPath);
if (pluginUniqueId>=0)
{
serverCmd.m_customCommandResultArgs.m_pluginUniqueId = pluginUniqueId;
serverCmd.m_type = CMD_CUSTOM_COMMAND_COMPLETED;
}
}
if (clientCmd.m_updateFlags & CMD_CUSTOM_COMMAND_UNLOAD_PLUGIN)
{
m_data->m_pluginManager.unloadPlugin(clientCmd.m_customCommandArgs.m_pluginUniqueId);
serverCmd.m_type = CMD_CUSTOM_COMMAND_COMPLETED;
}
if (clientCmd.m_updateFlags & CMD_CUSTOM_COMMAND_EXECUTE_PLUGIN_COMMAND)
{
int result = m_data->m_pluginManager.executePluginCommand(clientCmd.m_customCommandArgs.m_pluginUniqueId, clientCmd.m_customCommandArgs.m_pluginArguments);
serverCmd.m_customCommandResultArgs.m_executeCommandResult = result;
serverCmd.m_type = CMD_CUSTOM_COMMAND_COMPLETED;
}
hasStatus = true;
break;
}
default:
{
BT_PROFILE("CMD_UNKNOWN");
@@ -8186,12 +8222,6 @@ void PhysicsServerCommandProcessor::replayFromLogFile(const char* fileName)
}
btVector3 gVRGripperPos(0.7, 0.3, 0.7);
btQuaternion gVRGripperOrn(0,0,0,1);
btVector3 gVRController2Pos(0,0,0.2);
btQuaternion gVRController2Orn(0,0,0,1);
btScalar gVRGripper2Analog = 0;
btScalar gVRGripperAnalog = 0;