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

Merge pull request #1782 from RanTig/userdata

Browse Source 
Changes UserData to use global identifiers and makes linkIndex optional.
This commit is contained in:
erwincoumans
2018-07-09 11:36:51 +02:00
committed by GitHub
parent d6aae09290 49684144dc
commit 3d5c921495
16 changed files with 478 additions and 556 deletions
Download Patch File Download Diff File Expand all files Collapse all files

197
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -222,72 +222,6 @@ struct InternalCollisionShapeData
#include "SharedMemoryUserData.h"
/**
* Holds all custom user data entries for a link.
*/
struct InternalLinkUserData {
// Used to look up user data entry handles for string keys.
btHashMap<btHashString, int> m_keyToHandleMap;
b3ResizablePool<b3PoolBodyHandle<SharedMemoryUserData> > m_userData;
// Adds or replaces a user data entry.
// Returns the user data handle.
const int add(const char* key, const char* bytes, int len, int type)
{
// If an entry with the key already exists, just update the value.
int userDataId = getUserDataId(key);
if (userDataId != -1) {
SharedMemoryUserData* userData = m_userData.getHandle(userDataId);
b3Assert(userData);
userData->replaceValue(bytes, len, type);
return userDataId;
}
userDataId = m_userData.allocHandle();
SharedMemoryUserData* userData = m_userData.getHandle(userDataId);
userData->m_key = key;
userData->replaceValue(bytes, len, type);
m_keyToHandleMap.insert(userData->m_key.c_str(), userDataId);
return userDataId;
}
// Returns the user data handle for a specified key or -1 if not found.
const int getUserDataId(const char* key) const
{
const int* userDataIdPtr = m_keyToHandleMap.find(key);
if (userDataIdPtr)
{
return *userDataIdPtr;
}
return -1;
}
// Removes a user data entry given the handle.
// Returns true when the entry was removed, false otherwise.
const bool remove(int userDataId)
{
const SharedMemoryUserData* userData = m_userData.getHandle(userDataId);
if (!userData)
{
return false;
}
m_keyToHandleMap.remove(userData->m_key.c_str());
m_userData.freeHandle(userDataId);
return true;
}
// Returns the user data given the user data id. null otherwise.
const SharedMemoryUserData* getUserData(const int userDataId) const
{
return m_userData.getHandle(userDataId);
}
void getUserDataIds(b3AlignedObjectArray<int> &userDataIds) const
{
m_userData.getUsedHandles(userDataIds);
}
};
struct InternalBodyData
{
btMultiBody* m_multiBody;
@@ -303,7 +237,7 @@ struct InternalBodyData
btAlignedObjectArray<btGeneric6DofSpring2Constraint*> m_rigidBodyJoints;
btAlignedObjectArray<std::string> m_rigidBodyJointNames;
btAlignedObjectArray<std::string> m_rigidBodyLinkNames;
btHashMap<btHashInt, InternalLinkUserData*> m_linkUserDataMap;
btAlignedObjectArray<int> m_userDataHandles;
#ifdef B3_ENABLE_TINY_AUDIO
b3HashMap<btHashInt, SDFAudioSource> m_audioSources;
@@ -328,10 +262,7 @@ struct InternalBodyData
m_rigidBodyJoints.clear();
m_rigidBodyJointNames.clear();
m_rigidBodyLinkNames.clear();
for(int i=0; i<m_linkUserDataMap.size(); i++) {
delete *m_linkUserDataMap.getAtIndex(i);
}
m_linkUserDataMap.clear();
m_userDataHandles.clear();
}
};
@@ -1607,8 +1538,8 @@ struct PhysicsServerCommandProcessorInternalData
b3ResizablePool< InternalBodyHandle > m_bodyHandles;
b3ResizablePool<InternalCollisionShapeHandle> m_userCollisionShapeHandles;
b3ResizablePool<InternalVisualShapeHandle> m_userVisualShapeHandles;
b3ResizablePool<b3PoolBodyHandle<SharedMemoryUserData> > m_userDataHandles;
btHashMap<SharedMemoryUserDataHashKey, int> m_userDataHandleLookup;
b3PluginManager m_pluginManager;
@@ -5089,34 +5020,11 @@ bool PhysicsServerCommandProcessor::processSyncUserDataCommand(const struct Shar
bool hasStatus = true;
BT_PROFILE("CMD_SYNC_USER_DATA");
b3UserDataGlobalIdentifier *userDataIdentifiers = (b3UserDataGlobalIdentifier *)bufferServerToClient;
int numIdentifiers = 0;
b3AlignedObjectArray<int> bodyHandles;
m_data->m_bodyHandles.getUsedHandles(bodyHandles);
for (int i=0; i<bodyHandles.size(); i++) {
int bodyHandle = bodyHandles[i];
InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyHandle);
if (!body) {
continue;
}
for (int j=0; j<body->m_linkUserDataMap.size(); j++) {
const int linkIndex = body->m_linkUserDataMap.getKeyAtIndex(j).getUid1();
InternalLinkUserData **userDataPtr = body->m_linkUserDataMap.getAtIndex(j);
if (!userDataPtr) {
continue;
}
b3AlignedObjectArray<int> userDataIds;
(*userDataPtr)->getUserDataIds(userDataIds);
for (int k=0; k<userDataIds.size(); k++) {
b3UserDataGlobalIdentifier &identifier = userDataIdentifiers[numIdentifiers++];
identifier.m_bodyUniqueId = bodyHandle;
identifier.m_linkIndex = linkIndex;
identifier.m_userDataId = userDataIds[k];
}
}
}
b3AlignedObjectArray<int> userDataHandles;
m_data->m_userDataHandles.getUsedHandles(userDataHandles);
memcpy(bufferServerToClient, &userDataHandles[0], sizeof(int) * userDataHandles.size());
serverStatusOut.m_syncUserDataArgs.m_numUserDataIdentifiers = numIdentifiers;
serverStatusOut.m_syncUserDataArgs.m_numUserDataIdentifiers = userDataHandles.size();
serverStatusOut.m_type = CMD_SYNC_USER_DATA_COMPLETED;
return hasStatus;
}
@@ -5127,21 +5035,16 @@ bool PhysicsServerCommandProcessor::processRequestUserDataCommand(const struct S
BT_PROFILE("CMD_REQUEST_USER_DATA");
serverStatusOut.m_type = CMD_REQUEST_USER_DATA_FAILED;
InternalBodyData *body = m_data->m_bodyHandles.getHandle(clientCmd.m_userDataRequestArgs.m_bodyUniqueId);
if (!body) {
return hasStatus;
}
const int linkIndex = clientCmd.m_userDataRequestArgs.m_linkIndex;
InternalLinkUserData **userDataPtr = body->m_linkUserDataMap[linkIndex];
if (!userDataPtr) {
return hasStatus;
}
const SharedMemoryUserData *userData = (*userDataPtr)->getUserData(clientCmd.m_userDataRequestArgs.m_userDataId);
SharedMemoryUserData *userData = m_data->m_userDataHandles.getHandle(clientCmd.m_userDataRequestArgs.m_userDataId);
if (!userData) {
return hasStatus;
}
btAssert(bufferSizeInBytes >= userData->m_bytes.size());
serverStatusOut.m_userDataResponseArgs.m_userDataGlobalId = clientCmd.m_userDataRequestArgs;
btAssert(bufferSizeInBytes >= userData->m_bytes.size());
serverStatusOut.m_userDataResponseArgs.m_userDataId = clientCmd.m_userDataRequestArgs.m_userDataId;
serverStatusOut.m_userDataResponseArgs.m_bodyUniqueId = userData->m_bodyUniqueId;
serverStatusOut.m_userDataResponseArgs.m_linkIndex = userData->m_linkIndex;
serverStatusOut.m_userDataResponseArgs.m_visualShapeIndex = userData->m_visualShapeIndex;
serverStatusOut.m_userDataResponseArgs.m_valueType = userData->m_type;
serverStatusOut.m_userDataResponseArgs.m_valueLength = userData->m_bytes.size();
serverStatusOut.m_type = CMD_REQUEST_USER_DATA_COMPLETED;
@@ -5164,27 +5067,43 @@ bool PhysicsServerCommandProcessor::processAddUserDataCommand(const struct Share
{
return hasStatus;
}
InternalBodyData *body = m_data->m_bodyHandles.getHandle(clientCmd.m_addUserDataRequestArgs.m_bodyUniqueId);
if (!body) {
return hasStatus;
}
const int linkIndex = clientCmd.m_addUserDataRequestArgs.m_linkIndex;
InternalLinkUserData **userDataPtr = body->m_linkUserDataMap[linkIndex];
if (!userDataPtr) {
InternalLinkUserData *userData = new InternalLinkUserData;
userDataPtr = &userData;
body->m_linkUserDataMap.insert(linkIndex, userData);
SharedMemoryUserDataHashKey userDataIdentifier(
clientCmd.m_addUserDataRequestArgs.m_key,
clientCmd.m_addUserDataRequestArgs.m_bodyUniqueId,
clientCmd.m_addUserDataRequestArgs.m_linkIndex,
clientCmd.m_addUserDataRequestArgs.m_visualShapeIndex);
int* userDataHandlePtr = m_data->m_userDataHandleLookup.find(userDataIdentifier);
int userDataHandle = userDataHandlePtr ? *userDataHandlePtr : m_data->m_userDataHandles.allocHandle();
SharedMemoryUserData *userData = m_data->m_userDataHandles.getHandle(userDataHandle);
if (!userData) {
return hasStatus;
}
const int userDataId = (*userDataPtr)->add(clientCmd.m_addUserDataRequestArgs.m_key,
bufferServerToClient,clientCmd.m_addUserDataRequestArgs.m_valueLength,
if (!userDataHandlePtr) {
userData->m_key = clientCmd.m_addUserDataRequestArgs.m_key;
userData->m_bodyUniqueId = clientCmd.m_addUserDataRequestArgs.m_bodyUniqueId;
userData->m_linkIndex = clientCmd.m_addUserDataRequestArgs.m_linkIndex;
userData->m_visualShapeIndex = clientCmd.m_addUserDataRequestArgs.m_visualShapeIndex;
m_data->m_userDataHandleLookup.insert(userDataIdentifier, userDataHandle);
body->m_userDataHandles.push_back(userDataHandle);
}
userData->replaceValue(bufferServerToClient,
clientCmd.m_addUserDataRequestArgs.m_valueLength,
clientCmd.m_addUserDataRequestArgs.m_valueType);
serverStatusOut.m_type = CMD_ADD_USER_DATA_COMPLETED;
serverStatusOut.m_userDataResponseArgs.m_userDataGlobalId.m_userDataId = userDataId;
serverStatusOut.m_userDataResponseArgs.m_userDataGlobalId.m_bodyUniqueId = clientCmd.m_addUserDataRequestArgs.m_bodyUniqueId;
serverStatusOut.m_userDataResponseArgs.m_userDataGlobalId.m_linkIndex = clientCmd.m_addUserDataRequestArgs.m_linkIndex;
serverStatusOut.m_userDataResponseArgs.m_userDataId = userDataHandle;
serverStatusOut.m_userDataResponseArgs.m_bodyUniqueId = clientCmd.m_addUserDataRequestArgs.m_bodyUniqueId;
serverStatusOut.m_userDataResponseArgs.m_linkIndex = clientCmd.m_addUserDataRequestArgs.m_linkIndex;
serverStatusOut.m_userDataResponseArgs.m_visualShapeIndex = clientCmd.m_addUserDataRequestArgs.m_visualShapeIndex;
serverStatusOut.m_userDataResponseArgs.m_valueLength = clientCmd.m_addUserDataRequestArgs.m_valueLength;
serverStatusOut.m_userDataResponseArgs.m_valueType = clientCmd.m_addUserDataRequestArgs.m_valueType;
strcpy(serverStatusOut.m_userDataResponseArgs.m_key, clientCmd.m_addUserDataRequestArgs.m_key);
@@ -5199,19 +5118,20 @@ bool PhysicsServerCommandProcessor::processRemoveUserDataCommand(const struct Sh
BT_PROFILE("CMD_REMOVE_USER_DATA");
serverStatusOut.m_type = CMD_REMOVE_USER_DATA_FAILED;
InternalBodyData *body = m_data->m_bodyHandles.getHandle(clientCmd.m_removeUserDataRequestArgs.m_bodyUniqueId);
SharedMemoryUserData *userData = m_data->m_userDataHandles.getHandle(clientCmd.m_removeUserDataRequestArgs.m_userDataId);
if (!userData) {
return hasStatus;
}
InternalBodyData *body = m_data->m_bodyHandles.getHandle(userData->m_bodyUniqueId);
if (!body) {
return hasStatus;
}
const int linkIndex = clientCmd.m_removeUserDataRequestArgs.m_linkIndex;
InternalLinkUserData **userDataPtr = body->m_linkUserDataMap[linkIndex];
if (!userDataPtr) {
return hasStatus;
}
const bool removed = (*userDataPtr)->remove(clientCmd.m_removeUserDataRequestArgs.m_userDataId);
if (!removed) {
return hasStatus;
}
body->m_userDataHandles.remove(clientCmd.m_removeUserDataRequestArgs.m_userDataId);
m_data->m_userDataHandleLookup.remove(SharedMemoryUserDataHashKey(userData));
m_data->m_userDataHandles.freeHandle(clientCmd.m_removeUserDataRequestArgs.m_userDataId);
serverStatusOut.m_removeUserDataResponseArgs = clientCmd.m_removeUserDataRequestArgs;
serverStatusOut.m_type = CMD_REMOVE_USER_DATA_COMPLETED;
return hasStatus;
@@ -8325,6 +8245,12 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared
bodyHandle->m_rigidBody=0;
serverCmd.m_type = CMD_REMOVE_BODY_COMPLETED;
}
for (int i=0; i < bodyHandle->m_userDataHandles.size(); i++) {
int userDataHandle = bodyHandle->m_userDataHandles[i];
SharedMemoryUserData *userData = m_data->m_userDataHandles.getHandle(userDataHandle);
m_data->m_userDataHandleLookup.remove(SharedMemoryUserDataHashKey(userData));
m_data->m_userDataHandles.freeHandle(userDataHandle);
}
m_data->m_bodyHandles.freeHandle(bodyUniqueId);
}
@@ -10561,6 +10487,9 @@ void PhysicsServerCommandProcessor::resetSimulation()
m_data->m_userCollisionShapeHandles.exitHandles();
m_data->m_userCollisionShapeHandles.initHandles();
m_data->m_userDataHandles.exitHandles();
m_data->m_userDataHandles.initHandles();
m_data->m_userDataHandleLookup.clear();
}