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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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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();