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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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56
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -762,12 +762,7 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
createJointMotors(mb);
//serialize the btMultiBody and send the data to the client. This is one way to get the link/joint names across the (shared memory) wire
UrdfLinkNameMapUtil* util2 = new UrdfLinkNameMapUtil;
m_data->m_urdfLinkNameMapper.push_back(util2);
util2->m_mb = mb;
util2->m_memSerializer = 0;
//disable serialization of the collision objects (they are too big, and the client likely doesn't need them);
bodyHandle->m_linkLocalInertialFrames.reserve(mb->getNumLinks());
@@ -963,7 +958,44 @@ void PhysicsServerCommandProcessor::replayLogCommand(char* bufferServerToClient,
}
}
int PhysicsServerCommandProcessor::createBodyInfoStream(int bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes)
{
int streamSizeInBytes = 0;
//serialize the btMultiBody and send the data to the client. This is one way to get the link/joint names across the (shared memory) wire
InternalBodyHandle* bodyHandle = m_data->getHandle(bodyUniqueId);
btMultiBody* mb = bodyHandle->m_multiBody;
if (mb)
{
UrdfLinkNameMapUtil* util = new UrdfLinkNameMapUtil;
m_data->m_urdfLinkNameMapper.push_back(util);
util->m_mb = mb;
util->m_memSerializer = new btDefaultSerializer(bufferSizeInBytes ,(unsigned char*)bufferServerToClient);
//disable serialization of the collision objects (they are too big, and the client likely doesn't need them);
util->m_memSerializer->m_skipPointers.insert(mb->getBaseCollider(),0);
bodyHandle->m_linkLocalInertialFrames.reserve(mb->getNumLinks());
for (int i=0;i<mb->getNumLinks();i++)
{
//disable serialization of the collision objects
util->m_memSerializer->m_skipPointers.insert(mb->getLink(i).m_collider,0);
util->m_memSerializer->registerNameForPointer(mb->getLink(i).m_linkName,mb->getLink(i).m_linkName);
util->m_memSerializer->registerNameForPointer(mb->getLink(i).m_jointName,mb->getLink(i).m_jointName);
}
util->m_memSerializer->registerNameForPointer(mb->getBaseName(),mb->getBaseName());
util->m_memSerializer->insertHeader();
int len = mb->calculateSerializeBufferSize();
btChunk* chunk = util->m_memSerializer->allocate(len,1);
const char* structType = mb->serialize(chunk->m_oldPtr, util->m_memSerializer);
util->m_memSerializer->finalizeChunk(chunk,structType,BT_MULTIBODY_CODE,mb);
streamSizeInBytes = util->m_memSerializer->getCurrentBufferSize();
}
return streamSizeInBytes;
}
bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes )
{
@@ -1171,6 +1203,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
break;
}
case CMD_REQUEST_BODY_INFO:
{
const SdfRequestInfoArgs& sdfInfoArgs = clientCmd.m_sdfRequestInfoArgs;
//stream info into memory
int streamSizeInBytes = createBodyInfoStream(sdfInfoArgs.m_bodyUniqueId, bufferServerToClient, bufferSizeInBytes);
serverStatusOut.m_type = CMD_BODY_INFO_COMPLETED;
serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = sdfInfoArgs.m_bodyUniqueId;
serverStatusOut.m_dataStreamArguments.m_streamChunkLength = streamSizeInBytes;
hasStatus = true;
break;
}
case CMD_LOAD_SDF:
{
const SdfArgs& sdfArgs = clientCmd.m_sdfArguments;