From 7503418c72f0afc5a4180ea28055bf744999895a Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Sun, 26 Mar 2017 13:06:46 -0700 Subject: [PATCH] Split Bullet/src/LinearMath/btSerializer.cpp into btSerializer64.cpp to make it easier to rebuild serialization structure. Add several MSVC optimization flags to cmake. Bump up VERSION because serialization format changed Expose btScalar& jointMaxForce, btScalar& jointMaxVelocity to 'getJointInfo2' API, add backwards compatibility to examples\Importers\ImportURDFDemo\URDFImporterInterface::getJointInfo. pybullet: expose 4 more fields to getJointInfo: jointLowerLimit/jointUpperLimit/jointMaxForce/jointMaxVelocity fix performance issue in CMD_ACTUAL_STATE_UPDATE_COMPLETED --- CMakeLists.txt | 32 + .../BulletFileLoader/autogenerated/bullet.h | 8 + Extras/Serialize/HeaderGenerator/apiGen.cpp | 16 +- .../HeaderGenerator/bulletGenerate.py | 3 + Extras/Serialize/makesdna/CMakeLists.txt | 28 +- VERSION | 2 +- .../ImportMJCFDemo/BulletMJCFImporter.cpp | 18 +- .../ImportMJCFDemo/BulletMJCFImporter.h | 3 +- .../ImportURDFDemo/BulletUrdfImporter.cpp | 15 +- .../ImportURDFDemo/BulletUrdfImporter.h | 3 +- .../Importers/ImportURDFDemo/URDF2Bullet.cpp | 9 +- .../ImportURDFDemo/URDFImporterInterface.h | 8 + examples/RobotSimulator/CMakeLists.txt | 7 + examples/SharedMemory/BodyJointInfoUtility.h | 6 +- examples/SharedMemory/PhysicsClientC_API.cpp | 31 +- examples/SharedMemory/PhysicsClientC_API.h | 2 + .../PhysicsClientSharedMemory.cpp | 169 ++- .../PhysicsServerCommandProcessor.cpp | 135 +- .../SharedMemory/PhysicsServerExample.cpp | 33 +- .../PhysicsServerSharedMemory.cpp | 1 + examples/SharedMemory/SharedMemoryCommands.h | 1 + .../SharedMemoryInProcessPhysicsC_API.cpp | 39 +- examples/SharedMemory/SharedMemoryPublic.h | 23 +- examples/pybullet/pybullet.c | 52 +- .../Featherstone/btMultiBody.cpp | 4 + src/BulletDynamics/Featherstone/btMultiBody.h | 12 +- .../Featherstone/btMultiBodyLink.h | 12 +- src/LinearMath/CMakeLists.txt | 1 + src/LinearMath/btScalar.h | 2 +- src/LinearMath/btSerializer.cpp | 1160 ++++------------- src/LinearMath/btSerializer.h | 4 +- src/LinearMath/btSerializer64.cpp | 599 +++++++++ 32 files changed, 1412 insertions(+), 1026 deletions(-) create mode 100644 src/LinearMath/btSerializer64.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt index cca0c797d..9c2d5fa0a 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -107,6 +107,38 @@ IF(MSVC) SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /fp:fast") ENDIF() + OPTION(USE_MSVC_STRING_POOLING "Use MSVC /GF string pooling option" ON) + IF (USE_MSVC_STRING_POOLING) + SET(CMAKE_C_FLAGS "/GF ${CMAKE_C_FLAGS}") + SET(CMAKE_CXX_FLAGS "/GF ${CMAKE_CXX_FLAGS}") + ENDIF() + + OPTION(USE_MSVC_FUNCTION_LEVEL_LINKING "Use MSVC /Gy function level linking option" ON) + IF(USE_MSVC_FUNCTION_LEVEL_LINKING) + SET(CMAKE_C_FLAGS "/Gy ${CMAKE_C_FLAGS}") + SET(CMAKE_CXX_FLAGS "/Gy ${CMAKE_CXX_FLAGS}") + set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} /OPT:REF") + set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /OPT:REF") + ENDIF(USE_MSVC_FUNCTION_LEVEL_LINKING) + + OPTION(USE_MSVC_EXEPTIONS "Use MSVC C++ exceptions option" OFF) + + + + OPTION(USE_MSVC_COMDAT_FOLDING "Use MSVC /OPT:ICF COMDAT folding option" ON) + + IF(USE_MSVC_COMDAT_FOLDING) + set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} /OPT:ICF") + set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /OPT:ICF") + ENDIF() + + OPTION(USE_MSVC_DISABLE_RTTI "Use MSVC /GR- disabled RTTI flags option" ON) + IF(USE_MSVC_DISABLE_RTTI) + STRING(REGEX REPLACE "/GR" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS}) # Disable RTTI + SET(CMAKE_C_FLAGS "/GR- ${CMAKE_C_FLAGS}") + SET(CMAKE_CXX_FLAGS "/GR- ${CMAKE_CXX_FLAGS}") + ENDIF(USE_MSVC_DISABLE_RTTI) + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4244 /wd4267") ENDIF(MSVC) diff --git a/Extras/Serialize/BulletFileLoader/autogenerated/bullet.h b/Extras/Serialize/BulletFileLoader/autogenerated/bullet.h index 2e2e8e322..a4e4599be 100644 --- a/Extras/Serialize/BulletFileLoader/autogenerated/bullet.h +++ b/Extras/Serialize/BulletFileLoader/autogenerated/bullet.h @@ -1368,6 +1368,10 @@ typedef struct bInvalidHandle { double m_jointTorque[6]; double m_jointDamping; double m_jointFriction; + double m_jointLowerLimit; + double m_jointUpperLimit; + double m_jointMaxForce; + double m_jointMaxVelocity; char *m_linkName; char *m_jointName; btCollisionObjectDoubleData *m_linkCollider; @@ -1395,6 +1399,10 @@ typedef struct bInvalidHandle { int m_posVarCount; float m_jointDamping; float m_jointFriction; + float m_jointLowerLimit; + float m_jointUpperLimit; + float m_jointMaxForce; + float m_jointMaxVelocity; char *m_linkName; char *m_jointName; btCollisionObjectFloatData *m_linkCollider; diff --git a/Extras/Serialize/HeaderGenerator/apiGen.cpp b/Extras/Serialize/HeaderGenerator/apiGen.cpp index 16c643e5d..2c4c76327 100644 --- a/Extras/Serialize/HeaderGenerator/apiGen.cpp +++ b/Extras/Serialize/HeaderGenerator/apiGen.cpp @@ -20,12 +20,13 @@ #include "bDNA.h" #include "bBlenderFile.h" #include "btBulletFile.h" +#include "LinearMath/btSerializer.h" #include "bCommon.h" #include #include #include -bool isBulletFile = false; +bool isBulletFile = true; using namespace bParse; typedef std::string bString; @@ -216,10 +217,12 @@ int main(int argc,char** argv) using namespace bParse; dump = fopen("dump.py", "w"); + if (!dump) return 0; fprintf(dump, "%s\n", data); - + +#if 0 char* filename = "../../../../data/r2d2_multibody.bullet"; if (argc==2) @@ -269,9 +272,12 @@ int main(int argc,char** argv) bBlenderFile f(memBuf,len); swap = (f.getFlags() & FD_ENDIAN_SWAP)!=0; } - - - +#else + isBulletFile = true; + bool swap = false; + char* memBuf = sBulletDNAstr; + int len = sBulletDNAlen; +#endif char *blenderData = memBuf; diff --git a/Extras/Serialize/HeaderGenerator/bulletGenerate.py b/Extras/Serialize/HeaderGenerator/bulletGenerate.py index 6d30ae0d2..90d616c56 100644 --- a/Extras/Serialize/HeaderGenerator/bulletGenerate.py +++ b/Extras/Serialize/HeaderGenerator/bulletGenerate.py @@ -1,6 +1,9 @@ +import sys +sys.path.append(".") import dump + header = """/* Copyright (C) 2011 Erwin Coumans & Charlie C * * This software is provided 'as-is', without any express or implied diff --git a/Extras/Serialize/makesdna/CMakeLists.txt b/Extras/Serialize/makesdna/CMakeLists.txt index 04fcdfc7f..3157b0ff4 100644 --- a/Extras/Serialize/makesdna/CMakeLists.txt +++ b/Extras/Serialize/makesdna/CMakeLists.txt @@ -23,15 +23,29 @@ SET (INC_FILES SET(SRC makesdna.cpp) ADD_EXECUTABLE(makesdna ${SRC} ${INC_FILES}) -# Output BulletDNA.c -ADD_CUSTOM_COMMAND( - OUTPUT ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer.cpp - COMMAND ${CMAKE_CFG_INTDIR}/makesdna ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer.cpp ${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/CommonSerialize/ - DEPENDS makesdna -) +IF (CMAKE_CL_64) + # Output BulletDNA.c + ADD_CUSTOM_COMMAND( + OUTPUT ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer64.cpp + COMMAND ${CMAKE_CFG_INTDIR}/makesdna ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer64.cpp ${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/CommonSerialize/ + DEPENDS makesdna + ) +SET(SRC ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer64.cpp) + +ELSE() + # Output BulletDNA.c + ADD_CUSTOM_COMMAND( + OUTPUT ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer.cpp + COMMAND ${CMAKE_CFG_INTDIR}/makesdna ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer.cpp ${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/CommonSerialize/ + DEPENDS makesdna + ) +SET(SRC ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer.cpp) + +ENDIF() # Build bf_dna library -SET(SRC ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer.cpp) + + ADD_LIBRARY(BulletDNA ${SRC} ${INC_FILES}) MESSAGE(STATUS "Configuring makesdna") diff --git a/VERSION b/VERSION index 0104e57c4..3274853c8 100644 --- a/VERSION +++ b/VERSION @@ -1 +1 @@ -2.86 +2.87 diff --git a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp index 17f77631c..78c2745da 100644 --- a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp +++ b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp @@ -1398,12 +1398,14 @@ void BulletMJCFImporter::getLinkChildIndices(int urdfLinkIndex, btAlignedObjectA } } -bool BulletMJCFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const +bool BulletMJCFImporter::getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const { - jointLowerLimit = 0.f; + jointLowerLimit = 0.f; jointUpperLimit = 0.f; jointDamping = 0.f; jointFriction = 0.f; + jointMaxForce = 0; + jointMaxVelocity = 0; const UrdfLink* link = m_data->getLink(m_data->m_activeModel,urdfLinkIndex); if (link) @@ -1421,7 +1423,9 @@ bool BulletMJCFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joi jointUpperLimit = pj->m_upperLimit; jointDamping = pj->m_jointDamping; jointFriction = pj->m_jointFriction; - + jointMaxForce = pj->m_effortLimit; + jointMaxVelocity = pj->m_velocityLimit; + return true; } else { @@ -1432,6 +1436,14 @@ bool BulletMJCFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joi return false; } + +bool BulletMJCFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const +{ + //backwards compatibility for custom file importers + btScalar jointMaxForce = 0; + btScalar jointMaxVelocity = 0; + return getJointInfo2(urdfLinkIndex, parent2joint, linkTransformInWorld, jointAxisInJointSpace, jointType, jointLowerLimit, jointUpperLimit, jointDamping, jointFriction,jointMaxForce, jointMaxVelocity); +} bool BulletMJCFImporter::getRootTransformInWorld(btTransform& rootTransformInWorld) const { diff --git a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h index a719c984e..66e9a2424 100644 --- a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h +++ b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h @@ -60,7 +60,8 @@ public: virtual void getLinkChildIndices(int urdfLinkIndex, btAlignedObjectArray& childLinkIndices) const; virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const; - + virtual bool getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const; + virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const; virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const; diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp index 5ba817b51..8c242fe3e 100644 --- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp +++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp @@ -360,12 +360,14 @@ void BulletURDFImporter::getMassAndInertia(int linkIndex, btScalar& mass,btVect } } -bool BulletURDFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const +bool BulletURDFImporter::getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const { jointLowerLimit = 0.f; jointUpperLimit = 0.f; jointDamping = 0.f; jointFriction = 0.f; + jointMaxForce = 0.f; + jointMaxVelocity = 0.f; UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(urdfLinkIndex); btAssert(linkPtr); @@ -384,7 +386,8 @@ bool BulletURDFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joi jointUpperLimit = pj->m_upperLimit; jointDamping = pj->m_jointDamping; jointFriction = pj->m_jointFriction; - + jointMaxForce = pj->m_effortLimit; + jointMaxVelocity = pj->m_velocityLimit; return true; } else { @@ -394,6 +397,14 @@ bool BulletURDFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joi } return false; + +}; + +bool BulletURDFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const +{ + btScalar jointMaxForce; + btScalar jointMaxVelocity; + return getJointInfo2(urdfLinkIndex, parent2joint, linkTransformInWorld, jointAxisInJointSpace, jointType, jointLowerLimit, jointUpperLimit, jointDamping, jointFriction,jointMaxForce,jointMaxVelocity); } diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h index 2ceb8e0d7..c61bf77a2 100644 --- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h +++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h @@ -46,7 +46,8 @@ public: virtual void getMassAndInertia(int linkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const; virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const; - + virtual bool getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const; + virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const; virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const; diff --git a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp index 7cd514804..51df659a0 100644 --- a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp +++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp @@ -232,9 +232,11 @@ void ConvertURDF2BulletInternal( btScalar jointUpperLimit; btScalar jointDamping; btScalar jointFriction; + btScalar jointMaxForce; + btScalar jointMaxVelocity; - bool hasParentJoint = u2b.getJointInfo(urdfLinkIndex, parent2joint, linkTransformInWorldSpace, jointAxisInJointSpace, jointType,jointLowerLimit,jointUpperLimit, jointDamping, jointFriction); + bool hasParentJoint = u2b.getJointInfo2(urdfLinkIndex, parent2joint, linkTransformInWorldSpace, jointAxisInJointSpace, jointType,jointLowerLimit,jointUpperLimit, jointDamping, jointFriction,jointMaxForce,jointMaxVelocity); std::string linkName = u2b.getLinkName(urdfLinkIndex); if (flags & CUF_USE_SDF) @@ -375,7 +377,10 @@ void ConvertURDF2BulletInternal( -offsetInB.getOrigin(), disableParentCollision); cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointDamping = jointDamping; - cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointFriction= jointFriction; + cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointFriction = jointFriction; + cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointLowerLimit = jointLowerLimit; + cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointUpperLimit = jointUpperLimit; + creation.addLinkMapping(urdfLinkIndex,mbLinkIndex); if (jointType == URDFRevoluteJoint && jointLowerLimit <= jointUpperLimit) { //std::string name = u2b.getLinkName(urdfLinkIndex); diff --git a/examples/Importers/ImportURDFDemo/URDFImporterInterface.h b/examples/Importers/ImportURDFDemo/URDFImporterInterface.h index 427f98b3b..c8f996bf5 100644 --- a/examples/Importers/ImportURDFDemo/URDFImporterInterface.h +++ b/examples/Importers/ImportURDFDemo/URDFImporterInterface.h @@ -43,6 +43,14 @@ public: virtual void getLinkChildIndices(int urdfLinkIndex, btAlignedObjectArray& childLinkIndices) const =0; virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const =0; + + virtual bool getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const + { + //backwards compatibility for custom file importers + jointMaxForce = 0; + jointMaxVelocity = 0; + return getJointInfo(urdfLinkIndex, parent2joint, linkTransformInWorld, jointAxisInJointSpace, jointType, jointLowerLimit, jointUpperLimit, jointDamping, jointFriction); + }; virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const =0; diff --git a/examples/RobotSimulator/CMakeLists.txt b/examples/RobotSimulator/CMakeLists.txt index c9e0a66c3..e966cf390 100644 --- a/examples/RobotSimulator/CMakeLists.txt +++ b/examples/RobotSimulator/CMakeLists.txt @@ -14,6 +14,13 @@ SET(RobotSimulator_SRCS b3RobotSimulatorClientAPI.h MinitaurSetup.cpp MinitaurSetup.h + Bound.cpp + GRAPI/BulletMinitaur.cpp + GRAPI/BulletMotor.cpp + GRAPI/BulletRemoteKeyboard + GRAPI/BulletRobot + GRAPI/Impl.cpp + GRAPI/MinitaurLeg.cpp ../../examples/SharedMemory/IKTrajectoryHelper.cpp ../../examples/SharedMemory/IKTrajectoryHelper.h ../../examples/ExampleBrowser/InProcessExampleBrowser.cpp diff --git a/examples/SharedMemory/BodyJointInfoUtility.h b/examples/SharedMemory/BodyJointInfoUtility.h index a959b40dd..6c3e61c16 100644 --- a/examples/SharedMemory/BodyJointInfoUtility.h +++ b/examples/SharedMemory/BodyJointInfoUtility.h @@ -60,7 +60,11 @@ template void addJointInfoFromMultiBodyData(const T* mb info.m_jointType = mb->m_links[link].m_jointType; info.m_jointDamping = mb->m_links[link].m_jointDamping; - info.m_jointFriction = mb->m_links[link].m_jointFriction; + info.m_jointFriction1 = mb->m_links[link].m_jointFriction; + info.m_jointLowerLimit = mb->m_links[link].m_jointLowerLimit; + info.m_jointUpperLimit = mb->m_links[link].m_jointUpperLimit; + info.m_jointMaxForce = mb->m_links[link].m_jointMaxForce; + info.m_jointMaxVelocity = mb->m_links[link].m_jointMaxVelocity; if ((mb->m_links[link].m_jointType == eRevoluteType) || (mb->m_links[link].m_jointType == ePrismaticType)) { diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 0e2cf9839..bf2c95dad 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -548,10 +548,24 @@ b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandl struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand(); b3Assert(command); command->m_type =CMD_REQUEST_ACTUAL_STATE; + command->m_updateFlags = 0; command->m_requestActualStateInformationCommandArgument.m_bodyUniqueId = bodyUniqueId; return (b3SharedMemoryCommandHandle) command; } +int b3RequestActualStateCommandComputeLinkVelocity(b3SharedMemoryCommandHandle commandHandle, int computeLinkVelocity) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; + b3Assert(command); + btAssert(command->m_type == CMD_REQUEST_ACTUAL_STATE); + if (computeLinkVelocity && command->m_type == CMD_REQUEST_ACTUAL_STATE) + { + command->m_updateFlags |= ACTUAL_STATE_COMPUTE_LINKVELOCITY; + } + return 0; +} + + int b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int jointIndex, b3JointSensorState *state) { const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle; @@ -605,6 +619,8 @@ int b3GetLinkState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle { state->m_worldPosition[i] = status->m_sendActualStateArgs.m_linkState[7 * linkIndex + i]; state->m_localInertialPosition[i] = status->m_sendActualStateArgs.m_linkLocalInertialFrames[7 * linkIndex + i]; + state->m_worldLinearVelocity[i] = status->m_sendActualStateArgs.m_linkWorldVelocities[6*linkIndex+i]; + state->m_worldAngularVelocity[i] = status->m_sendActualStateArgs.m_linkWorldVelocities[6*linkIndex+i+3]; } for (int i = 0; i < 4; ++i) { @@ -1086,6 +1102,7 @@ int b3SubmitClientCommand(b3PhysicsClientHandle physClient, const b3SharedMemory b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHandle physClient, const b3SharedMemoryCommandHandle commandHandle) { + B3_PROFILE("b3SubmitClientCommandAndWaitStatus"); b3Clock clock; double startTime = clock.getTimeInSeconds(); @@ -1099,11 +1116,17 @@ b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHan double timeOutInSeconds = cl->getTimeOut(); - b3SubmitClientCommand(physClient, commandHandle); - - while (cl->isConnected() && (statusHandle == 0) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds)) { - statusHandle = b3ProcessServerStatus(physClient); + B3_PROFILE("b3SubmitClientCommand"); + b3SubmitClientCommand(physClient, commandHandle); + } + { + B3_PROFILE("b3ProcessServerStatus"); + while (cl->isConnected() && (statusHandle == 0) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds)) + { + clock.usleep(0); + statusHandle = b3ProcessServerStatus(physClient); + } } return (b3SharedMemoryStatusHandle)statusHandle; } diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index 7aef18f86..ff553680c 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -313,6 +313,8 @@ int b3CreateSensorEnable6DofJointForceTorqueSensor(b3SharedMemoryCommandHandle c int b3CreateSensorEnableIMUForLink(b3SharedMemoryCommandHandle commandHandle, int linkIndex, int enable); b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandle physClient,int bodyUniqueId); +int b3RequestActualStateCommandComputeLinkVelocity(b3SharedMemoryCommandHandle commandHandle, int computeLinkVelocity); + int b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int jointIndex, struct b3JointSensorState *state); int b3GetLinkState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int linkIndex, struct b3LinkState *state); diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp index 0910e1adc..a0e18235e 100644 --- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp +++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp @@ -338,7 +338,7 @@ void PhysicsClientSharedMemory::processBodyJointInfo(int bodyUniqueId, const Sha const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { // SharedMemoryStatus* stat = 0; - + if (!m_data->m_testBlock1) { m_data->m_lastServerStatus.m_type = CMD_SHARED_MEMORY_NOT_INITIALIZED; return &m_data->m_lastServerStatus; @@ -355,7 +355,9 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { } if (m_data->m_testBlock1->m_numServerCommands > - m_data->m_testBlock1->m_numProcessedServerCommands) { + m_data->m_testBlock1->m_numProcessedServerCommands) + { + B3_PROFILE("processServerCMD"); btAssert(m_data->m_testBlock1->m_numServerCommands == m_data->m_testBlock1->m_numProcessedServerCommands + 1); @@ -365,8 +367,13 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { // EnumSharedMemoryServerStatus s = (EnumSharedMemoryServerStatus)serverCmd.m_type; // consume the command - switch (serverCmd.m_type) { - case CMD_CLIENT_COMMAND_COMPLETED: { + switch (serverCmd.m_type) + { + + case CMD_CLIENT_COMMAND_COMPLETED: + { + B3_PROFILE("CMD_CLIENT_COMMAND_COMPLETED"); + if (m_data->m_verboseOutput) { b3Printf("Server completed command"); } @@ -375,13 +382,17 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { case CMD_MJCF_LOADING_COMPLETED: { + B3_PROFILE("CMD_MJCF_LOADING_COMPLETED"); + if (m_data->m_verboseOutput) { b3Printf("Server loading the MJCF OK\n"); } break; } - case CMD_SDF_LOADING_COMPLETED: { - + case CMD_SDF_LOADING_COMPLETED: + { + B3_PROFILE("CMD_SDF_LOADING_COMPLETED"); + if (m_data->m_verboseOutput) { b3Printf("Server loading the SDF OK\n"); } @@ -389,7 +400,9 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { break; } - case CMD_URDF_LOADING_COMPLETED: { + case CMD_URDF_LOADING_COMPLETED: + { + B3_PROFILE("CMD_URDF_LOADING_COMPLETED"); if (m_data->m_verboseOutput) { b3Printf("Server loading the URDF OK\n"); @@ -440,19 +453,28 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { } break; } - case CMD_DESIRED_STATE_RECEIVED_COMPLETED: { + case CMD_DESIRED_STATE_RECEIVED_COMPLETED: + { + B3_PROFILE("CMD_DESIRED_STATE_RECEIVED_COMPLETED"); + if (m_data->m_verboseOutput) { b3Printf("Server received desired state"); } break; } - case CMD_STEP_FORWARD_SIMULATION_COMPLETED: { + case CMD_STEP_FORWARD_SIMULATION_COMPLETED: + { + B3_PROFILE("CMD_STEP_FORWARD_SIMULATION_COMPLETED"); + if (m_data->m_verboseOutput) { b3Printf("Server completed step simulation"); } break; } - case CMD_URDF_LOADING_FAILED: { + case CMD_URDF_LOADING_FAILED: + { + B3_PROFILE("CMD_URDF_LOADING_FAILED"); + if (m_data->m_verboseOutput) { b3Printf("Server failed loading the URDF...\n"); } @@ -461,24 +483,30 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { } case CMD_USER_CONSTRAINT_INFO_COMPLETED: { - int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId; + B3_PROFILE("CMD_USER_CONSTRAINT_INFO_COMPLETED"); + + int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId; m_data->m_userConstraintInfoMap.insert(cid,serverCmd.m_userConstraintResultArgs); break; } case CMD_USER_CONSTRAINT_COMPLETED: { + B3_PROFILE("CMD_USER_CONSTRAINT_COMPLETED"); int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId; m_data->m_userConstraintInfoMap.insert(cid,serverCmd.m_userConstraintResultArgs); break; } case CMD_REMOVE_USER_CONSTRAINT_COMPLETED: { + B3_PROFILE("CMD_REMOVE_USER_CONSTRAINT_COMPLETED"); int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId; m_data->m_userConstraintInfoMap.remove(cid); break; } case CMD_CHANGE_USER_CONSTRAINT_COMPLETED: { + B3_PROFILE("CMD_CHANGE_USER_CONSTRAINT_COMPLETED"); + int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId; b3UserConstraint* userConstraintPtr = m_data->m_userConstraintInfoMap[cid]; if (userConstraintPtr) @@ -507,26 +535,31 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { case CMD_USER_CONSTRAINT_FAILED: { + B3_PROFILE("CMD_USER_CONSTRAINT_FAILED"); b3Warning("createConstraint failed"); break; } case CMD_REMOVE_USER_CONSTRAINT_FAILED: { + B3_PROFILE("CMD_REMOVE_USER_CONSTRAINT_FAILED"); b3Warning("removeConstraint failed"); break; } case CMD_CHANGE_USER_CONSTRAINT_FAILED: { + B3_PROFILE("CMD_CHANGE_USER_CONSTRAINT_FAILED"); b3Warning("changeConstraint failed"); break; } case CMD_ACTUAL_STATE_UPDATE_FAILED: { + B3_PROFILE("CMD_ACTUAL_STATE_UPDATE_FAILED"); b3Warning("request actual state failed"); break; } case CMD_BODY_INFO_COMPLETED: { + B3_PROFILE("CMD_BODY_INFO_COMPLETED"); if (m_data->m_verboseOutput) { b3Printf("Received body info\n"); } @@ -537,12 +570,14 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { } case CMD_MJCF_LOADING_FAILED: { + B3_PROFILE("CMD_MJCF_LOADING_FAILED"); if (m_data->m_verboseOutput) { b3Printf("Server failed loading the MJCF...\n"); } break; } case CMD_SDF_LOADING_FAILED: { + B3_PROFILE("CMD_SDF_LOADING_FAILED"); if (m_data->m_verboseOutput) { b3Printf("Server failed loading the SDF...\n"); } @@ -551,6 +586,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { } case CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED: { + B3_PROFILE("CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED"); if (m_data->m_verboseOutput) { b3Printf("Server received bullet data stream OK\n"); } @@ -558,6 +594,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { break; } case CMD_BULLET_DATA_STREAM_RECEIVED_FAILED: { + B3_PROFILE("CMD_BULLET_DATA_STREAM_RECEIVED_FAILED"); if (m_data->m_verboseOutput) { b3Printf("Server failed receiving bullet data stream\n"); } @@ -566,37 +603,33 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { } case CMD_ACTUAL_STATE_UPDATE_COMPLETED: { - if (m_data->m_verboseOutput) { + B3_PROFILE("CMD_ACTUAL_STATE_UPDATE_COMPLETED"); + if (m_data->m_verboseOutput) + { b3Printf("Received actual state\n"); - } - SharedMemoryStatus& command = m_data->m_testBlock1->m_serverCommands[0]; + + SharedMemoryStatus& command = m_data->m_testBlock1->m_serverCommands[0]; - int numQ = command.m_sendActualStateArgs.m_numDegreeOfFreedomQ; - int numU = command.m_sendActualStateArgs.m_numDegreeOfFreedomU; - if (m_data->m_verboseOutput) { + int numQ = command.m_sendActualStateArgs.m_numDegreeOfFreedomQ; + int numU = command.m_sendActualStateArgs.m_numDegreeOfFreedomU; b3Printf("size Q = %d, size U = %d\n", numQ, numU); - } - char msg[1024]; + char msg[1024]; + { + sprintf(msg, "Q=["); - { - sprintf(msg, "Q=["); - - for (int i = 0; i < numQ; i++) { - if (i < numQ - 1) { - sprintf(msg, "%s%f,", msg, - command.m_sendActualStateArgs.m_actualStateQ[i]); - } else { - sprintf(msg, "%s%f", msg, - command.m_sendActualStateArgs.m_actualStateQ[i]); - } - } - sprintf(msg, "%s]", msg); - } - if (m_data->m_verboseOutput) { + for (int i = 0; i < numQ; i++) { + if (i < numQ - 1) { + sprintf(msg, "%s%f,", msg, + command.m_sendActualStateArgs.m_actualStateQ[i]); + } else { + sprintf(msg, "%s%f", msg, + command.m_sendActualStateArgs.m_actualStateQ[i]); + } + } + sprintf(msg, "%s]", msg); + } b3Printf(msg); - } - - { + sprintf(msg, "U=["); for (int i = 0; i < numU; i++) { @@ -609,18 +642,15 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { } } sprintf(msg, "%s]", msg); - } - if (m_data->m_verboseOutput) { + b3Printf(msg); - } - - if (m_data->m_verboseOutput) { b3Printf("\n"); } break; } case CMD_RESET_SIMULATION_COMPLETED: { - if (m_data->m_verboseOutput) { + B3_PROFILE("CMD_RESET_SIMULATION_COMPLETED"); + if (m_data->m_verboseOutput) { b3Printf("CMD_RESET_SIMULATION_COMPLETED clean data\n"); } resetData(); @@ -628,6 +658,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { break; } case CMD_DEBUG_LINES_COMPLETED: { + B3_PROFILE("CMD_DEBUG_LINES_COMPLETED"); if (m_data->m_verboseOutput) { b3Printf("Success receiving %d debug lines", serverCmd.m_sendDebugLinesArgs.m_numDebugLines); @@ -671,11 +702,13 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { } case CMD_RIGID_BODY_CREATION_COMPLETED: { + B3_PROFILE("CMD_RIGID_BODY_CREATION_COMPLETED"); break; } case CMD_DEBUG_LINES_OVERFLOW_FAILED: { - b3Warning("Error receiving debug lines"); + B3_PROFILE("CMD_DEBUG_LINES_OVERFLOW_FAILED"); + b3Warning("Error receiving debug lines"); m_data->m_debugLinesFrom.resize(0); m_data->m_debugLinesTo.resize(0); m_data->m_debugLinesColor.resize(0); @@ -685,6 +718,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { case CMD_CAMERA_IMAGE_COMPLETED: { + B3_PROFILE("CMD_CAMERA_IMAGE_COMPLETED"); if (m_data->m_verboseOutput) { b3Printf("Camera image OK\n"); @@ -734,7 +768,8 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { case CMD_CAMERA_IMAGE_FAILED: { - b3Warning("Camera image FAILED\n"); + B3_PROFILE("CMD_CAMERA_IMAGE_FAILED"); + b3Warning("Camera image FAILED\n"); break; } case CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED: @@ -768,6 +803,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { case CMD_REQUEST_VR_EVENTS_DATA_COMPLETED: { + B3_PROFILE("CMD_REQUEST_VR_EVENTS_DATA_COMPLETED"); if (m_data->m_verboseOutput) { b3Printf("Request VR Events completed"); @@ -782,6 +818,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { case CMD_REQUEST_KEYBOARD_EVENTS_DATA_COMPLETED: { + B3_PROFILE("CMD_REQUEST_KEYBOARD_EVENTS_DATA_COMPLETED"); if (m_data->m_verboseOutput) { b3Printf("Request keyboard events completed"); @@ -796,6 +833,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { case CMD_REQUEST_AABB_OVERLAP_COMPLETED: { + B3_PROFILE("CMD_REQUEST_AABB_OVERLAP_COMPLETED"); if (m_data->m_verboseOutput) { b3Printf("Overlapping object request completed"); @@ -815,7 +853,8 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { } case CMD_CONTACT_POINT_INFORMATION_COMPLETED: { - if (m_data->m_verboseOutput) + B3_PROFILE("CMD_CONTACT_POINT_INFORMATION_COMPLETED"); + if (m_data->m_verboseOutput) { b3Printf("Contact Point Information Request OK\n"); } @@ -835,30 +874,38 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { } case CMD_CONTACT_POINT_INFORMATION_FAILED: { - b3Warning("Contact Point Information Request failed"); + B3_PROFILE("CMD_CONTACT_POINT_INFORMATION_FAILED"); + b3Warning("Contact Point Information Request failed"); break; } case CMD_SAVE_WORLD_COMPLETED: - break; + { + B3_PROFILE("CMD_SAVE_WORLD_COMPLETED"); + break; + } case CMD_SAVE_WORLD_FAILED: { - b3Warning("Saving world failed"); + B3_PROFILE("CMD_SAVE_WORLD_FAILED"); + b3Warning("Saving world failed"); break; } case CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED: { - break; + B3_PROFILE("CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED"); + break; } case CMD_CALCULATE_INVERSE_KINEMATICS_FAILED: { - b3Warning("Calculate Inverse Kinematics Request failed"); + B3_PROFILE("CMD_CALCULATE_INVERSE_KINEMATICS_FAILED"); + b3Warning("Calculate Inverse Kinematics Request failed"); break; } case CMD_VISUAL_SHAPE_INFO_COMPLETED: { - if (m_data->m_verboseOutput) + B3_PROFILE("CMD_VISUAL_SHAPE_INFO_COMPLETED"); + if (m_data->m_verboseOutput) { b3Printf("Visual Shape Information Request OK\n"); } @@ -945,6 +992,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { } }; + m_data->m_testBlock1->m_numProcessedServerCommands++; // we don't have more than 1 command outstanding (in total, either server or client) btAssert(m_data->m_testBlock1->m_numProcessedServerCommands == @@ -960,6 +1008,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { if ((serverCmd.m_type == CMD_SDF_LOADING_COMPLETED) || (serverCmd.m_type == CMD_MJCF_LOADING_COMPLETED) || (serverCmd.m_type == CMD_SYNC_BODY_INFO_COMPLETED)) { + B3_PROFILE("CMD_LOADING_COMPLETED"); int numConstraints = serverCmd.m_sdfLoadedArgs.m_numUserConstraints; for (int i=0;im_constraintIdsRequestInfo.size()) { int cid = m_data->m_constraintIdsRequestInfo[m_data->m_constraintIdsRequestInfo.size()-1]; @@ -1009,6 +1060,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { if (serverCmd.m_type == CMD_BODY_INFO_COMPLETED) { + B3_PROFILE("CMD_BODY_INFO_COMPLETED"); //are there any bodies left to be processed? if (m_data->m_bodyIdsRequestInfo.size()) { @@ -1042,6 +1094,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { if (serverCmd.m_type == CMD_REQUEST_AABB_OVERLAP_COMPLETED) { + B3_PROFILE("CMD_REQUEST_AABB_OVERLAP_COMPLETED2"); SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0]; if (serverCmd.m_sendOverlappingObjectsArgs.m_numRemainingOverlappingObjects > 0 && serverCmd.m_sendOverlappingObjectsArgs.m_numOverlappingObjectsCopied) { @@ -1054,6 +1107,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { if (serverCmd.m_type == CMD_CONTACT_POINT_INFORMATION_COMPLETED) { + B3_PROFILE("CMD_CONTACT_POINT_INFORMATION_COMPLETED2"); SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0]; if (serverCmd.m_sendContactPointArgs.m_numRemainingContactPoints>0 && serverCmd.m_sendContactPointArgs.m_numContactPointsCopied) { @@ -1068,6 +1122,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { if (serverCmd.m_type == CMD_VISUAL_SHAPE_INFO_COMPLETED) { + B3_PROFILE("CMD_VISUAL_SHAPE_INFO_COMPLETED2"); SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0]; if (serverCmd.m_sendVisualShapeArgs.m_numRemainingVisualShapes >0 && serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied) { @@ -1083,6 +1138,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { if (serverCmd.m_type == CMD_CAMERA_IMAGE_COMPLETED) { + B3_PROFILE("CMD_CAMERA_IMAGE_COMPLETED2"); SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0]; if (serverCmd.m_sendPixelDataArguments.m_numRemainingPixels > 0 && serverCmd.m_sendPixelDataArguments.m_numPixelsCopied) @@ -1106,7 +1162,9 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { } if ((serverCmd.m_type == CMD_DEBUG_LINES_COMPLETED) && - (serverCmd.m_sendDebugLinesArgs.m_numRemainingDebugLines > 0)) { + (serverCmd.m_sendDebugLinesArgs.m_numRemainingDebugLines > 0)) + { + B3_PROFILE("CMD_DEBUG_LINES_COMPLETED2"); SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0]; // continue requesting debug lines for drawing @@ -1121,7 +1179,10 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { return &m_data->m_lastServerStatus; } else { - if (m_data->m_verboseOutput) { + if (m_data->m_verboseOutput) + { + B3_PROFILE("m_verboseOutput"); + b3Printf("m_numServerStatus = %d, processed = %d\n", m_data->m_testBlock1->m_numServerCommands, m_data->m_testBlock1->m_numProcessedServerCommands); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 22469e7e6..614dc8da5 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -1758,6 +1758,7 @@ int PhysicsServerCommandProcessor::createBodyInfoStream(int bodyUniqueId, char* bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes ) { + BT_PROFILE("processCommand"); bool hasStatus = false; @@ -1818,6 +1819,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm #endif case CMD_STATE_LOGGING: { + BT_PROFILE("CMD_STATE_LOGGING"); + serverStatusOut.m_type = CMD_STATE_LOGGING_FAILED; hasStatus = true; @@ -1934,6 +1937,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } case CMD_SET_VR_CAMERA_STATE: { + BT_PROFILE("CMD_SET_VR_CAMERA_STATE"); if (clientCmd.m_updateFlags & VR_CAMERA_ROOT_POSITION) { @@ -1960,6 +1964,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } case CMD_REQUEST_VR_EVENTS_DATA: { + BT_PROFILE("CMD_REQUEST_VR_EVENTS_DATA"); + serverStatusOut.m_sendVREvents.m_numVRControllerEvents = 0; for (int i=0;im_keyboardEvents.size(); if (serverStatusOut.m_sendKeyboardEvents.m_numKeyboardEvents>MAX_KEYBOARD_EVENTS) { @@ -2016,6 +2024,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm case CMD_REQUEST_RAY_CAST_INTERSECTIONS: { + BT_PROFILE("CMD_REQUEST_RAY_CAST_INTERSECTIONS"); + btVector3 rayFromWorld(clientCmd.m_requestRaycastIntersections.m_rayFromPosition[0], clientCmd.m_requestRaycastIntersections.m_rayFromPosition[1], clientCmd.m_requestRaycastIntersections.m_rayFromPosition[2]); @@ -2075,6 +2085,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm }; case CMD_REQUEST_DEBUG_LINES: { + BT_PROFILE("CMD_REQUEST_DEBUG_LINES"); + int curFlags =m_data->m_remoteDebugDrawer->getDebugMode(); int debugMode = clientCmd.m_requestDebugLinesArguments.m_debugMode;//clientCmd.btIDebugDraw::DBG_DrawWireframe|btIDebugDraw::DBG_DrawAabb; @@ -2144,7 +2156,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm case CMD_REQUEST_CAMERA_IMAGE_DATA: { - + BT_PROFILE("CMD_REQUEST_CAMERA_IMAGE_DATA"); int startPixelIndex = clientCmd.m_requestPixelDataArguments.m_startPixelIndex; int width = clientCmd.m_requestPixelDataArguments.m_pixelWidth; int height = clientCmd.m_requestPixelDataArguments.m_pixelHeight; @@ -2273,6 +2285,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm case CMD_SYNC_BODY_INFO: { + BT_PROFILE("CMD_SYNC_BODY_INFO"); + int numHandles = m_data->getNumHandles(); int actualNumBodies = 0; for (int i=0;im_verboseOutput) { @@ -2581,7 +2601,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } case CMD_LOAD_URDF: { - + BT_PROFILE("CMD_LOAD_URDF"); const UrdfArgs& urdfArgs = clientCmd.m_urdfArguments; if (m_data->m_verboseOutput) { @@ -2686,6 +2706,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } case CMD_CREATE_SENSOR: { + BT_PROFILE("CMD_CREATE_SENSOR"); + if (m_data->m_verboseOutput) { b3Printf("Processed CMD_CREATE_SENSOR"); @@ -2754,6 +2776,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } case CMD_SEND_DESIRED_STATE: { + BT_PROFILE("CMD_SEND_DESIRED_STATE"); if (m_data->m_verboseOutput) { b3Printf("Processed CMD_SEND_DESIRED_STATE"); @@ -2946,6 +2969,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } case CMD_REQUEST_ACTUAL_STATE: { + BT_PROFILE("CMD_REQUEST_ACTUAL_STATE"); if (m_data->m_verboseOutput) { b3Printf("Sending the actual state (Q,U)"); @@ -3019,6 +3043,20 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm serverCmd.m_sendActualStateArgs.m_actualStateQdot[5] = mb->getBaseOmega()[2]; totalDegreeOfFreedomU += 6;//3 linear and 3 angular DOF } + + btAlignedObjectArray omega; + btAlignedObjectArray linVel; + + bool computeLinkVelocities = ((clientCmd.m_updateFlags & ACTUAL_STATE_COMPUTE_LINKVELOCITY)!=0); + if (computeLinkVelocities) + { + omega.resize(mb->getNumLinks()+1); + linVel.resize(mb->getNumLinks()+1); + { + B3_PROFILE("compTreeLinkVelocities"); + mb->compTreeLinkVelocities(&omega[0], &linVel[0]); + } + } for (int l=0;lgetNumLinks();l++) { for (int d=0;dgetLink(l).m_posVarCount;d++) @@ -3068,28 +3106,46 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm //} } } - btVector3 linkLocalInertialOrigin = body->m_linkLocalInertialFrames[l].getOrigin(); - btQuaternion linkLocalInertialRotation = body->m_linkLocalInertialFrames[l].getRotation(); + btVector3 linkLocalInertialOrigin = body->m_linkLocalInertialFrames[l].getOrigin(); + btQuaternion linkLocalInertialRotation = body->m_linkLocalInertialFrames[l].getRotation(); - btVector3 linkCOMOrigin = mb->getLink(l).m_cachedWorldTransform.getOrigin(); - btQuaternion linkCOMRotation = mb->getLink(l).m_cachedWorldTransform.getRotation(); + btVector3 linkCOMOrigin = mb->getLink(l).m_cachedWorldTransform.getOrigin(); + btQuaternion linkCOMRotation = mb->getLink(l).m_cachedWorldTransform.getRotation(); - serverCmd.m_sendActualStateArgs.m_linkState[l*7+0] = linkCOMOrigin.getX(); - serverCmd.m_sendActualStateArgs.m_linkState[l*7+1] = linkCOMOrigin.getY(); - serverCmd.m_sendActualStateArgs.m_linkState[l*7+2] = linkCOMOrigin.getZ(); - serverCmd.m_sendActualStateArgs.m_linkState[l*7+3] = linkCOMRotation.x(); - serverCmd.m_sendActualStateArgs.m_linkState[l*7+4] = linkCOMRotation.y(); - serverCmd.m_sendActualStateArgs.m_linkState[l*7+5] = linkCOMRotation.z(); - serverCmd.m_sendActualStateArgs.m_linkState[l*7+6] = linkCOMRotation.w(); + serverCmd.m_sendActualStateArgs.m_linkState[l*7+0] = linkCOMOrigin.getX(); + serverCmd.m_sendActualStateArgs.m_linkState[l*7+1] = linkCOMOrigin.getY(); + serverCmd.m_sendActualStateArgs.m_linkState[l*7+2] = linkCOMOrigin.getZ(); + serverCmd.m_sendActualStateArgs.m_linkState[l*7+3] = linkCOMRotation.x(); + serverCmd.m_sendActualStateArgs.m_linkState[l*7+4] = linkCOMRotation.y(); + serverCmd.m_sendActualStateArgs.m_linkState[l*7+5] = linkCOMRotation.z(); + serverCmd.m_sendActualStateArgs.m_linkState[l*7+6] = linkCOMRotation.w(); - serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+0] = linkLocalInertialOrigin.getX(); - serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+1] = linkLocalInertialOrigin.getY(); - serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+2] = linkLocalInertialOrigin.getZ(); - serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+3] = linkLocalInertialRotation.x(); - serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+4] = linkLocalInertialRotation.y(); - serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+5] = linkLocalInertialRotation.z(); - serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+6] = linkLocalInertialRotation.w(); + btVector3 worldLinVel(0,0,0); + btVector3 worldAngVel(0,0,0); + + if (computeLinkVelocities) + { + const btMatrix3x3& linkRotMat = mb->getLink(l).m_cachedWorldTransform.getBasis(); + worldLinVel = linkRotMat * linVel[l+1]; + worldAngVel = linkRotMat * omega[l+1]; + } + + serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+0] = worldLinVel[0]; + serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+1] = worldLinVel[1]; + serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+2] = worldLinVel[2]; + serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+3] = worldAngVel[0]; + serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+4] = worldAngVel[1]; + serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+5] = worldAngVel[2]; + + serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+0] = linkLocalInertialOrigin.getX(); + serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+1] = linkLocalInertialOrigin.getY(); + serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+2] = linkLocalInertialOrigin.getZ(); + + serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+3] = linkLocalInertialRotation.x(); + serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+4] = linkLocalInertialRotation.y(); + serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+5] = linkLocalInertialRotation.z(); + serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+6] = linkLocalInertialRotation.w(); } @@ -3152,6 +3208,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } case CMD_STEP_FORWARD_SIMULATION: { + BT_PROFILE("CMD_STEP_FORWARD_SIMULATION"); + if (m_data->m_verboseOutput) { @@ -3186,6 +3244,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm case CMD_REQUEST_INTERNAL_DATA: { + BT_PROFILE("CMD_REQUEST_INTERNAL_DATA"); + //todo: also check version etc? SharedMemoryStatus& serverCmd = serverStatusOut; @@ -3208,6 +3268,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm }; case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS: { + BT_PROFILE("CMD_SEND_PHYSICS_SIMULATION_PARAMETERS"); + if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DELTA_TIME) { m_data->m_physicsDeltaTime = clientCmd.m_physSimParamArgs.m_deltaTime; @@ -3283,6 +3345,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm }; case CMD_INIT_POSE: { + BT_PROFILE("CMD_INIT_POSE"); + if (m_data->m_verboseOutput) { b3Printf("Server Init Pose not implemented yet"); @@ -3431,7 +3495,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm case CMD_RESET_SIMULATION: { - + BT_PROFILE("CMD_RESET_SIMULATION"); + resetSimulation(); SharedMemoryStatus& serverCmd =serverStatusOut; @@ -3442,6 +3507,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm case CMD_CREATE_RIGID_BODY: case CMD_CREATE_BOX_COLLISION_SHAPE: { + BT_PROFILE("CMD_CREATE_RIGID_BODY"); + btVector3 halfExtents(1,1,1); if (clientCmd.m_updateFlags & BOX_SHAPE_HAS_HALF_EXTENTS) { @@ -3576,6 +3643,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } case CMD_PICK_BODY: { + BT_PROFILE("CMD_PICK_BODY"); + pickBody(btVector3(clientCmd.m_pickBodyArguments.m_rayFromWorld[0], clientCmd.m_pickBodyArguments.m_rayFromWorld[1], clientCmd.m_pickBodyArguments.m_rayFromWorld[2]), @@ -3591,6 +3660,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } case CMD_MOVE_PICKED_BODY: { + BT_PROFILE("CMD_MOVE_PICKED_BODY"); + movePickedBody(btVector3(clientCmd.m_pickBodyArguments.m_rayFromWorld[0], clientCmd.m_pickBodyArguments.m_rayFromWorld[1], clientCmd.m_pickBodyArguments.m_rayFromWorld[2]), @@ -3605,6 +3676,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } case CMD_REMOVE_PICKING_CONSTRAINT_BODY: { + BT_PROFILE("CMD_REMOVE_PICKING_CONSTRAINT_BODY"); removePickingConstraint(); SharedMemoryStatus& serverCmd =serverStatusOut; @@ -3614,6 +3686,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } case CMD_REQUEST_AABB_OVERLAP: { + BT_PROFILE("CMD_REQUEST_AABB_OVERLAP"); SharedMemoryStatus& serverCmd = serverStatusOut; int curObjectIndex = clientCmd.m_requestOverlappingObjectsArgs.m_startingOverlappingObjectIndex; @@ -3671,6 +3744,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm case CMD_CONFIGURE_OPENGL_VISUALIZER: { + BT_PROFILE("CMD_CONFIGURE_OPENGL_VISUALIZER"); SharedMemoryStatus& serverCmd = serverStatusOut; serverCmd.m_type =CMD_CLIENT_COMMAND_COMPLETED; @@ -3694,6 +3768,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm case CMD_REQUEST_CONTACT_POINT_INFORMATION: { + BT_PROFILE("CMD_REQUEST_CONTACT_POINT_INFORMATION"); SharedMemoryStatus& serverCmd =serverStatusOut; serverCmd.m_sendContactPointArgs.m_numContactPointsCopied = 0; @@ -4004,6 +4079,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } case CMD_CALCULATE_INVERSE_DYNAMICS: { + BT_PROFILE("CMD_CALCULATE_INVERSE_DYNAMICS"); SharedMemoryStatus& serverCmd = serverStatusOut; InternalBodyHandle* bodyHandle = m_data->getHandle(clientCmd.m_calculateInverseDynamicsArguments.m_bodyUniqueId); if (bodyHandle && bodyHandle->m_multiBody) @@ -4054,6 +4130,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } case CMD_CALCULATE_JACOBIAN: { + BT_PROFILE("CMD_CALCULATE_JACOBIAN"); + SharedMemoryStatus& serverCmd = serverStatusOut; InternalBodyHandle* bodyHandle = m_data->getHandle(clientCmd.m_calculateJacobianArguments.m_bodyUniqueId); if (bodyHandle && bodyHandle->m_multiBody) @@ -4110,6 +4188,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } case CMD_APPLY_EXTERNAL_FORCE: { + BT_PROFILE("CMD_APPLY_EXTERNAL_FORCE"); + if (m_data->m_verboseOutput) { b3Printf("CMD_APPLY_EXTERNAL_FORCE clientCmd = %d\n", clientCmd.m_sequenceNumber); @@ -4209,6 +4289,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } case CMD_USER_CONSTRAINT: { + BT_PROFILE("CMD_USER_CONSTRAINT"); + SharedMemoryStatus& serverCmd =serverStatusOut; serverCmd.m_type = CMD_USER_CONSTRAINT_FAILED; hasStatus = true; @@ -4439,6 +4521,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } case CMD_CALCULATE_INVERSE_KINEMATICS: { + BT_PROFILE("CMD_CALCULATE_INVERSE_KINEMATICS"); SharedMemoryStatus& serverCmd = serverStatusOut; serverCmd.m_type = CMD_CALCULATE_INVERSE_KINEMATICS_FAILED; @@ -4608,7 +4691,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } case CMD_REQUEST_VISUAL_SHAPE_INFO: { - + BT_PROFILE("CMD_REQUEST_VISUAL_SHAPE_INFO"); SharedMemoryStatus& serverCmd = serverStatusOut; serverCmd.m_type = CMD_VISUAL_SHAPE_INFO_FAILED; //retrieve the visual shape information for a specific body @@ -4637,6 +4720,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } case CMD_UPDATE_VISUAL_SHAPE: { + BT_PROFILE("CMD_UPDATE_VISUAL_SHAPE"); SharedMemoryStatus& serverCmd = serverStatusOut; serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_FAILED; @@ -4649,6 +4733,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } case CMD_LOAD_TEXTURE: { + BT_PROFILE("CMD_LOAD_TEXTURE"); SharedMemoryStatus& serverCmd = serverStatusOut; serverCmd.m_type = CMD_LOAD_TEXTURE_FAILED; @@ -4668,7 +4753,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm case CMD_LOAD_BULLET: { - + BT_PROFILE("CMD_LOAD_BULLET"); SharedMemoryStatus& serverCmd = serverStatusOut; btBulletWorldImporter* importer = new btBulletWorldImporter(m_data->m_dynamicsWorld); @@ -4739,6 +4824,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm case CMD_SAVE_BULLET: { + BT_PROFILE("CMD_SAVE_BULLET"); SharedMemoryStatus& serverCmd = serverStatusOut; FILE* f = fopen(clientCmd.m_fileArguments.m_fileName, "wb"); @@ -4758,6 +4844,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm case CMD_LOAD_MJCF: { + BT_PROFILE("CMD_LOAD_MJCF"); SharedMemoryStatus& serverCmd = serverStatusOut; serverCmd.m_type = CMD_MJCF_LOADING_FAILED; const MjcfArgs& mjcfArgs = clientCmd.m_mjcfArguments; @@ -4792,6 +4879,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm case CMD_USER_DEBUG_DRAW: { + BT_PROFILE("CMD_USER_DEBUG_DRAW"); SharedMemoryStatus& serverCmd = serverStatusOut; serverCmd.m_type = CMD_USER_DEBUG_DRAW_FAILED; hasStatus = true; @@ -4916,6 +5004,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm default: { + BT_PROFILE("CMD_UNKNOWN"); b3Error("Unknown command encountered"); SharedMemoryStatus& serverCmd =serverStatusOut; diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp index 7ca002b8d..25252fd9d 100644 --- a/examples/SharedMemory/PhysicsServerExample.cpp +++ b/examples/SharedMemory/PhysicsServerExample.cpp @@ -23,7 +23,6 @@ #include "../CommonInterfaces/CommonParameterInterface.h" - //@todo(erwincoumans) those globals are hacks for a VR demo, move this to Python/pybullet! extern btVector3 gLastPickPos; @@ -309,27 +308,27 @@ void MotionThreadFunc(void* userPtr,void* lsMemory) do { - BT_PROFILE("loop"); - { - BT_PROFILE("usleep(0)"); b3Clock::usleep(0); } - if (gMaxNumCmdPer1ms>0) { - if (numCmdSinceSleep1ms>gMaxNumCmdPer1ms) + + if (gMaxNumCmdPer1ms>0) { - BT_PROFILE("usleep(10)"); - b3Clock::usleep(10); - numCmdSinceSleep1ms = 0; - sleepClock.reset(); + if (numCmdSinceSleep1ms>gMaxNumCmdPer1ms) + { + BT_PROFILE("usleep(10)"); + b3Clock::usleep(10); + numCmdSinceSleep1ms = 0; + sleepClock.reset(); + } + } + if (sleepClock.getTimeMilliseconds()>1) + { + sleepClock.reset(); + numCmdSinceSleep1ms = 0; } - } - if (sleepClock.getTimeMilliseconds()>1) - { - sleepClock.reset(); - numCmdSinceSleep1ms = 0; } unsigned long long int curTime = clock.getTimeMicroseconds(); @@ -344,7 +343,7 @@ void MotionThreadFunc(void* userPtr,void* lsMemory) deltaTimeInSeconds+= dt; { - + //process special controller commands, such as //VR controller button press/release and controller motion @@ -449,7 +448,6 @@ void MotionThreadFunc(void* userPtr,void* lsMemory) args->m_csGUI->unlock(); { - BT_PROFILE("stepSimulationRealTime"); args->m_physicsServerPtr->stepSimulationRealTime(deltaTimeInSeconds, args->m_sendVrControllerEvents,numSendVrControllers, keyEvents, args->m_sendKeyEvents.size()); } deltaTimeInSeconds = 0; @@ -487,7 +485,6 @@ void MotionThreadFunc(void* userPtr,void* lsMemory) args->m_csGUI->unlock(); { - BT_PROFILE("processClientCommands"); args->m_physicsServerPtr->processClientCommands(); numCmdSinceSleep1ms++; } diff --git a/examples/SharedMemory/PhysicsServerSharedMemory.cpp b/examples/SharedMemory/PhysicsServerSharedMemory.cpp index 70d173784..dde91f028 100644 --- a/examples/SharedMemory/PhysicsServerSharedMemory.cpp +++ b/examples/SharedMemory/PhysicsServerSharedMemory.cpp @@ -252,6 +252,7 @@ void PhysicsServerSharedMemory::processClientCommands() if (m_data->m_testBlocks[block]->m_numClientCommands> m_data->m_testBlocks[block]->m_numProcessedClientCommands) { + BT_PROFILE("processClientCommand"); //until we implement a proper ring buffer, we assume always maximum of 1 outstanding commands btAssert(m_data->m_testBlocks[block]->m_numClientCommands==m_data->m_testBlocks[block]->m_numProcessedClientCommands+1); diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index 0f413791f..fdc1aa709 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -383,6 +383,7 @@ struct SendActualStateArgs double m_jointMotorForce[MAX_DEGREE_OF_FREEDOM]; double m_linkState[7*MAX_NUM_LINKS]; + double m_linkWorldVelocities[6*MAX_NUM_LINKS];//linear velocity and angular velocity in world space (x/y/z each). double m_linkLocalInertialFrames[7*MAX_NUM_LINKS]; }; diff --git a/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp b/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp index f1a4b4966..476b33fb7 100644 --- a/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp +++ b/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp @@ -5,7 +5,7 @@ #include "PhysicsClientSharedMemory.h" #include"../ExampleBrowser/InProcessExampleBrowser.h" - +#include "Bullet3Common/b3Logging.h" class InProcessPhysicsClientSharedMemoryMainThread : public PhysicsClientSharedMemory { btInProcessExampleBrowserMainThreadInternalData* m_data; @@ -39,18 +39,33 @@ public: // return non-null if there is a status, nullptr otherwise virtual const struct SharedMemoryStatus* processServerStatus() { - if (btIsExampleBrowserMainThreadTerminated(m_data)) - { - PhysicsClientSharedMemory::disconnectSharedMemory(); - } - unsigned long int ms = m_clock.getTimeMilliseconds(); - if (ms>20) - { - m_clock.reset(); - btUpdateInProcessExampleBrowserMainThread(m_data); + + { + if (btIsExampleBrowserMainThreadTerminated(m_data)) + { + PhysicsClientSharedMemory::disconnectSharedMemory(); + } } - b3Clock::usleep(0); - return PhysicsClientSharedMemory::processServerStatus(); + { + unsigned long int ms = m_clock.getTimeMilliseconds(); + if (ms>20) + { + B3_PROFILE("m_clock.reset()"); + + m_clock.reset(); + btUpdateInProcessExampleBrowserMainThread(m_data); + } + } + { + b3Clock::usleep(0); + } + const SharedMemoryStatus* stat = 0; + + { + stat = PhysicsClientSharedMemory::processServerStatus(); + } + + return stat; } diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index 6421a37e0..6587747d4 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -4,7 +4,7 @@ #define SHARED_MEMORY_KEY 12347 ///increase the SHARED_MEMORY_MAGIC_NUMBER whenever incompatible changes are made in the structures ///my convention is year/month/day/rev -#define SHARED_MEMORY_MAGIC_NUMBER 201703010 +#define SHARED_MEMORY_MAGIC_NUMBER 201703024 enum EnumSharedMemoryClientCommand { @@ -174,10 +174,14 @@ struct b3JointInfo int m_jointIndex; int m_flags; double m_jointDamping; - double m_jointFriction; - double m_parentFrame[7]; // position and orientation (quaternion) - double m_childFrame[7]; // ^^^ - double m_jointAxis[3]; // joint axis in parent local frame + double m_jointFriction1; + double m_jointLowerLimit; + double m_jointUpperLimit; + double m_jointMaxForce; + double m_jointMaxVelocity; + double m_parentFrame[7]; // position and orientation (quaternion) + double m_childFrame[7]; // ^^^ + double m_jointAxis[3]; // joint axis in parent local frame }; struct b3UserConstraint @@ -377,6 +381,11 @@ struct b3VisualShapeInformation struct b3VisualShapeData* m_visualShapeData; }; +enum eLinkStateFlags +{ + ACTUAL_STATE_COMPUTE_LINKVELOCITY=1 +}; + ///b3LinkState provides extra information such as the Cartesian world coordinates ///center of mass (COM) of the link, relative to the world reference frame. ///Orientation is a quaternion x,y,z,w @@ -394,6 +403,10 @@ struct b3LinkState ///world position and orientation of the (URDF) link frame double m_worldLinkFramePosition[3]; double m_worldLinkFrameOrientation[4]; + + double m_worldLinearVelocity[3]; //only valid when ACTUAL_STATE_COMPUTE_LINKVELOCITY is set (b3RequestActualStateCommandComputeLinkVelocity) + double m_worldAngularVelocity[3]; //only valid when ACTUAL_STATE_COMPUTE_LINKVELOCITY is set (b3RequestActualStateCommandComputeLinkVelocity) + }; //todo: discuss and decide about control mode and combinations diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index b3b462d90..ddf444d6e 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -2075,7 +2075,7 @@ static PyObject* pybullet_getJointInfo(PyObject* self, PyObject* args, PyObject* int bodyUniqueId = -1; int jointIndex = -1; - int jointInfoSize = 8; // size of struct b3JointInfo + int jointInfoSize = 12; // size of struct b3JointInfo b3PhysicsClientHandle sm = 0; int physicsClientId = 0; static char* kwlist[] = {"bodyUniqueId", "jointIndex", "physicsClientId", NULL}; @@ -2118,7 +2118,16 @@ static PyObject* pybullet_getJointInfo(PyObject* self, PyObject* args, PyObject* PyTuple_SetItem(pyListJointInfo, 6, PyFloat_FromDouble(info.m_jointDamping)); PyTuple_SetItem(pyListJointInfo, 7, - PyFloat_FromDouble(info.m_jointFriction)); + PyFloat_FromDouble(info.m_jointFriction1)); + PyTuple_SetItem(pyListJointInfo, 8, + PyFloat_FromDouble(info.m_jointLowerLimit)); + PyTuple_SetItem(pyListJointInfo, 9, + PyFloat_FromDouble(info.m_jointUpperLimit)); + PyTuple_SetItem(pyListJointInfo, 10, + PyFloat_FromDouble(info.m_jointMaxForce)); + PyTuple_SetItem(pyListJointInfo, 11, + PyFloat_FromDouble(info.m_jointMaxVelocity)); + return pyListJointInfo; } else @@ -2246,17 +2255,21 @@ static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args, PyObject* PyObject* pyLinkStateLocalInertialOrientation; PyObject* pyLinkStateWorldLinkFramePosition; PyObject* pyLinkStateWorldLinkFrameOrientation; + PyObject* pyLinkStateWorldLinkLinearVelocity; + PyObject* pyLinkStateWorldLinkAngularVelocity; struct b3LinkState linkState; int bodyUniqueId = -1; int linkIndex = -1; + int computeLinkVelocity = 0; + int i; b3PhysicsClientHandle sm = 0; int physicsClientId = 0; - static char* kwlist[] = {"bodyUniqueId", "linkIndex", "physicsClientId", NULL}; - if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|i", kwlist, &bodyUniqueId, &linkIndex, &physicsClientId)) + static char* kwlist[] = {"bodyUniqueId", "linkIndex", "computeLinkVelocity", "physicsClientId", NULL}; + if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|ii", kwlist, &bodyUniqueId, &linkIndex,&computeLinkVelocity, &physicsClientId)) { return NULL; } @@ -2286,6 +2299,12 @@ static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args, PyObject* cmd_handle = b3RequestActualStateCommandInit(sm, bodyUniqueId); + + if (computeLinkVelocity) + { + b3RequestActualStateCommandComputeLinkVelocity(cmd_handle,computeLinkVelocity); + } + status_handle = b3SubmitClientCommandAndWaitStatus(sm, cmd_handle); @@ -2340,7 +2359,16 @@ static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args, PyObject* PyFloat_FromDouble(linkState.m_worldLinkFrameOrientation[i])); } - pyLinkState = PyTuple_New(6); + + + if (computeLinkVelocity) + { + pyLinkState = PyTuple_New(8); + } else + { + pyLinkState = PyTuple_New(6); + } + PyTuple_SetItem(pyLinkState, 0, pyLinkStateWorldPosition); PyTuple_SetItem(pyLinkState, 1, pyLinkStateWorldOrientation); PyTuple_SetItem(pyLinkState, 2, pyLinkStateLocalInertialPosition); @@ -2348,6 +2376,20 @@ static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args, PyObject* PyTuple_SetItem(pyLinkState, 4, pyLinkStateWorldLinkFramePosition); PyTuple_SetItem(pyLinkState, 5, pyLinkStateWorldLinkFrameOrientation); + if (computeLinkVelocity) + { + pyLinkStateWorldLinkLinearVelocity = PyTuple_New(3); + pyLinkStateWorldLinkAngularVelocity = PyTuple_New(3); + for (i = 0; i < 3; ++i) + { + PyTuple_SetItem(pyLinkStateWorldLinkLinearVelocity, i, + PyFloat_FromDouble(linkState.m_worldLinearVelocity[i])); + PyTuple_SetItem(pyLinkStateWorldLinkAngularVelocity, i, + PyFloat_FromDouble(linkState.m_worldAngularVelocity[i])); + } + PyTuple_SetItem(pyLinkState, 6, pyLinkStateWorldLinkLinearVelocity); + PyTuple_SetItem(pyLinkState, 7, pyLinkStateWorldLinkAngularVelocity); + } return pyLinkState; } } diff --git a/src/BulletDynamics/Featherstone/btMultiBody.cpp b/src/BulletDynamics/Featherstone/btMultiBody.cpp index c14aa2aea..6fcca2dd9 100644 --- a/src/BulletDynamics/Featherstone/btMultiBody.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBody.cpp @@ -1965,6 +1965,10 @@ const char* btMultiBody::serialize(void* dataBuffer, class btSerializer* seriali memPtr->m_parentIndex = getLink(i).m_parent; memPtr->m_jointDamping = getLink(i).m_jointDamping; memPtr->m_jointFriction = getLink(i).m_jointFriction; + memPtr->m_jointLowerLimit = getLink(i).m_jointLowerLimit; + memPtr->m_jointUpperLimit = getLink(i).m_jointUpperLimit; + memPtr->m_jointMaxForce = getLink(i).m_jointMaxForce; + memPtr->m_jointMaxVelocity = getLink(i).m_jointMaxVelocity; getLink(i).m_eVector.serialize(memPtr->m_parentComToThisComOffset); getLink(i).m_dVector.serialize(memPtr->m_thisPivotToThisComOffset); diff --git a/src/BulletDynamics/Featherstone/btMultiBody.h b/src/BulletDynamics/Featherstone/btMultiBody.h index b36d0e4e8..ea5e90521 100644 --- a/src/BulletDynamics/Featherstone/btMultiBody.h +++ b/src/BulletDynamics/Featherstone/btMultiBody.h @@ -728,7 +728,11 @@ struct btMultiBodyLinkDoubleData double m_jointDamping; double m_jointFriction; - + double m_jointLowerLimit; + double m_jointUpperLimit; + double m_jointMaxForce; + double m_jointMaxVelocity; + char *m_linkName; char *m_jointName; btCollisionObjectDoubleData *m_linkCollider; @@ -757,7 +761,11 @@ struct btMultiBodyLinkFloatData int m_posVarCount; float m_jointDamping; float m_jointFriction; - + float m_jointLowerLimit; + float m_jointUpperLimit; + float m_jointMaxForce; + float m_jointMaxVelocity; + char *m_linkName; char *m_jointName; btCollisionObjectFloatData *m_linkCollider; diff --git a/src/BulletDynamics/Featherstone/btMultiBodyLink.h b/src/BulletDynamics/Featherstone/btMultiBodyLink.h index 8b9036303..2734bf4bd 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyLink.h +++ b/src/BulletDynamics/Featherstone/btMultiBodyLink.h @@ -136,7 +136,11 @@ btVector3 m_appliedConstraintForce; // In WORLD frame btScalar m_jointDamping; //todo: implement this internally. It is unused for now, it is set by a URDF loader. User can apply manual damping. btScalar m_jointFriction; //todo: implement this internally. It is unused for now, it is set by a URDF loader. User can apply manual friction using a velocity motor. - + btScalar m_jointLowerLimit; //todo: implement this internally. It is unused for now, it is set by a URDF loader. + btScalar m_jointUpperLimit; //todo: implement this internally. It is unused for now, it is set by a URDF loader. + btScalar m_jointMaxForce; //todo: implement this internally. It is unused for now, it is set by a URDF loader. + btScalar m_jointMaxVelocity;//todo: implement this internally. It is unused for now, it is set by a URDF loader. + // ctor: set some sensible defaults btMultibodyLink() : m_mass(1), @@ -153,7 +157,11 @@ btVector3 m_appliedConstraintForce; // In WORLD frame m_jointName(0), m_userPtr(0), m_jointDamping(0), - m_jointFriction(0) + m_jointFriction(0), + m_jointLowerLimit(0), + m_jointUpperLimit(0), + m_jointMaxForce(0), + m_jointMaxVelocity(0) { m_inertiaLocal.setValue(1, 1, 1); diff --git a/src/LinearMath/CMakeLists.txt b/src/LinearMath/CMakeLists.txt index 9c1980442..ede21d9a7 100644 --- a/src/LinearMath/CMakeLists.txt +++ b/src/LinearMath/CMakeLists.txt @@ -11,6 +11,7 @@ SET(LinearMath_SRCS btPolarDecomposition.cpp btQuickprof.cpp btSerializer.cpp + btSerializer64.cpp btThreads.cpp btVector3.cpp ) diff --git a/src/LinearMath/btScalar.h b/src/LinearMath/btScalar.h index 054652255..de9fddd3f 100644 --- a/src/LinearMath/btScalar.h +++ b/src/LinearMath/btScalar.h @@ -25,7 +25,7 @@ subject to the following restrictions: #include /* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/ -#define BT_BULLET_VERSION 286 +#define BT_BULLET_VERSION 287 inline int btGetVersion() { diff --git a/src/LinearMath/btSerializer.cpp b/src/LinearMath/btSerializer.cpp index 2b5740b40..fcd2255ad 100644 --- a/src/LinearMath/btSerializer.cpp +++ b/src/LinearMath/btSerializer.cpp @@ -1,5 +1,5 @@ char sBulletDNAstr[]= { -char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-128),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), +char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-124),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95), 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+char(0),char(0),char(37),char(0),char(94),char(0),char(7),char(0),char(0),char(0),char(-126),char(1),char(92),char(0),char(90),char(1),char(50),char(0),char(-125),char(1), +char(19),char(0),char(127),char(1),char(13),char(0),char(-128),char(1),char(7),char(0),char(-127),char(1),char(4),char(0),char(97),char(1),}; int sBulletDNAlen= sizeof(sBulletDNAstr); - -char sBulletDNAstr64[]= { -char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-128),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), -char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95), -char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111), 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-char(92),char(0),char(20),char(0),char(15),char(0),char(104),char(1),char(13),char(0),char(105),char(1),char(13),char(0),char(106),char(1),char(13),char(0),char(107),char(1), -char(13),char(0),char(108),char(1),char(13),char(0),char(109),char(1),char(4),char(0),char(112),char(1),char(7),char(0),char(110),char(1),char(4),char(0),char(111),char(1), -char(4),char(0),char(86),char(1),char(7),char(0),char(114),char(1),char(7),char(0),char(115),char(1),char(7),char(0),char(116),char(1),char(4),char(0),char(113),char(1), -char(7),char(0),char(117),char(1),char(7),char(0),char(118),char(1),char(0),char(0),char(119),char(1),char(0),char(0),char(120),char(1),char(50),char(0),char(121),char(1), -char(0),char(0),char(122),char(1),char(93),char(0),char(9),char(0),char(20),char(0),char(123),char(1),char(14),char(0),char(124),char(1),char(8),char(0),char(125),char(1), -char(0),char(0),char(126),char(1),char(91),char(0),char(90),char(1),char(49),char(0),char(127),char(1),char(0),char(0),char(122),char(1),char(4),char(0),char(97),char(1), -char(0),char(0),char(37),char(0),char(94),char(0),char(7),char(0),char(0),char(0),char(126),char(1),char(92),char(0),char(90),char(1),char(50),char(0),char(127),char(1), -char(19),char(0),char(123),char(1),char(13),char(0),char(124),char(1),char(7),char(0),char(125),char(1),char(4),char(0),char(97),char(1),}; -int sBulletDNAlen64= sizeof(sBulletDNAstr64); diff --git a/src/LinearMath/btSerializer.h b/src/LinearMath/btSerializer.h index 9d95e1c8a..89b4d7468 100644 --- a/src/LinearMath/btSerializer.h +++ b/src/LinearMath/btSerializer.h @@ -26,7 +26,7 @@ subject to the following restrictions: -///only the 32bit versions for now + extern char sBulletDNAstr[]; extern int sBulletDNAlen; extern char sBulletDNAstr64[]; @@ -505,7 +505,7 @@ public: buffer[9] = '2'; buffer[10] = '8'; - buffer[11] = '6'; + buffer[11] = '7'; } diff --git a/src/LinearMath/btSerializer64.cpp b/src/LinearMath/btSerializer64.cpp new file mode 100644 index 000000000..05f59202d --- /dev/null +++ b/src/LinearMath/btSerializer64.cpp @@ -0,0 +1,599 @@ +char sBulletDNAstr64[]= { +char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-124),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), +char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95), +char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111), +char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98),char(106),char(101),char(99),char(116),char(115),char(0),char(109),char(95),char(99),char(111),char(110), 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+char(7),char(0),char(-64),char(0),char(7),char(0),char(-63),char(0),char(7),char(0),char(-62),char(0),char(7),char(0),char(-61),char(0),char(7),char(0),char(-60),char(0), +char(66),char(0),char(13),char(0),char(59),char(0),char(-74),char(0),char(19),char(0),char(-71),char(0),char(19),char(0),char(-70),char(0),char(4),char(0),char(-69),char(0), +char(4),char(0),char(-68),char(0),char(4),char(0),char(-67),char(0),char(7),char(0),char(-66),char(0),char(7),char(0),char(-65),char(0),char(7),char(0),char(-64),char(0), +char(7),char(0),char(-63),char(0),char(7),char(0),char(-62),char(0),char(7),char(0),char(-61),char(0),char(7),char(0),char(-60),char(0),char(67),char(0),char(14),char(0), +char(61),char(0),char(-74),char(0),char(20),char(0),char(-71),char(0),char(20),char(0),char(-70),char(0),char(4),char(0),char(-69),char(0),char(4),char(0),char(-68),char(0), 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+char(7),char(0),char(-57),char(0),char(7),char(0),char(-56),char(0),char(7),char(0),char(-62),char(0),char(7),char(0),char(-61),char(0),char(7),char(0),char(-60),char(0), +char(7),char(0),char(127),char(0),char(0),char(0),char(21),char(0),char(70),char(0),char(9),char(0),char(59),char(0),char(-74),char(0),char(19),char(0),char(-71),char(0), +char(19),char(0),char(-70),char(0),char(13),char(0),char(-55),char(0),char(13),char(0),char(-54),char(0),char(13),char(0),char(-53),char(0),char(13),char(0),char(-52),char(0), +char(4),char(0),char(-51),char(0),char(4),char(0),char(-50),char(0),char(71),char(0),char(9),char(0),char(61),char(0),char(-74),char(0),char(20),char(0),char(-71),char(0), +char(20),char(0),char(-70),char(0),char(14),char(0),char(-55),char(0),char(14),char(0),char(-54),char(0),char(14),char(0),char(-53),char(0),char(14),char(0),char(-52),char(0), +char(4),char(0),char(-51),char(0),char(4),char(0),char(-50),char(0),char(72),char(0),char(5),char(0),char(70),char(0),char(-49),char(0),char(4),char(0),char(-48),char(0), +char(7),char(0),char(-47),char(0),char(7),char(0),char(-46),char(0),char(7),char(0),char(-45),char(0),char(73),char(0),char(5),char(0),char(71),char(0),char(-49),char(0), +char(4),char(0),char(-48),char(0),char(8),char(0),char(-47),char(0),char(8),char(0),char(-46),char(0),char(8),char(0),char(-45),char(0),char(74),char(0),char(41),char(0), +char(59),char(0),char(-74),char(0),char(19),char(0),char(-71),char(0),char(19),char(0),char(-70),char(0),char(13),char(0),char(-55),char(0),char(13),char(0),char(-54),char(0), +char(13),char(0),char(-44),char(0),char(13),char(0),char(-43),char(0),char(13),char(0),char(-42),char(0),char(13),char(0),char(-41),char(0),char(13),char(0),char(-40),char(0), +char(13),char(0),char(-39),char(0),char(13),char(0),char(-38),char(0),char(13),char(0),char(-37),char(0),char(13),char(0),char(-36),char(0),char(13),char(0),char(-35),char(0), +char(13),char(0),char(-34),char(0),char(0),char(0),char(-33),char(0),char(0),char(0),char(-32),char(0),char(0),char(0),char(-31),char(0),char(0),char(0),char(-30),char(0), +char(0),char(0),char(-29),char(0),char(0),char(0),char(-59),char(0),char(13),char(0),char(-53),char(0),char(13),char(0),char(-52),char(0),char(13),char(0),char(-28),char(0), +char(13),char(0),char(-27),char(0),char(13),char(0),char(-26),char(0),char(13),char(0),char(-25),char(0),char(13),char(0),char(-24),char(0),char(13),char(0),char(-23),char(0), +char(13),char(0),char(-22),char(0),char(13),char(0),char(-21),char(0),char(13),char(0),char(-20),char(0),char(13),char(0),char(-19),char(0),char(13),char(0),char(-18),char(0), 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+char(0),char(0),char(-31),char(0),char(0),char(0),char(-30),char(0),char(0),char(0),char(-29),char(0),char(0),char(0),char(-59),char(0),char(14),char(0),char(-53),char(0), +char(14),char(0),char(-52),char(0),char(14),char(0),char(-28),char(0),char(14),char(0),char(-27),char(0),char(14),char(0),char(-26),char(0),char(14),char(0),char(-25),char(0), +char(14),char(0),char(-24),char(0),char(14),char(0),char(-23),char(0),char(14),char(0),char(-22),char(0),char(14),char(0),char(-21),char(0),char(14),char(0),char(-20),char(0), +char(14),char(0),char(-19),char(0),char(14),char(0),char(-18),char(0),char(0),char(0),char(-17),char(0),char(0),char(0),char(-16),char(0),char(0),char(0),char(-15),char(0), +char(0),char(0),char(-14),char(0),char(0),char(0),char(-13),char(0),char(4),char(0),char(-12),char(0),char(76),char(0),char(9),char(0),char(59),char(0),char(-74),char(0), +char(19),char(0),char(-71),char(0),char(19),char(0),char(-70),char(0),char(7),char(0),char(-55),char(0),char(7),char(0),char(-54),char(0),char(7),char(0),char(-53),char(0), +char(7),char(0),char(-52),char(0),char(4),char(0),char(-51),char(0),char(4),char(0),char(-50),char(0),char(77),char(0),char(9),char(0),char(61),char(0),char(-74),char(0), +char(20),char(0),char(-71),char(0),char(20),char(0),char(-70),char(0),char(8),char(0),char(-55),char(0),char(8),char(0),char(-54),char(0),char(8),char(0),char(-53),char(0), +char(8),char(0),char(-52),char(0),char(4),char(0),char(-51),char(0),char(4),char(0),char(-50),char(0),char(78),char(0),char(5),char(0),char(58),char(0),char(-74),char(0), +char(13),char(0),char(-11),char(0),char(13),char(0),char(-10),char(0),char(7),char(0),char(-9),char(0),char(0),char(0),char(37),char(0),char(79),char(0),char(4),char(0), +char(61),char(0),char(-74),char(0),char(14),char(0),char(-11),char(0),char(14),char(0),char(-10),char(0),char(8),char(0),char(-9),char(0),char(80),char(0),char(4),char(0), +char(7),char(0),char(-8),char(0),char(7),char(0),char(-7),char(0),char(7),char(0),char(-6),char(0),char(4),char(0),char(79),char(0),char(81),char(0),char(10),char(0), +char(80),char(0),char(-5),char(0),char(13),char(0),char(-4),char(0),char(13),char(0),char(-3),char(0),char(13),char(0),char(-2),char(0),char(13),char(0),char(-1),char(0), +char(13),char(0),char(0),char(1),char(7),char(0),char(-99),char(0),char(7),char(0),char(1),char(1),char(4),char(0),char(2),char(1),char(4),char(0),char(53),char(0), +char(82),char(0),char(4),char(0),char(80),char(0),char(-5),char(0),char(4),char(0),char(3),char(1),char(7),char(0),char(4),char(1),char(4),char(0),char(5),char(1), +char(83),char(0),char(4),char(0),char(13),char(0),char(0),char(1),char(80),char(0),char(-5),char(0),char(4),char(0),char(6),char(1),char(7),char(0),char(7),char(1), +char(84),char(0),char(7),char(0),char(13),char(0),char(8),char(1),char(80),char(0),char(-5),char(0),char(4),char(0),char(9),char(1),char(7),char(0),char(10),char(1), +char(7),char(0),char(11),char(1),char(7),char(0),char(12),char(1),char(4),char(0),char(53),char(0),char(85),char(0),char(6),char(0),char(17),char(0),char(13),char(1), +char(13),char(0),char(11),char(1),char(13),char(0),char(14),char(1),char(60),char(0),char(15),char(1),char(4),char(0),char(16),char(1),char(7),char(0),char(12),char(1), +char(86),char(0),char(26),char(0),char(4),char(0),char(17),char(1),char(7),char(0),char(18),char(1),char(7),char(0),char(127),char(0),char(7),char(0),char(19),char(1), +char(7),char(0),char(20),char(1),char(7),char(0),char(21),char(1),char(7),char(0),char(22),char(1),char(7),char(0),char(23),char(1),char(7),char(0),char(24),char(1), +char(7),char(0),char(25),char(1),char(7),char(0),char(26),char(1),char(7),char(0),char(27),char(1),char(7),char(0),char(28),char(1),char(7),char(0),char(29),char(1), +char(7),char(0),char(30),char(1),char(7),char(0),char(31),char(1),char(7),char(0),char(32),char(1),char(7),char(0),char(33),char(1),char(7),char(0),char(34),char(1), +char(7),char(0),char(35),char(1),char(7),char(0),char(36),char(1),char(4),char(0),char(37),char(1),char(4),char(0),char(38),char(1),char(4),char(0),char(39),char(1), +char(4),char(0),char(40),char(1),char(4),char(0),char(120),char(0),char(87),char(0),char(12),char(0),char(17),char(0),char(41),char(1),char(17),char(0),char(42),char(1), +char(17),char(0),char(43),char(1),char(13),char(0),char(44),char(1),char(13),char(0),char(45),char(1),char(7),char(0),char(46),char(1),char(4),char(0),char(47),char(1), +char(4),char(0),char(48),char(1),char(4),char(0),char(49),char(1),char(4),char(0),char(50),char(1),char(7),char(0),char(10),char(1),char(4),char(0),char(53),char(0), +char(88),char(0),char(27),char(0),char(19),char(0),char(51),char(1),char(17),char(0),char(52),char(1),char(17),char(0),char(53),char(1),char(13),char(0),char(44),char(1), +char(13),char(0),char(54),char(1),char(13),char(0),char(55),char(1),char(13),char(0),char(56),char(1),char(13),char(0),char(57),char(1),char(13),char(0),char(58),char(1), +char(4),char(0),char(59),char(1),char(7),char(0),char(60),char(1),char(4),char(0),char(61),char(1),char(4),char(0),char(62),char(1),char(4),char(0),char(63),char(1), +char(7),char(0),char(64),char(1),char(7),char(0),char(65),char(1),char(4),char(0),char(66),char(1),char(4),char(0),char(67),char(1),char(7),char(0),char(68),char(1), +char(7),char(0),char(69),char(1),char(7),char(0),char(70),char(1),char(7),char(0),char(71),char(1),char(7),char(0),char(72),char(1),char(7),char(0),char(73),char(1), +char(4),char(0),char(74),char(1),char(4),char(0),char(75),char(1),char(4),char(0),char(76),char(1),char(89),char(0),char(12),char(0),char(9),char(0),char(77),char(1), +char(9),char(0),char(78),char(1),char(13),char(0),char(79),char(1),char(7),char(0),char(80),char(1),char(7),char(0),char(-125),char(0),char(7),char(0),char(81),char(1), +char(4),char(0),char(82),char(1),char(13),char(0),char(83),char(1),char(4),char(0),char(84),char(1),char(4),char(0),char(85),char(1),char(4),char(0),char(86),char(1), +char(4),char(0),char(53),char(0),char(90),char(0),char(19),char(0),char(50),char(0),char(-109),char(0),char(87),char(0),char(87),char(1),char(80),char(0),char(88),char(1), +char(81),char(0),char(89),char(1),char(82),char(0),char(90),char(1),char(83),char(0),char(91),char(1),char(84),char(0),char(92),char(1),char(85),char(0),char(93),char(1), +char(88),char(0),char(94),char(1),char(89),char(0),char(95),char(1),char(4),char(0),char(96),char(1),char(4),char(0),char(62),char(1),char(4),char(0),char(97),char(1), +char(4),char(0),char(98),char(1),char(4),char(0),char(99),char(1),char(4),char(0),char(100),char(1),char(4),char(0),char(101),char(1),char(4),char(0),char(102),char(1), +char(86),char(0),char(103),char(1),char(91),char(0),char(24),char(0),char(16),char(0),char(104),char(1),char(14),char(0),char(105),char(1),char(14),char(0),char(106),char(1), +char(14),char(0),char(107),char(1),char(14),char(0),char(108),char(1),char(14),char(0),char(109),char(1),char(8),char(0),char(110),char(1),char(4),char(0),char(111),char(1), +char(4),char(0),char(86),char(1),char(4),char(0),char(112),char(1),char(4),char(0),char(113),char(1),char(8),char(0),char(114),char(1),char(8),char(0),char(115),char(1), +char(8),char(0),char(116),char(1),char(8),char(0),char(117),char(1),char(8),char(0),char(118),char(1),char(8),char(0),char(119),char(1),char(8),char(0),char(120),char(1), +char(8),char(0),char(121),char(1),char(8),char(0),char(122),char(1),char(0),char(0),char(123),char(1),char(0),char(0),char(124),char(1),char(49),char(0),char(125),char(1), +char(0),char(0),char(126),char(1),char(92),char(0),char(24),char(0),char(15),char(0),char(104),char(1),char(13),char(0),char(105),char(1),char(13),char(0),char(106),char(1), +char(13),char(0),char(107),char(1),char(13),char(0),char(108),char(1),char(13),char(0),char(109),char(1),char(4),char(0),char(112),char(1),char(7),char(0),char(110),char(1), +char(4),char(0),char(111),char(1),char(4),char(0),char(86),char(1),char(7),char(0),char(114),char(1),char(7),char(0),char(115),char(1),char(7),char(0),char(116),char(1), +char(4),char(0),char(113),char(1),char(7),char(0),char(117),char(1),char(7),char(0),char(118),char(1),char(7),char(0),char(119),char(1),char(7),char(0),char(120),char(1), +char(7),char(0),char(121),char(1),char(7),char(0),char(122),char(1),char(0),char(0),char(123),char(1),char(0),char(0),char(124),char(1),char(50),char(0),char(125),char(1), +char(0),char(0),char(126),char(1),char(93),char(0),char(9),char(0),char(20),char(0),char(127),char(1),char(14),char(0),char(-128),char(1),char(8),char(0),char(-127),char(1), +char(0),char(0),char(-126),char(1),char(91),char(0),char(90),char(1),char(49),char(0),char(-125),char(1),char(0),char(0),char(126),char(1),char(4),char(0),char(97),char(1), +char(0),char(0),char(37),char(0),char(94),char(0),char(7),char(0),char(0),char(0),char(-126),char(1),char(92),char(0),char(90),char(1),char(50),char(0),char(-125),char(1), +char(19),char(0),char(127),char(1),char(13),char(0),char(-128),char(1),char(7),char(0),char(-127),char(1),char(4),char(0),char(97),char(1),}; +int sBulletDNAlen64= sizeof(sBulletDNAstr64);