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print better error warning, in case the physics client/server version mismatch.

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fix in b3HashString
remove many unused dependencies from kuka_grasp_block_playback.py (time,math, datetime ,numpy,pylab ,sys, os, fnmatch,argparse were not used!)
move block_grasp_log.bin from Bullet3/data to Bullet3/examples/pybullet/examples/data folder.
PhysicsServerCommandProcessor, derive from CommandProcessorInterface to prepare for different back-end implementation
This commit is contained in:
erwincoumans
2017-05-28 17:05:18 -07:00
parent c36792c950
commit 5436b8f048
10 changed files with 59 additions and 36 deletions
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25
examples/SharedMemory/PhysicsCommandProcessorInterface.h
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@@ -1,7 +1,7 @@
#ifndef PHYSICS_COMMAND_PROCESSOR_INTERFACE_H #ifndef PHYSICS_COMMAND_PROCESSOR_INTERFACE_H
#define PHYSICS_COMMAND_PROCESSOR_INTERFACE_H #define PHYSICS_COMMAND_PROCESSOR_INTERFACE_H
enum PhysicsCOmmandRenderFlags enum PhysicsCommandRenderFlags
{ {
COV_DISABLE_SYNC_RENDERING=1 COV_DISABLE_SYNC_RENDERING=1
}; };
@@ -29,4 +29,27 @@ public:
}; };
class btVector3;
class CommandProcessorInterface : public PhysicsCommandProcessorInterface
{
public:
virtual ~CommandProcessorInterface(){}
virtual void syncPhysicsToGraphics()=0;
virtual void stepSimulationRealTime(double dtInSec,const struct b3VRControllerEvent* vrEvents, int numVREvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents)=0;
virtual void enableRealTimeSimulation(bool enableRealTimeSim)=0;
virtual void enableCommandLogging(bool enable, const char* fileName)=0;
virtual void replayFromLogFile(const char* fileName)=0;
virtual void replayLogCommand(char* bufferServerToClient, int bufferSizeInBytes )=0;
virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)=0;
virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)=0;
virtual void removePickingConstraint()=0;
};
#endif //PHYSICS_COMMAND_PROCESSOR_INTERFACE_H #endif //PHYSICS_COMMAND_PROCESSOR_INTERFACE_H

14
examples/SharedMemory/PhysicsServer.h
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@@ -25,18 +25,18 @@ public:
//@todo(erwincoumans) Should we have shared memory commands for picking objects? //@todo(erwincoumans) Should we have shared memory commands for picking objects?
///The pickBody method will try to pick the first body along a ray, return true if succeeds, false otherwise ///The pickBody method will try to pick the first body along a ray, return true if succeeds, false otherwise
virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)=0; virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld){return false;}
virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)=0; virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld){return false;}
virtual void removePickingConstraint()=0; virtual void removePickingConstraint(){}
//for physicsDebugDraw and renderScene are mainly for debugging purposes //for physicsDebugDraw and renderScene are mainly for debugging purposes
//and for physics visualization. The idea is that physicsDebugDraw can also send wireframe //and for physics visualization. The idea is that physicsDebugDraw can also send wireframe
//to a physics client, over shared memory //to a physics client, over shared memory
virtual void physicsDebugDraw(int debugDrawFlags)=0; virtual void physicsDebugDraw(int debugDrawFlags){}
virtual void renderScene(int renderFlags)=0; virtual void renderScene(int renderFlags){}
virtual void enableCommandLogging(bool enable, const char* fileName)=0; virtual void enableCommandLogging(bool enable, const char* fileName){}
virtual void replayFromLogFile(const char* fileName)=0; virtual void replayFromLogFile(const char* fileName){}
}; };

12
examples/SharedMemory/PhysicsServerCommandProcessor.h
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@@ -15,7 +15,7 @@ struct SharedMemLines
///todo: naming. Perhaps PhysicsSdkCommandprocessor? ///todo: naming. Perhaps PhysicsSdkCommandprocessor?
class PhysicsServerCommandProcessor : public PhysicsCommandProcessorInterface class PhysicsServerCommandProcessor : public CommandProcessorInterface
{ {
struct PhysicsServerCommandProcessorInternalData* m_data; struct PhysicsServerCommandProcessorInternalData* m_data;
@@ -91,16 +91,16 @@ public:
virtual void removePickingConstraint(); virtual void removePickingConstraint();
//logging /playback the shared memory commands //logging /playback the shared memory commands
void enableCommandLogging(bool enable, const char* fileName); virtual void enableCommandLogging(bool enable, const char* fileName);
void replayFromLogFile(const char* fileName); virtual void replayFromLogFile(const char* fileName);
void replayLogCommand(char* bufferServerToClient, int bufferSizeInBytes ); virtual void replayLogCommand(char* bufferServerToClient, int bufferSizeInBytes );
//logging of object states (position etc) //logging of object states (position etc)
void logObjectStates(btScalar timeStep); void logObjectStates(btScalar timeStep);
void processCollisionForces(btScalar timeStep); void processCollisionForces(btScalar timeStep);
void stepSimulationRealTime(double dtInSec, const struct b3VRControllerEvent* vrEvents, int numVREvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents); virtual void stepSimulationRealTime(double dtInSec, const struct b3VRControllerEvent* vrEvents, int numVREvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents);
void enableRealTimeSimulation(bool enableRealTimeSim); virtual void enableRealTimeSimulation(bool enableRealTimeSim);
void applyJointDamping(int bodyUniqueId); void applyJointDamping(int bodyUniqueId);
virtual void setTimeOut(double timeOutInSeconds); virtual void setTimeOut(double timeOutInSeconds);

10
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -600,7 +600,7 @@ struct ColorWidth
ATTRIBUTE_ALIGNED16( class )MultithreadedDebugDrawer : public btIDebugDraw ATTRIBUTE_ALIGNED16( class )MultithreadedDebugDrawer : public btIDebugDraw
{ {
class GUIHelperInterface* m_guiHelper; struct GUIHelperInterface* m_guiHelper;
int m_debugMode; int m_debugMode;
btAlignedObjectArray< btAlignedObjectArray<unsigned int> > m_sortedIndices; btAlignedObjectArray< btAlignedObjectArray<unsigned int> > m_sortedIndices;
@@ -1776,22 +1776,22 @@ void PhysicsServerExample::updateGraphics()
if (flag==COV_ENABLE_VR_TELEPORTING) if (flag==COV_ENABLE_VR_TELEPORTING)
{ {
gEnableTeleporting = enable; gEnableTeleporting = (enable!=0);
} }
if (flag == COV_ENABLE_VR_PICKING) if (flag == COV_ENABLE_VR_PICKING)
{ {
gEnablePicking = enable; gEnablePicking = (enable!=0);
} }
if (flag ==COV_ENABLE_SYNC_RENDERING_INTERNAL) if (flag ==COV_ENABLE_SYNC_RENDERING_INTERNAL)
{ {
gEnableSyncPhysicsRendering = enable; gEnableSyncPhysicsRendering = (enable!=0);
} }
if (flag == COV_ENABLE_RENDERING) if (flag == COV_ENABLE_RENDERING)
{ {
gEnableRendering = enable; gEnableRendering = (enable!=0);
} }
m_multiThreadedHelper->m_childGuiHelper->setVisualizerFlag(m_multiThreadedHelper->m_visualizerFlag,m_multiThreadedHelper->m_visualizerEnable); m_multiThreadedHelper->m_childGuiHelper->setVisualizerFlag(m_multiThreadedHelper->m_visualizerFlag,m_multiThreadedHelper->m_visualizerEnable);

9
examples/SharedMemory/PhysicsServerSharedMemory.cpp
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@@ -30,7 +30,7 @@ struct PhysicsServerSharedMemoryInternalData
int m_sharedMemoryKey; int m_sharedMemoryKey;
bool m_areConnected[MAX_SHARED_MEMORY_BLOCKS]; bool m_areConnected[MAX_SHARED_MEMORY_BLOCKS];
bool m_verboseOutput; bool m_verboseOutput;
PhysicsServerCommandProcessor* m_commandProcessor; CommandProcessorInterface* m_commandProcessor;
PhysicsServerSharedMemoryInternalData() PhysicsServerSharedMemoryInternalData()
:m_sharedMemory(0), :m_sharedMemory(0),
@@ -89,7 +89,7 @@ PhysicsServerSharedMemory::PhysicsServerSharedMemory(SharedMemoryInterface* shar
PhysicsServerSharedMemory::~PhysicsServerSharedMemory() PhysicsServerSharedMemory::~PhysicsServerSharedMemory()
{ {
m_data->m_commandProcessor->deleteDynamicsWorld(); //m_data->m_commandProcessor->deleteDynamicsWorld();
delete m_data->m_commandProcessor; delete m_data->m_commandProcessor;
if (m_data->m_sharedMemory) if (m_data->m_sharedMemory)
@@ -109,11 +109,12 @@ PhysicsServerSharedMemory::~PhysicsServerSharedMemory()
delete m_data; delete m_data;
} }
void PhysicsServerSharedMemory::resetDynamicsWorld() /*void PhysicsServerSharedMemory::resetDynamicsWorld()
{ {
m_data->m_commandProcessor->deleteDynamicsWorld(); m_data->m_commandProcessor->deleteDynamicsWorld();
m_data->m_commandProcessor ->createEmptyDynamicsWorld(); m_data->m_commandProcessor ->createEmptyDynamicsWorld();
} }
*/
void PhysicsServerSharedMemory::setSharedMemoryKey(int key) void PhysicsServerSharedMemory::setSharedMemoryKey(int key)
{ {
m_data->m_sharedMemoryKey = key; m_data->m_sharedMemoryKey = key;
@@ -188,7 +189,7 @@ bool PhysicsServerSharedMemory::connectSharedMemory( struct GUIHelperInterface*
void PhysicsServerSharedMemory::disconnectSharedMemory(bool deInitializeSharedMemory) void PhysicsServerSharedMemory::disconnectSharedMemory(bool deInitializeSharedMemory)
{ {
m_data->m_commandProcessor->deleteDynamicsWorld(); //m_data->m_commandProcessor->deleteDynamicsWorld();
m_data->m_commandProcessor->setGuiHelper(0); m_data->m_commandProcessor->setGuiHelper(0);

1
examples/SharedMemory/PhysicsServerSharedMemory.h
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@@ -48,7 +48,6 @@ public:
void enableCommandLogging(bool enable, const char* fileName); void enableCommandLogging(bool enable, const char* fileName);
void replayFromLogFile(const char* fileName); void replayFromLogFile(const char* fileName);
void resetDynamicsWorld();
}; };

10
examples/SharedMemory/SharedMemoryCommandProcessor.cpp
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@@ -73,7 +73,15 @@ bool SharedMemoryCommandProcessor::connect()
if (m_data->m_testBlock1) { if (m_data->m_testBlock1) {
if (m_data->m_testBlock1->m_magicId != SHARED_MEMORY_MAGIC_NUMBER) { if (m_data->m_testBlock1->m_magicId != SHARED_MEMORY_MAGIC_NUMBER) {
b3Error("Error: please start server before client\n");
if ((m_data->m_testBlock1->m_magicId < 211705023) &&
(m_data->m_testBlock1->m_magicId >=201705023))
{
b3Error("Error: physics server version mismatch (expected %d got %d)\n",SHARED_MEMORY_MAGIC_NUMBER, m_data->m_testBlock1->m_magicId);
} else
{
b3Error("Error connecting to shared memory: please start server before client\n");
}
m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey, m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey,
SHARED_MEMORY_SIZE); SHARED_MEMORY_SIZE);
m_data->m_testBlock1 = 0; m_data->m_testBlock1 = 0;

0
data/block_grasp_log.bin → examples/pybullet/examples/data/block_grasp_log.bin
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10
examples/pybullet/examples/kuka_grasp_block_playback.py
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@@ -1,14 +1,6 @@
import pybullet as p import pybullet as p
import time
import math
from datetime import datetime
from numpy import *
from pylab import *
import struct import struct
import sys
import os, fnmatch
import argparse
from time import sleep
def readLogFile(filename, verbose = True): def readLogFile(filename, verbose = True):
f = open(filename, 'rb') f = open(filename, 'rb')

4
src/Bullet3Common/b3HashMap.h
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@@ -44,8 +44,8 @@ struct b3HashString
/* Fowler / Noll / Vo (FNV) Hash */ /* Fowler / Noll / Vo (FNV) Hash */
unsigned int hash = InitialFNV; unsigned int hash = InitialFNV;
int len = m_string.length();
for(int i = 0; m_string[i]; i++) for(int i = 0; i<len; i++)
{ {
hash = hash ^ (m_string[i]); /* xor the low 8 bits */ hash = hash ^ (m_string[i]); /* xor the low 8 bits */
hash = hash * FNVMultiple; /* multiply by the magic number */ hash = hash * FNVMultiple; /* multiply by the magic number */