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work-in-progress send object/joint information after loading SDF file

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This commit is contained in:
Erwin Coumans
2016-06-14 18:41:19 -07:00
parent 566ed87c93
commit 456c844a6b
8 changed files with 169 additions and 46 deletions
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102
examples/SharedMemory/PhysicsDirect.cpp
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@@ -248,6 +248,47 @@ bool PhysicsDirect::processCamera(const struct SharedMemoryCommand& orgCommand)
}
void PhysicsDirect::processBodyJointInfo(int bodyUniqueId, const SharedMemoryStatus& serverCmd)
{
bParse::btBulletFile bf(
&m_data->m_bulletStreamDataServerToClient[0],
serverCmd.m_dataStreamArguments.m_streamChunkLength);
bf.setFileDNAisMemoryDNA();
bf.parse(false);
BodyJointInfoCache2* bodyJoints = new BodyJointInfoCache2;
m_data->m_bodyJointMap.insert(bodyUniqueId,bodyJoints);
for (int i = 0; i < bf.m_multiBodies.size(); i++)
{
int flag = bf.getFlags();
if ((flag & bParse::FD_DOUBLE_PRECISION) != 0)
{
Bullet::btMultiBodyDoubleData* mb =
(Bullet::btMultiBodyDoubleData*)bf.m_multiBodies[i];
addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
} else
{
Bullet::btMultiBodyFloatData* mb =
(Bullet::btMultiBodyFloatData*)bf.m_multiBodies[i];
addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
}
}
if (bf.ok()) {
if (m_data->m_verboseOutput)
{
b3Printf("Received robot description ok!\n");
}
} else
{
b3Warning("Robot description not received");
}
}
bool PhysicsDirect::submitClientCommand(const struct SharedMemoryCommand& command)
{
if (command.m_type==CMD_REQUEST_DEBUG_LINES)
@@ -296,46 +337,35 @@ bool PhysicsDirect::submitClientCommand(const struct SharedMemoryCommand& comman
break;
}
case CMD_SDF_LOADING_COMPLETED:
{
//we'll stream further info from the physics server
//so serverCmd will be invalid, make a copy
int numBodies = serverCmd.m_sdfLoadedArgs.m_numBodies;
for (int i=0;i<numBodies;i++)
{
int bodyUniqueId = serverCmd.m_sdfLoadedArgs.m_bodyUniqueIds[i];
SharedMemoryCommand infoRequestCommand;
infoRequestCommand.m_type = CMD_REQUEST_BODY_INFO;
infoRequestCommand.m_sdfRequestInfoArgs.m_bodyUniqueId = bodyUniqueId;
SharedMemoryStatus infoStatus;
bool hasStatus = m_data->m_commandProcessor->processCommand(infoRequestCommand,infoStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
if (hasStatus)
{
processBodyJointInfo(bodyUniqueId, infoStatus);
}
}
break;
}
case CMD_URDF_LOADING_COMPLETED:
{
if (serverCmd.m_dataStreamArguments.m_streamChunkLength > 0)
{
bParse::btBulletFile bf(
&m_data->m_bulletStreamDataServerToClient[0],
serverCmd.m_dataStreamArguments.m_streamChunkLength);
bf.setFileDNAisMemoryDNA();
bf.parse(false);
int bodyIndex = serverCmd.m_dataStreamArguments.m_bodyUniqueId;
BodyJointInfoCache2* bodyJoints = new BodyJointInfoCache2;
m_data->m_bodyJointMap.insert(bodyIndex,bodyJoints);
for (int i = 0; i < bf.m_multiBodies.size(); i++)
{
int flag = bf.getFlags();
if ((flag & bParse::FD_DOUBLE_PRECISION) != 0)
{
Bullet::btMultiBodyDoubleData* mb =
(Bullet::btMultiBodyDoubleData*)bf.m_multiBodies[i];
addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
} else
{
Bullet::btMultiBodyFloatData* mb =
(Bullet::btMultiBodyFloatData*)bf.m_multiBodies[i];
addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
}
}
if (bf.ok()) {
if (m_data->m_verboseOutput)
{
b3Printf("Received robot description ok!\n");
}
} else
{
b3Warning("Robot description not received");
}
int bodyIndex = serverCmd.m_dataStreamArguments.m_bodyUniqueId;
processBodyJointInfo(bodyIndex,serverCmd);
}
break;
}