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Update PhysicsServerCommandProcessor and plugins to support render

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This commit is contained in:
Chuyuan Fu
2019-06-25 17:59:15 -07:00
parent 796b5667c2
commit 4da456054c
7 changed files with 149 additions and 15 deletions
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9
examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h
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@@ -14,8 +14,13 @@ struct UrdfRenderingInterface
{
virtual ~UrdfRenderingInterface() {}
///given a URDF link, convert all visual shapes into internal renderer (loading graphics meshes, textures etc)
///use the collisionObjectUid as a unique identifier to synchronize the world transform and to remove the visual shape.
virtual int convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int collisionObjectUniqueId, int bodyUniqueId, struct CommonFileIOInterface* fileIO) = 0;
///use the visualShapeUniqueId as a unique identifier to synchronize the world transform and to remove the visual shape.
virtual int convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int visualShapeUniqueId, int bodyUniqueId, struct CommonFileIOInterface* fileIO) = 0;
///Given b3VisualShapeData, add render information (texture, rgbaColor etc) to the visualShape
///and visualShape to internal renderer.
///Returns a visualShapeUniqueId as a unique identifier to synchronize the world transform and to remove the visual shape.
virtual int addVisualShape(struct b3VisualShapeData* visualShape, struct CommonFileIOInterface* fileIO) = 0;
///remove a visual shapes, based on the shape unique id (shapeUid)
virtual void removeVisualShape(int collisionObjectUid) = 0;

80
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -4660,13 +4660,12 @@ bool PhysicsServerCommandProcessor::processRequestMeshDataCommand(const struct S
const btSoftBody::Node& n = psb->m_nodes[i+ clientCmd.m_requestMeshDataArgs.m_startingVertex];
verticesOut[i] = n.m_x;
}
serverStatusOut.m_type = CMD_REQUEST_MESH_DATA_COMPLETED;
serverStatusOut.m_sendMeshDataArgs.m_numVerticesCopied = verticesCopied;
serverStatusOut.m_sendMeshDataArgs.m_startingVertex = clientCmd.m_requestMeshDataArgs.m_startingVertex;
serverStatusOut.m_sendMeshDataArgs.m_numVerticesRemaining = numVerticesRemaining - verticesCopied;
}
}
}
serverStatusOut.m_numDataStreamBytes = 0;
@@ -7450,11 +7449,35 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
int bodyUniqueId = m_data->m_bodyHandles.allocHandle();
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId);
bodyHandle->m_softBody = psb;
b3VisualShapeData visualShape;
visualShape.m_objectUniqueId = bodyUniqueId;
visualShape.m_linkIndex = -1;
visualShape.m_visualGeometryType = URDF_GEOM_MESH;
//dimensions just contains the scale
visualShape.m_dimensions[0] = scale;
visualShape.m_dimensions[1] = scale;
visualShape.m_dimensions[2] = scale;
//filename
strncpy(visualShape.m_meshAssetFileName, relativeFileName, VISUAL_SHAPE_MAX_PATH_LEN);
visualShape.m_meshAssetFileName[VISUAL_SHAPE_MAX_PATH_LEN - 1] = 0;
//position and orientation
visualShape.m_localVisualFrame[0] = initialPos[0];
visualShape.m_localVisualFrame[1] = initialPos[1];
visualShape.m_localVisualFrame[2] = initialPos[2];
visualShape.m_localVisualFrame[3] = initialOrn[0];
visualShape.m_localVisualFrame[4] = initialOrn[1];
visualShape.m_localVisualFrame[5] = initialOrn[2];
visualShape.m_localVisualFrame[6] = initialOrn[3];
m_data->m_pluginManager.getRenderInterface()->addVisualShape(&visualShape, fileIO);
serverStatusOut.m_loadSoftBodyResultArguments.m_objectUniqueId = bodyUniqueId;
serverStatusOut.m_type = CMD_LOAD_SOFT_BODY_COMPLETED;
int streamSizeInBytes = createBodyInfoStream(bodyUniqueId, bufferServerToClient, bufferSizeInBytes);
serverStatusOut.m_numDataStreamBytes = streamSizeInBytes;
int streamSizeInBytes = createBodyInfoStream(bodyUniqueId, bufferServerToClient, bufferSizeInBytes);
serverStatusOut.m_numDataStreamBytes = streamSizeInBytes;
#ifdef ENABLE_LINK_MAPPER
if (m_data->m_urdfLinkNameMapper.size())
@@ -7741,7 +7764,7 @@ bool PhysicsServerCommandProcessor::processForwardDynamicsCommand(const struct S
if (numSteps > 0)
{
addTransformChangedNotifications();
addBodyChangedNotifications();
}
SharedMemoryStatus& serverCmd = serverStatusOut;
@@ -9088,7 +9111,7 @@ bool PhysicsServerCommandProcessor::processConfigureOpenGLVisualizerCommand(cons
m_data->m_remoteSyncTransformInterval = clientCmd.m_configureOpenGLVisualizerArguments.m_remoteSyncTransformInterval;
}
return hasStatus;
}
@@ -9624,6 +9647,23 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared
bodyHandle->m_rigidBody = 0;
serverCmd.m_type = CMD_REMOVE_BODY_COMPLETED;
}
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
if (bodyHandle->m_softBody)
{
btSoftBody* psb = bodyHandle->m_softBody;
if (m_data->m_pluginManager.getRenderInterface())
{
m_data->m_pluginManager.getRenderInterface()->removeVisualShape(psb->getBroadphaseHandle()->getUid());
}
serverCmd.m_removeObjectArgs.m_bodyUniqueIds[serverCmd.m_removeObjectArgs.m_numBodies++] = bodyUniqueId;
m_data->m_dynamicsWorld->removeSoftBody(psb);
int graphicsInstance = psb->getUserIndex2();
m_data->m_guiHelper->removeGraphicsInstance(graphicsInstance);
delete psb;
psb = 0;
serverCmd.m_type = CMD_REMOVE_BODY_COMPLETED;
}
#endif
for (int i = 0; i < bodyHandle->m_userDataHandles.size(); i++)
{
int userDataHandle = bodyHandle->m_userDataHandles[i];
@@ -11410,7 +11450,6 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
hasStatus = processRequestCollisionInfoCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_REQUEST_ACTUAL_STATE:
{
hasStatus = processRequestActualStateCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
@@ -11992,7 +12031,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec, const
gNumSteps = numSteps;
gDtInSec = dtInSec;
addTransformChangedNotifications();
addBodyChangedNotifications();
}
}
}
@@ -12021,7 +12060,18 @@ b3Notification createTransformChangedNotification(int bodyUniqueId, int linkInde
return notification;
}
void PhysicsServerCommandProcessor::addTransformChangedNotifications()
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
b3Notification createSoftBodyChangedNotification(int bodyUniqueId, int linkIndex, const btSoftBody* psb)
{
b3Notification notification;
notification.m_notificationType = SOFTBODY_CHANGED;
notification.m_softBodyChangeArgs.m_bodyUniqueId = bodyUniqueId;
notification.m_softBodyChangeArgs.m_linkIndex = linkIndex;
return notification;
}
#endif
void PhysicsServerCommandProcessor::addBodyChangedNotifications()
{
b3Notification notification;
notification.m_notificationType = SIMULATION_STEPPED;
@@ -12056,6 +12106,14 @@ void PhysicsServerCommandProcessor::addTransformChangedNotifications()
{
m_data->m_pluginManager.addNotification(createTransformChangedNotification(bodyUniqueId, -1, bodyData->m_rigidBody));
}
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
else if (bodyData->m_softBody)
{
btSoftBody* psb = bodyData->m_softBody;
int linkIndex = -1;
m_data->m_pluginManager.addNotification(createSoftBodyChangedNotification(bodyUniqueId, linkIndex, psb));
}
#endif
}
}
@@ -12063,7 +12121,7 @@ void PhysicsServerCommandProcessor::resetSimulation()
{
//clean up all data
m_data->m_remoteSyncTransformTime = m_data->m_remoteSyncTransformInterval;
m_data->m_simulationTimestamp = 0;
m_data->m_cachedVUrdfisualShapes.clear();

2
examples/SharedMemory/PhysicsServerCommandProcessor.h
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@@ -175,7 +175,7 @@ public:
virtual void setVRTeleportOrientation(const btQuaternion& vrTeleportOrn);
private:
void addTransformChangedNotifications();
void addBodyChangedNotifications();
};
#endif //PHYSICS_SERVER_COMMAND_PROCESSOR_H

11
examples/SharedMemory/SharedMemoryPublic.h
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@@ -7,7 +7,8 @@
//Please don't replace an existing magic number:
//instead, only ADD a new one at the top, comment-out previous one
#define SHARED_MEMORY_MAGIC_NUMBER 201904030
#define SHARED_MEMORY_MAGIC_NUMBER 2019060190
// #define SHARED_MEMORY_MAGIC_NUMBER 201904030
//#define SHARED_MEMORY_MAGIC_NUMBER 201902120
//#define SHARED_MEMORY_MAGIC_NUMBER 201811260
//#define SHARED_MEMORY_MAGIC_NUMBER 201810250
@@ -548,6 +549,7 @@ enum b3NotificationType
VISUAL_SHAPE_CHANGED = 6,
TRANSFORM_CHANGED = 7,
SIMULATION_STEPPED = 8,
SOFTBODY_CHANGED = 9,
};
struct b3BodyNotificationArgs
@@ -586,6 +588,12 @@ struct b3TransformChangeNotificationArgs
double m_localScaling[3];
};
struct b3SoftBodyChangeNotificationArgs
{
int m_bodyUniqueId;
int m_linkIndex;
};
struct b3Notification
{
int m_notificationType;
@@ -595,6 +603,7 @@ struct b3Notification
struct b3LinkNotificationArgs m_linkArgs;
struct b3VisualShapeNotificationArgs m_visualShapeArgs;
struct b3TransformChangeNotificationArgs m_transformChangeArgs;
struct b3SoftBodyChangeNotificationArgs m_softBodyChangeArgs;
};
};

2
examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.h
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@@ -17,6 +17,8 @@ struct EGLRendererVisualShapeConverter : public UrdfRenderingInterface
virtual int getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData);
virtual int addVisualShape(b3VisualShapeData* visualShape, struct CommonFileIOInterface* fileIO) { return -1; }
virtual void changeRGBAColor(int bodyUniqueId, int linkIndex, int shapeIndex, const double rgbaColor[4]);
virtual void changeShapeTexture(int objectUniqueId, int linkIndex, int shapeIndex, int textureUniqueId);

58
examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
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@@ -828,6 +828,64 @@ int TinyRendererVisualShapeConverter::convertVisualShapes(
return uniqueId;
}
int TinyRendererVisualShapeConverter::addVisualShape(
b3VisualShapeData* visualShape, struct CommonFileIOInterface* fileIO)
{
int uniqueId = m_data->m_uidGenerator++;
visualShape->m_openglTextureId = -1;
visualShape->m_tinyRendererTextureId = -1;
visualShape->m_textureUniqueId = -1;
b3ImportMeshData meshData;
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(
visualShape->m_meshAssetFileName, meshData, fileIO))
{
if (m_data->m_flags & URDF_USE_MATERIAL_COLORS_FROM_MTL)
{
if (meshData.m_flags & B3_IMPORT_MESH_HAS_RGBA_COLOR)
{
visualShape->m_rgbaColor[0] = meshData.m_rgbaColor[0];
visualShape->m_rgbaColor[1] = meshData.m_rgbaColor[1];
visualShape->m_rgbaColor[2] = meshData.m_rgbaColor[2];
if (m_data->m_flags & URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL)
{
visualShape->m_rgbaColor[3] = meshData.m_rgbaColor[3];
}
else
{
visualShape->m_rgbaColor[3] = 1;
}
}
}
MyTexture2 texture;
if (meshData.m_textureImage1)
{
texture.m_width = meshData.m_textureWidth;
texture.m_height = meshData.m_textureHeight;
texture.textureData1 = meshData.m_textureImage1;
texture.m_isCached = meshData.m_isCached;
visualShape->m_tinyRendererTextureId = m_data->m_textures.size();
m_data->m_textures.push_back(texture);
}
// meshData.m_gfxShape is allocated by a helper function used to create visualShape,
// but is not needed in this use case here
delete meshData.m_gfxShape;
}
btAlignedObjectArray<b3VisualShapeData>* shapes =
m_data->m_visualShapesMap[visualShape->m_objectUniqueId];
if (!shapes)
{
m_data->m_visualShapesMap.insert(visualShape->m_objectUniqueId,
btAlignedObjectArray<b3VisualShapeData>());
shapes = m_data->m_visualShapesMap[visualShape->m_objectUniqueId];
}
shapes->push_back(*visualShape);
return uniqueId;
}
int TinyRendererVisualShapeConverter::getNumVisualShapes(int bodyUniqueId)
{
btAlignedObjectArray<b3VisualShapeData>* shapes = m_data->m_visualShapesMap[bodyUniqueId];

2
examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h
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@@ -13,6 +13,8 @@ struct TinyRendererVisualShapeConverter : public UrdfRenderingInterface
virtual int convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int unused, int bodyUniqueId, struct CommonFileIOInterface* fileIO);
virtual int addVisualShape(struct b3VisualShapeData* visualShape, struct CommonFileIOInterface* fileIO);
virtual int getNumVisualShapes(int bodyUniqueId);
virtual int getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData);