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Split Bullet/src/LinearMath/btSerializer.cpp into btSerializer64.cpp to make it easier to rebuild serialization structure.

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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
This commit is contained in:
Erwin Coumans
2017-03-26 13:06:46 -07:00
parent ed6530264f
commit 7503418c72
32 changed files with 1412 additions and 1026 deletions
Download Patch File Download Diff File Expand all files Collapse all files

32
CMakeLists.txt
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@@ -107,6 +107,38 @@ IF(MSVC)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /fp:fast") SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /fp:fast")
ENDIF() 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") SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4244 /wd4267")
ENDIF(MSVC) ENDIF(MSVC)

8
Extras/Serialize/BulletFileLoader/autogenerated/bullet.h
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@@ -1368,6 +1368,10 @@ typedef struct bInvalidHandle {
double m_jointTorque[6]; double m_jointTorque[6];
double m_jointDamping; double m_jointDamping;
double m_jointFriction; double m_jointFriction;
double m_jointLowerLimit;
double m_jointUpperLimit;
double m_jointMaxForce;
double m_jointMaxVelocity;
char *m_linkName; char *m_linkName;
char *m_jointName; char *m_jointName;
btCollisionObjectDoubleData *m_linkCollider; btCollisionObjectDoubleData *m_linkCollider;
@@ -1395,6 +1399,10 @@ typedef struct bInvalidHandle {
int m_posVarCount; int m_posVarCount;
float m_jointDamping; float m_jointDamping;
float m_jointFriction; float m_jointFriction;
float m_jointLowerLimit;
float m_jointUpperLimit;
float m_jointMaxForce;
float m_jointMaxVelocity;
char *m_linkName; char *m_linkName;
char *m_jointName; char *m_jointName;
btCollisionObjectFloatData *m_linkCollider; btCollisionObjectFloatData *m_linkCollider;

14
Extras/Serialize/HeaderGenerator/apiGen.cpp
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@@ -20,12 +20,13 @@
#include "bDNA.h" #include "bDNA.h"
#include "bBlenderFile.h" #include "bBlenderFile.h"
#include "btBulletFile.h" #include "btBulletFile.h"
#include "LinearMath/btSerializer.h"
#include "bCommon.h" #include "bCommon.h"
#include <map> #include <map>
#include <vector> #include <vector>
#include <string.h> #include <string.h>
bool isBulletFile = false; bool isBulletFile = true;
using namespace bParse; using namespace bParse;
typedef std::string bString; typedef std::string bString;
@@ -216,10 +217,12 @@ int main(int argc,char** argv)
using namespace bParse; using namespace bParse;
dump = fopen("dump.py", "w"); dump = fopen("dump.py", "w");
if (!dump) return 0; if (!dump) return 0;
fprintf(dump, "%s\n", data); fprintf(dump, "%s\n", data);
#if 0
char* filename = "../../../../data/r2d2_multibody.bullet"; char* filename = "../../../../data/r2d2_multibody.bullet";
if (argc==2) if (argc==2)
@@ -269,9 +272,12 @@ int main(int argc,char** argv)
bBlenderFile f(memBuf,len); bBlenderFile f(memBuf,len);
swap = (f.getFlags() & FD_ENDIAN_SWAP)!=0; swap = (f.getFlags() & FD_ENDIAN_SWAP)!=0;
} }
#else
isBulletFile = true;
bool swap = false;
char* memBuf = sBulletDNAstr;
int len = sBulletDNAlen;
#endif
char *blenderData = memBuf; char *blenderData = memBuf;

3
Extras/Serialize/HeaderGenerator/bulletGenerate.py
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@@ -1,6 +1,9 @@
import sys
sys.path.append(".")
import dump import dump
header = """/* Copyright (C) 2011 Erwin Coumans & Charlie C header = """/* Copyright (C) 2011 Erwin Coumans & Charlie C
* *
* This software is provided 'as-is', without any express or implied * This software is provided 'as-is', without any express or implied

16
Extras/Serialize/makesdna/CMakeLists.txt
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@@ -23,15 +23,29 @@ SET (INC_FILES
SET(SRC makesdna.cpp) SET(SRC makesdna.cpp)
ADD_EXECUTABLE(makesdna ${SRC} ${INC_FILES}) ADD_EXECUTABLE(makesdna ${SRC} ${INC_FILES})
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 # Output BulletDNA.c
ADD_CUSTOM_COMMAND( ADD_CUSTOM_COMMAND(
OUTPUT ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer.cpp 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/ COMMAND ${CMAKE_CFG_INTDIR}/makesdna ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer.cpp ${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/CommonSerialize/
DEPENDS makesdna DEPENDS makesdna
) )
SET(SRC ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer.cpp)
ENDIF()
# Build bf_dna library # Build bf_dna library
SET(SRC ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer.cpp)
ADD_LIBRARY(BulletDNA ${SRC} ${INC_FILES}) ADD_LIBRARY(BulletDNA ${SRC} ${INC_FILES})
MESSAGE(STATUS "Configuring makesdna") MESSAGE(STATUS "Configuring makesdna")

2
VERSION
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@@ -1 +1 @@
2.86 2.87

14
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
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@@ -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; jointUpperLimit = 0.f;
jointDamping = 0.f; jointDamping = 0.f;
jointFriction = 0.f; jointFriction = 0.f;
jointMaxForce = 0;
jointMaxVelocity = 0;
const UrdfLink* link = m_data->getLink(m_data->m_activeModel,urdfLinkIndex); const UrdfLink* link = m_data->getLink(m_data->m_activeModel,urdfLinkIndex);
if (link) if (link)
@@ -1421,6 +1423,8 @@ bool BulletMJCFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joi
jointUpperLimit = pj->m_upperLimit; jointUpperLimit = pj->m_upperLimit;
jointDamping = pj->m_jointDamping; jointDamping = pj->m_jointDamping;
jointFriction = pj->m_jointFriction; jointFriction = pj->m_jointFriction;
jointMaxForce = pj->m_effortLimit;
jointMaxVelocity = pj->m_velocityLimit;
return true; return true;
} else } else
@@ -1433,6 +1437,14 @@ bool BulletMJCFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joi
return false; 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 bool BulletMJCFImporter::getRootTransformInWorld(btTransform& rootTransformInWorld) const
{ {
rootTransformInWorld.setIdentity(); rootTransformInWorld.setIdentity();

1
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
View File

@@ -60,6 +60,7 @@ public:
virtual void getLinkChildIndices(int urdfLinkIndex, btAlignedObjectArray<int>& childLinkIndices) const; virtual void getLinkChildIndices(int urdfLinkIndex, btAlignedObjectArray<int>& 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 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 bool getRootTransformInWorld(btTransform& rootTransformInWorld) const;

15
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
View File

@@ -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; jointLowerLimit = 0.f;
jointUpperLimit = 0.f; jointUpperLimit = 0.f;
jointDamping = 0.f; jointDamping = 0.f;
jointFriction = 0.f; jointFriction = 0.f;
jointMaxForce = 0.f;
jointMaxVelocity = 0.f;
UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(urdfLinkIndex); UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(urdfLinkIndex);
btAssert(linkPtr); btAssert(linkPtr);
@@ -384,7 +386,8 @@ bool BulletURDFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joi
jointUpperLimit = pj->m_upperLimit; jointUpperLimit = pj->m_upperLimit;
jointDamping = pj->m_jointDamping; jointDamping = pj->m_jointDamping;
jointFriction = pj->m_jointFriction; jointFriction = pj->m_jointFriction;
jointMaxForce = pj->m_effortLimit;
jointMaxVelocity = pj->m_velocityLimit;
return true; return true;
} else } else
{ {
@@ -395,6 +398,14 @@ bool BulletURDFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joi
return false; 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);
} }
bool BulletURDFImporter::getRootTransformInWorld(btTransform& rootTransformInWorld) const bool BulletURDFImporter::getRootTransformInWorld(btTransform& rootTransformInWorld) const

1
examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
View File

@@ -46,6 +46,7 @@ public:
virtual void getMassAndInertia(int linkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const; 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 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 bool getRootTransformInWorld(btTransform& rootTransformInWorld) const;

7
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
View File

@@ -232,9 +232,11 @@ void ConvertURDF2BulletInternal(
btScalar jointUpperLimit; btScalar jointUpperLimit;
btScalar jointDamping; btScalar jointDamping;
btScalar jointFriction; 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); std::string linkName = u2b.getLinkName(urdfLinkIndex);
if (flags & CUF_USE_SDF) if (flags & CUF_USE_SDF)
@@ -376,6 +378,9 @@ void ConvertURDF2BulletInternal(
disableParentCollision); disableParentCollision);
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointDamping = jointDamping; 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); creation.addLinkMapping(urdfLinkIndex,mbLinkIndex);
if (jointType == URDFRevoluteJoint && jointLowerLimit <= jointUpperLimit) { if (jointType == URDFRevoluteJoint && jointLowerLimit <= jointUpperLimit) {
//std::string name = u2b.getLinkName(urdfLinkIndex); //std::string name = u2b.getLinkName(urdfLinkIndex);

8
examples/Importers/ImportURDFDemo/URDFImporterInterface.h
View File

@@ -44,6 +44,14 @@ public:
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 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; virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const =0;
///quick hack: need to rethink the API/dependencies of this ///quick hack: need to rethink the API/dependencies of this

7
examples/RobotSimulator/CMakeLists.txt
View File

@@ -14,6 +14,13 @@ SET(RobotSimulator_SRCS
b3RobotSimulatorClientAPI.h b3RobotSimulatorClientAPI.h
MinitaurSetup.cpp MinitaurSetup.cpp
MinitaurSetup.h 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.cpp
../../examples/SharedMemory/IKTrajectoryHelper.h ../../examples/SharedMemory/IKTrajectoryHelper.h
../../examples/ExampleBrowser/InProcessExampleBrowser.cpp ../../examples/ExampleBrowser/InProcessExampleBrowser.cpp

6
examples/SharedMemory/BodyJointInfoUtility.h
View File

@@ -60,7 +60,11 @@ template <typename T, typename U> void addJointInfoFromMultiBodyData(const T* mb
info.m_jointType = mb->m_links[link].m_jointType; info.m_jointType = mb->m_links[link].m_jointType;
info.m_jointDamping = mb->m_links[link].m_jointDamping; 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) || if ((mb->m_links[link].m_jointType == eRevoluteType) ||
(mb->m_links[link].m_jointType == ePrismaticType)) { (mb->m_links[link].m_jointType == ePrismaticType)) {

25
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -548,10 +548,24 @@ b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandl
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand(); struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command); b3Assert(command);
command->m_type =CMD_REQUEST_ACTUAL_STATE; command->m_type =CMD_REQUEST_ACTUAL_STATE;
command->m_updateFlags = 0;
command->m_requestActualStateInformationCommandArgument.m_bodyUniqueId = bodyUniqueId; command->m_requestActualStateInformationCommandArgument.m_bodyUniqueId = bodyUniqueId;
return (b3SharedMemoryCommandHandle) command; 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) int b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int jointIndex, b3JointSensorState *state)
{ {
const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle; 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_worldPosition[i] = status->m_sendActualStateArgs.m_linkState[7 * linkIndex + i];
state->m_localInertialPosition[i] = status->m_sendActualStateArgs.m_linkLocalInertialFrames[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) for (int i = 0; i < 4; ++i)
{ {
@@ -1086,6 +1102,7 @@ int b3SubmitClientCommand(b3PhysicsClientHandle physClient, const b3SharedMemory
b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHandle physClient, const b3SharedMemoryCommandHandle commandHandle) b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHandle physClient, const b3SharedMemoryCommandHandle commandHandle)
{ {
B3_PROFILE("b3SubmitClientCommandAndWaitStatus");
b3Clock clock; b3Clock clock;
double startTime = clock.getTimeInSeconds(); double startTime = clock.getTimeInSeconds();
@@ -1099,12 +1116,18 @@ b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHan
double timeOutInSeconds = cl->getTimeOut(); double timeOutInSeconds = cl->getTimeOut();
{
B3_PROFILE("b3SubmitClientCommand");
b3SubmitClientCommand(physClient, commandHandle); b3SubmitClientCommand(physClient, commandHandle);
}
{
B3_PROFILE("b3ProcessServerStatus");
while (cl->isConnected() && (statusHandle == 0) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds)) while (cl->isConnected() && (statusHandle == 0) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{ {
clock.usleep(0);
statusHandle = b3ProcessServerStatus(physClient); statusHandle = b3ProcessServerStatus(physClient);
} }
}
return (b3SharedMemoryStatusHandle)statusHandle; return (b3SharedMemoryStatusHandle)statusHandle;
} }

2
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -313,6 +313,8 @@ int b3CreateSensorEnable6DofJointForceTorqueSensor(b3SharedMemoryCommandHandle c
int b3CreateSensorEnableIMUForLink(b3SharedMemoryCommandHandle commandHandle, int linkIndex, int enable); int b3CreateSensorEnableIMUForLink(b3SharedMemoryCommandHandle commandHandle, int linkIndex, int enable);
b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandle physClient,int bodyUniqueId); b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandle physClient,int bodyUniqueId);
int b3RequestActualStateCommandComputeLinkVelocity(b3SharedMemoryCommandHandle commandHandle, int computeLinkVelocity);
int b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int jointIndex, struct b3JointSensorState *state); int b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int jointIndex, struct b3JointSensorState *state);
int b3GetLinkState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int linkIndex, struct b3LinkState *state); int b3GetLinkState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int linkIndex, struct b3LinkState *state);

107
examples/SharedMemory/PhysicsClientSharedMemory.cpp
View File

@@ -355,7 +355,9 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
} }
if (m_data->m_testBlock1->m_numServerCommands > 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 == btAssert(m_data->m_testBlock1->m_numServerCommands ==
m_data->m_testBlock1->m_numProcessedServerCommands + 1); m_data->m_testBlock1->m_numProcessedServerCommands + 1);
@@ -365,8 +367,13 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
// EnumSharedMemoryServerStatus s = (EnumSharedMemoryServerStatus)serverCmd.m_type; // EnumSharedMemoryServerStatus s = (EnumSharedMemoryServerStatus)serverCmd.m_type;
// consume the command // consume the command
switch (serverCmd.m_type) { switch (serverCmd.m_type)
case CMD_CLIENT_COMMAND_COMPLETED: { {
case CMD_CLIENT_COMMAND_COMPLETED:
{
B3_PROFILE("CMD_CLIENT_COMMAND_COMPLETED");
if (m_data->m_verboseOutput) { if (m_data->m_verboseOutput) {
b3Printf("Server completed command"); b3Printf("Server completed command");
} }
@@ -375,12 +382,16 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
case CMD_MJCF_LOADING_COMPLETED: case CMD_MJCF_LOADING_COMPLETED:
{ {
B3_PROFILE("CMD_MJCF_LOADING_COMPLETED");
if (m_data->m_verboseOutput) { if (m_data->m_verboseOutput) {
b3Printf("Server loading the MJCF OK\n"); b3Printf("Server loading the MJCF OK\n");
} }
break; break;
} }
case CMD_SDF_LOADING_COMPLETED: { case CMD_SDF_LOADING_COMPLETED:
{
B3_PROFILE("CMD_SDF_LOADING_COMPLETED");
if (m_data->m_verboseOutput) { if (m_data->m_verboseOutput) {
b3Printf("Server loading the SDF OK\n"); b3Printf("Server loading the SDF OK\n");
@@ -389,7 +400,9 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
break; break;
} }
case CMD_URDF_LOADING_COMPLETED: { case CMD_URDF_LOADING_COMPLETED:
{
B3_PROFILE("CMD_URDF_LOADING_COMPLETED");
if (m_data->m_verboseOutput) { if (m_data->m_verboseOutput) {
b3Printf("Server loading the URDF OK\n"); b3Printf("Server loading the URDF OK\n");
@@ -440,19 +453,28 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
} }
break; 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) { if (m_data->m_verboseOutput) {
b3Printf("Server received desired state"); b3Printf("Server received desired state");
} }
break; 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) { if (m_data->m_verboseOutput) {
b3Printf("Server completed step simulation"); b3Printf("Server completed step simulation");
} }
break; break;
} }
case CMD_URDF_LOADING_FAILED: { case CMD_URDF_LOADING_FAILED:
{
B3_PROFILE("CMD_URDF_LOADING_FAILED");
if (m_data->m_verboseOutput) { if (m_data->m_verboseOutput) {
b3Printf("Server failed loading the URDF...\n"); b3Printf("Server failed loading the URDF...\n");
} }
@@ -461,24 +483,30 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
} }
case CMD_USER_CONSTRAINT_INFO_COMPLETED: case CMD_USER_CONSTRAINT_INFO_COMPLETED:
{ {
B3_PROFILE("CMD_USER_CONSTRAINT_INFO_COMPLETED");
int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId; int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId;
m_data->m_userConstraintInfoMap.insert(cid,serverCmd.m_userConstraintResultArgs); m_data->m_userConstraintInfoMap.insert(cid,serverCmd.m_userConstraintResultArgs);
break; break;
} }
case CMD_USER_CONSTRAINT_COMPLETED: case CMD_USER_CONSTRAINT_COMPLETED:
{ {
B3_PROFILE("CMD_USER_CONSTRAINT_COMPLETED");
int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId; int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId;
m_data->m_userConstraintInfoMap.insert(cid,serverCmd.m_userConstraintResultArgs); m_data->m_userConstraintInfoMap.insert(cid,serverCmd.m_userConstraintResultArgs);
break; break;
} }
case CMD_REMOVE_USER_CONSTRAINT_COMPLETED: case CMD_REMOVE_USER_CONSTRAINT_COMPLETED:
{ {
B3_PROFILE("CMD_REMOVE_USER_CONSTRAINT_COMPLETED");
int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId; int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId;
m_data->m_userConstraintInfoMap.remove(cid); m_data->m_userConstraintInfoMap.remove(cid);
break; break;
} }
case CMD_CHANGE_USER_CONSTRAINT_COMPLETED: case CMD_CHANGE_USER_CONSTRAINT_COMPLETED:
{ {
B3_PROFILE("CMD_CHANGE_USER_CONSTRAINT_COMPLETED");
int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId; int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId;
b3UserConstraint* userConstraintPtr = m_data->m_userConstraintInfoMap[cid]; b3UserConstraint* userConstraintPtr = m_data->m_userConstraintInfoMap[cid];
if (userConstraintPtr) if (userConstraintPtr)
@@ -507,26 +535,31 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
case CMD_USER_CONSTRAINT_FAILED: case CMD_USER_CONSTRAINT_FAILED:
{ {
B3_PROFILE("CMD_USER_CONSTRAINT_FAILED");
b3Warning("createConstraint failed"); b3Warning("createConstraint failed");
break; break;
} }
case CMD_REMOVE_USER_CONSTRAINT_FAILED: case CMD_REMOVE_USER_CONSTRAINT_FAILED:
{ {
B3_PROFILE("CMD_REMOVE_USER_CONSTRAINT_FAILED");
b3Warning("removeConstraint failed"); b3Warning("removeConstraint failed");
break; break;
} }
case CMD_CHANGE_USER_CONSTRAINT_FAILED: case CMD_CHANGE_USER_CONSTRAINT_FAILED:
{ {
B3_PROFILE("CMD_CHANGE_USER_CONSTRAINT_FAILED");
b3Warning("changeConstraint failed"); b3Warning("changeConstraint failed");
break; break;
} }
case CMD_ACTUAL_STATE_UPDATE_FAILED: case CMD_ACTUAL_STATE_UPDATE_FAILED:
{ {
B3_PROFILE("CMD_ACTUAL_STATE_UPDATE_FAILED");
b3Warning("request actual state failed"); b3Warning("request actual state failed");
break; break;
} }
case CMD_BODY_INFO_COMPLETED: case CMD_BODY_INFO_COMPLETED:
{ {
B3_PROFILE("CMD_BODY_INFO_COMPLETED");
if (m_data->m_verboseOutput) { if (m_data->m_verboseOutput) {
b3Printf("Received body info\n"); b3Printf("Received body info\n");
} }
@@ -537,12 +570,14 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
} }
case CMD_MJCF_LOADING_FAILED: case CMD_MJCF_LOADING_FAILED:
{ {
B3_PROFILE("CMD_MJCF_LOADING_FAILED");
if (m_data->m_verboseOutput) { if (m_data->m_verboseOutput) {
b3Printf("Server failed loading the MJCF...\n"); b3Printf("Server failed loading the MJCF...\n");
} }
break; break;
} }
case CMD_SDF_LOADING_FAILED: { case CMD_SDF_LOADING_FAILED: {
B3_PROFILE("CMD_SDF_LOADING_FAILED");
if (m_data->m_verboseOutput) { if (m_data->m_verboseOutput) {
b3Printf("Server failed loading the SDF...\n"); b3Printf("Server failed loading the SDF...\n");
} }
@@ -551,6 +586,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
} }
case CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED: { case CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED: {
B3_PROFILE("CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED");
if (m_data->m_verboseOutput) { if (m_data->m_verboseOutput) {
b3Printf("Server received bullet data stream OK\n"); b3Printf("Server received bullet data stream OK\n");
} }
@@ -558,6 +594,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
break; break;
} }
case CMD_BULLET_DATA_STREAM_RECEIVED_FAILED: { case CMD_BULLET_DATA_STREAM_RECEIVED_FAILED: {
B3_PROFILE("CMD_BULLET_DATA_STREAM_RECEIVED_FAILED");
if (m_data->m_verboseOutput) { if (m_data->m_verboseOutput) {
b3Printf("Server failed receiving bullet data stream\n"); b3Printf("Server failed receiving bullet data stream\n");
} }
@@ -566,18 +603,17 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
} }
case CMD_ACTUAL_STATE_UPDATE_COMPLETED: { 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"); 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 numQ = command.m_sendActualStateArgs.m_numDegreeOfFreedomQ;
int numU = command.m_sendActualStateArgs.m_numDegreeOfFreedomU; int numU = command.m_sendActualStateArgs.m_numDegreeOfFreedomU;
if (m_data->m_verboseOutput) {
b3Printf("size Q = %d, size U = %d\n", numQ, numU); b3Printf("size Q = %d, size U = %d\n", numQ, numU);
}
char msg[1024]; char msg[1024];
{ {
sprintf(msg, "Q=["); sprintf(msg, "Q=[");
@@ -592,11 +628,8 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
} }
sprintf(msg, "%s]", msg); sprintf(msg, "%s]", msg);
} }
if (m_data->m_verboseOutput) {
b3Printf(msg); b3Printf(msg);
}
{
sprintf(msg, "U=["); sprintf(msg, "U=[");
for (int i = 0; i < numU; i++) { for (int i = 0; i < numU; i++) {
@@ -609,17 +642,14 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
} }
} }
sprintf(msg, "%s]", msg); sprintf(msg, "%s]", msg);
}
if (m_data->m_verboseOutput) {
b3Printf(msg);
}
if (m_data->m_verboseOutput) { b3Printf(msg);
b3Printf("\n"); b3Printf("\n");
} }
break; break;
} }
case CMD_RESET_SIMULATION_COMPLETED: { case CMD_RESET_SIMULATION_COMPLETED: {
B3_PROFILE("CMD_RESET_SIMULATION_COMPLETED");
if (m_data->m_verboseOutput) { if (m_data->m_verboseOutput) {
b3Printf("CMD_RESET_SIMULATION_COMPLETED clean data\n"); b3Printf("CMD_RESET_SIMULATION_COMPLETED clean data\n");
} }
@@ -628,6 +658,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
break; break;
} }
case CMD_DEBUG_LINES_COMPLETED: { case CMD_DEBUG_LINES_COMPLETED: {
B3_PROFILE("CMD_DEBUG_LINES_COMPLETED");
if (m_data->m_verboseOutput) { if (m_data->m_verboseOutput) {
b3Printf("Success receiving %d debug lines", b3Printf("Success receiving %d debug lines",
serverCmd.m_sendDebugLinesArgs.m_numDebugLines); serverCmd.m_sendDebugLinesArgs.m_numDebugLines);
@@ -671,10 +702,12 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
} }
case CMD_RIGID_BODY_CREATION_COMPLETED: case CMD_RIGID_BODY_CREATION_COMPLETED:
{ {
B3_PROFILE("CMD_RIGID_BODY_CREATION_COMPLETED");
break; break;
} }
case CMD_DEBUG_LINES_OVERFLOW_FAILED: { case CMD_DEBUG_LINES_OVERFLOW_FAILED: {
B3_PROFILE("CMD_DEBUG_LINES_OVERFLOW_FAILED");
b3Warning("Error receiving debug lines"); b3Warning("Error receiving debug lines");
m_data->m_debugLinesFrom.resize(0); m_data->m_debugLinesFrom.resize(0);
m_data->m_debugLinesTo.resize(0); m_data->m_debugLinesTo.resize(0);
@@ -685,6 +718,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
case CMD_CAMERA_IMAGE_COMPLETED: case CMD_CAMERA_IMAGE_COMPLETED:
{ {
B3_PROFILE("CMD_CAMERA_IMAGE_COMPLETED");
if (m_data->m_verboseOutput) if (m_data->m_verboseOutput)
{ {
b3Printf("Camera image OK\n"); b3Printf("Camera image OK\n");
@@ -734,6 +768,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
case CMD_CAMERA_IMAGE_FAILED: case CMD_CAMERA_IMAGE_FAILED:
{ {
B3_PROFILE("CMD_CAMERA_IMAGE_FAILED");
b3Warning("Camera image FAILED\n"); b3Warning("Camera image FAILED\n");
break; break;
} }
@@ -768,6 +803,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
case CMD_REQUEST_VR_EVENTS_DATA_COMPLETED: case CMD_REQUEST_VR_EVENTS_DATA_COMPLETED:
{ {
B3_PROFILE("CMD_REQUEST_VR_EVENTS_DATA_COMPLETED");
if (m_data->m_verboseOutput) if (m_data->m_verboseOutput)
{ {
b3Printf("Request VR Events completed"); b3Printf("Request VR Events completed");
@@ -782,6 +818,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
case CMD_REQUEST_KEYBOARD_EVENTS_DATA_COMPLETED: case CMD_REQUEST_KEYBOARD_EVENTS_DATA_COMPLETED:
{ {
B3_PROFILE("CMD_REQUEST_KEYBOARD_EVENTS_DATA_COMPLETED");
if (m_data->m_verboseOutput) if (m_data->m_verboseOutput)
{ {
b3Printf("Request keyboard events completed"); b3Printf("Request keyboard events completed");
@@ -796,6 +833,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
case CMD_REQUEST_AABB_OVERLAP_COMPLETED: case CMD_REQUEST_AABB_OVERLAP_COMPLETED:
{ {
B3_PROFILE("CMD_REQUEST_AABB_OVERLAP_COMPLETED");
if (m_data->m_verboseOutput) if (m_data->m_verboseOutput)
{ {
b3Printf("Overlapping object request completed"); b3Printf("Overlapping object request completed");
@@ -815,6 +853,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
} }
case CMD_CONTACT_POINT_INFORMATION_COMPLETED: case CMD_CONTACT_POINT_INFORMATION_COMPLETED:
{ {
B3_PROFILE("CMD_CONTACT_POINT_INFORMATION_COMPLETED");
if (m_data->m_verboseOutput) if (m_data->m_verboseOutput)
{ {
b3Printf("Contact Point Information Request OK\n"); b3Printf("Contact Point Information Request OK\n");
@@ -835,29 +874,37 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
} }
case CMD_CONTACT_POINT_INFORMATION_FAILED: case CMD_CONTACT_POINT_INFORMATION_FAILED:
{ {
B3_PROFILE("CMD_CONTACT_POINT_INFORMATION_FAILED");
b3Warning("Contact Point Information Request failed"); b3Warning("Contact Point Information Request failed");
break; break;
} }
case CMD_SAVE_WORLD_COMPLETED: case CMD_SAVE_WORLD_COMPLETED:
{
B3_PROFILE("CMD_SAVE_WORLD_COMPLETED");
break; break;
}
case CMD_SAVE_WORLD_FAILED: case CMD_SAVE_WORLD_FAILED:
{ {
B3_PROFILE("CMD_SAVE_WORLD_FAILED");
b3Warning("Saving world failed"); b3Warning("Saving world failed");
break; break;
} }
case CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED: case CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED:
{ {
B3_PROFILE("CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED");
break; break;
} }
case CMD_CALCULATE_INVERSE_KINEMATICS_FAILED: case CMD_CALCULATE_INVERSE_KINEMATICS_FAILED:
{ {
B3_PROFILE("CMD_CALCULATE_INVERSE_KINEMATICS_FAILED");
b3Warning("Calculate Inverse Kinematics Request failed"); b3Warning("Calculate Inverse Kinematics Request failed");
break; break;
} }
case CMD_VISUAL_SHAPE_INFO_COMPLETED: case CMD_VISUAL_SHAPE_INFO_COMPLETED:
{ {
B3_PROFILE("CMD_VISUAL_SHAPE_INFO_COMPLETED");
if (m_data->m_verboseOutput) if (m_data->m_verboseOutput)
{ {
b3Printf("Visual Shape Information Request OK\n"); b3Printf("Visual Shape Information Request OK\n");
@@ -945,6 +992,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
} }
}; };
m_data->m_testBlock1->m_numProcessedServerCommands++; m_data->m_testBlock1->m_numProcessedServerCommands++;
// we don't have more than 1 command outstanding (in total, either server or client) // we don't have more than 1 command outstanding (in total, either server or client)
btAssert(m_data->m_testBlock1->m_numProcessedServerCommands == 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)) 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; int numConstraints = serverCmd.m_sdfLoadedArgs.m_numUserConstraints;
for (int i=0;i<numConstraints;i++) for (int i=0;i<numConstraints;i++)
{ {
@@ -990,6 +1039,8 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
if (serverCmd.m_type == CMD_USER_CONSTRAINT_INFO_COMPLETED) if (serverCmd.m_type == CMD_USER_CONSTRAINT_INFO_COMPLETED)
{ {
B3_PROFILE("CMD_USER_CONSTRAINT_INFO_COMPLETED");
if (m_data->m_constraintIdsRequestInfo.size()) if (m_data->m_constraintIdsRequestInfo.size())
{ {
int cid = m_data->m_constraintIdsRequestInfo[m_data->m_constraintIdsRequestInfo.size()-1]; 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) if (serverCmd.m_type == CMD_BODY_INFO_COMPLETED)
{ {
B3_PROFILE("CMD_BODY_INFO_COMPLETED");
//are there any bodies left to be processed? //are there any bodies left to be processed?
if (m_data->m_bodyIdsRequestInfo.size()) if (m_data->m_bodyIdsRequestInfo.size())
{ {
@@ -1042,6 +1094,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
if (serverCmd.m_type == CMD_REQUEST_AABB_OVERLAP_COMPLETED) 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]; SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
if (serverCmd.m_sendOverlappingObjectsArgs.m_numRemainingOverlappingObjects > 0 && serverCmd.m_sendOverlappingObjectsArgs.m_numOverlappingObjectsCopied) 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) 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]; SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
if (serverCmd.m_sendContactPointArgs.m_numRemainingContactPoints>0 && serverCmd.m_sendContactPointArgs.m_numContactPointsCopied) 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) 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]; SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
if (serverCmd.m_sendVisualShapeArgs.m_numRemainingVisualShapes >0 && serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied) 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) if (serverCmd.m_type == CMD_CAMERA_IMAGE_COMPLETED)
{ {
B3_PROFILE("CMD_CAMERA_IMAGE_COMPLETED2");
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0]; SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
if (serverCmd.m_sendPixelDataArguments.m_numRemainingPixels > 0 && serverCmd.m_sendPixelDataArguments.m_numPixelsCopied) 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) && 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]; SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
// continue requesting debug lines for drawing // continue requesting debug lines for drawing
@@ -1121,7 +1179,10 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
return &m_data->m_lastServerStatus; return &m_data->m_lastServerStatus;
} else { } else {
if (m_data->m_verboseOutput) { if (m_data->m_verboseOutput)
{
B3_PROFILE("m_verboseOutput");
b3Printf("m_numServerStatus = %d, processed = %d\n", b3Printf("m_numServerStatus = %d, processed = %d\n",
m_data->m_testBlock1->m_numServerCommands, m_data->m_testBlock1->m_numServerCommands,
m_data->m_testBlock1->m_numProcessedServerCommands); m_data->m_testBlock1->m_numProcessedServerCommands);

97
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -1758,6 +1758,7 @@ int PhysicsServerCommandProcessor::createBodyInfoStream(int bodyUniqueId, char*
bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes ) bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes )
{ {
BT_PROFILE("processCommand");
bool hasStatus = false; bool hasStatus = false;
@@ -1818,6 +1819,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
#endif #endif
case CMD_STATE_LOGGING: case CMD_STATE_LOGGING:
{ {
BT_PROFILE("CMD_STATE_LOGGING");
serverStatusOut.m_type = CMD_STATE_LOGGING_FAILED; serverStatusOut.m_type = CMD_STATE_LOGGING_FAILED;
hasStatus = true; hasStatus = true;
@@ -1934,6 +1937,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
} }
case CMD_SET_VR_CAMERA_STATE: case CMD_SET_VR_CAMERA_STATE:
{ {
BT_PROFILE("CMD_SET_VR_CAMERA_STATE");
if (clientCmd.m_updateFlags & VR_CAMERA_ROOT_POSITION) if (clientCmd.m_updateFlags & VR_CAMERA_ROOT_POSITION)
{ {
@@ -1960,6 +1964,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
} }
case CMD_REQUEST_VR_EVENTS_DATA: case CMD_REQUEST_VR_EVENTS_DATA:
{ {
BT_PROFILE("CMD_REQUEST_VR_EVENTS_DATA");
serverStatusOut.m_sendVREvents.m_numVRControllerEvents = 0; serverStatusOut.m_sendVREvents.m_numVRControllerEvents = 0;
for (int i=0;i<MAX_VR_CONTROLLERS;i++) for (int i=0;i<MAX_VR_CONTROLLERS;i++)
{ {
@@ -1981,6 +1987,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_REQUEST_KEYBOARD_EVENTS_DATA: case CMD_REQUEST_KEYBOARD_EVENTS_DATA:
{ {
BT_PROFILE("CMD_REQUEST_KEYBOARD_EVENTS_DATA");
serverStatusOut.m_sendKeyboardEvents.m_numKeyboardEvents = m_data->m_keyboardEvents.size(); serverStatusOut.m_sendKeyboardEvents.m_numKeyboardEvents = m_data->m_keyboardEvents.size();
if (serverStatusOut.m_sendKeyboardEvents.m_numKeyboardEvents>MAX_KEYBOARD_EVENTS) 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: case CMD_REQUEST_RAY_CAST_INTERSECTIONS:
{ {
BT_PROFILE("CMD_REQUEST_RAY_CAST_INTERSECTIONS");
btVector3 rayFromWorld(clientCmd.m_requestRaycastIntersections.m_rayFromPosition[0], btVector3 rayFromWorld(clientCmd.m_requestRaycastIntersections.m_rayFromPosition[0],
clientCmd.m_requestRaycastIntersections.m_rayFromPosition[1], clientCmd.m_requestRaycastIntersections.m_rayFromPosition[1],
clientCmd.m_requestRaycastIntersections.m_rayFromPosition[2]); clientCmd.m_requestRaycastIntersections.m_rayFromPosition[2]);
@@ -2075,6 +2085,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}; };
case CMD_REQUEST_DEBUG_LINES: case CMD_REQUEST_DEBUG_LINES:
{ {
BT_PROFILE("CMD_REQUEST_DEBUG_LINES");
int curFlags =m_data->m_remoteDebugDrawer->getDebugMode(); int curFlags =m_data->m_remoteDebugDrawer->getDebugMode();
int debugMode = clientCmd.m_requestDebugLinesArguments.m_debugMode;//clientCmd.btIDebugDraw::DBG_DrawWireframe|btIDebugDraw::DBG_DrawAabb; 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: case CMD_REQUEST_CAMERA_IMAGE_DATA:
{ {
BT_PROFILE("CMD_REQUEST_CAMERA_IMAGE_DATA");
int startPixelIndex = clientCmd.m_requestPixelDataArguments.m_startPixelIndex; int startPixelIndex = clientCmd.m_requestPixelDataArguments.m_startPixelIndex;
int width = clientCmd.m_requestPixelDataArguments.m_pixelWidth; int width = clientCmd.m_requestPixelDataArguments.m_pixelWidth;
int height = clientCmd.m_requestPixelDataArguments.m_pixelHeight; int height = clientCmd.m_requestPixelDataArguments.m_pixelHeight;
@@ -2273,6 +2285,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_SYNC_BODY_INFO: case CMD_SYNC_BODY_INFO:
{ {
BT_PROFILE("CMD_SYNC_BODY_INFO");
int numHandles = m_data->getNumHandles(); int numHandles = m_data->getNumHandles();
int actualNumBodies = 0; int actualNumBodies = 0;
for (int i=0;i<numHandles;i++) for (int i=0;i<numHandles;i++)
@@ -2301,6 +2315,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
} }
case CMD_REQUEST_BODY_INFO: case CMD_REQUEST_BODY_INFO:
{ {
BT_PROFILE("CMD_REQUEST_BODY_INFO");
const SdfRequestInfoArgs& sdfInfoArgs = clientCmd.m_sdfRequestInfoArgs; const SdfRequestInfoArgs& sdfInfoArgs = clientCmd.m_sdfRequestInfoArgs;
//stream info into memory //stream info into memory
int streamSizeInBytes = createBodyInfoStream(sdfInfoArgs.m_bodyUniqueId, bufferServerToClient, bufferSizeInBytes); int streamSizeInBytes = createBodyInfoStream(sdfInfoArgs.m_bodyUniqueId, bufferServerToClient, bufferSizeInBytes);
@@ -2314,6 +2330,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
} }
case CMD_SAVE_WORLD: case CMD_SAVE_WORLD:
{ {
BT_PROFILE("CMD_SAVE_WORLD");
///this is a very rudimentary way to save the state of the world, for scene authoring ///this is a very rudimentary way to save the state of the world, for scene authoring
///many todo's, for example save the state of motor controllers etc. ///many todo's, for example save the state of motor controllers etc.
@@ -2549,6 +2567,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
} }
case CMD_LOAD_SDF: case CMD_LOAD_SDF:
{ {
BT_PROFILE("CMD_LOAD_SDF");
const SdfArgs& sdfArgs = clientCmd.m_sdfArguments; const SdfArgs& sdfArgs = clientCmd.m_sdfArguments;
if (m_data->m_verboseOutput) if (m_data->m_verboseOutput)
{ {
@@ -2581,7 +2601,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
} }
case CMD_LOAD_URDF: case CMD_LOAD_URDF:
{ {
BT_PROFILE("CMD_LOAD_URDF");
const UrdfArgs& urdfArgs = clientCmd.m_urdfArguments; const UrdfArgs& urdfArgs = clientCmd.m_urdfArguments;
if (m_data->m_verboseOutput) if (m_data->m_verboseOutput)
{ {
@@ -2686,6 +2706,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
} }
case CMD_CREATE_SENSOR: case CMD_CREATE_SENSOR:
{ {
BT_PROFILE("CMD_CREATE_SENSOR");
if (m_data->m_verboseOutput) if (m_data->m_verboseOutput)
{ {
b3Printf("Processed CMD_CREATE_SENSOR"); b3Printf("Processed CMD_CREATE_SENSOR");
@@ -2754,6 +2776,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
} }
case CMD_SEND_DESIRED_STATE: case CMD_SEND_DESIRED_STATE:
{ {
BT_PROFILE("CMD_SEND_DESIRED_STATE");
if (m_data->m_verboseOutput) if (m_data->m_verboseOutput)
{ {
b3Printf("Processed CMD_SEND_DESIRED_STATE"); b3Printf("Processed CMD_SEND_DESIRED_STATE");
@@ -2946,6 +2969,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
} }
case CMD_REQUEST_ACTUAL_STATE: case CMD_REQUEST_ACTUAL_STATE:
{ {
BT_PROFILE("CMD_REQUEST_ACTUAL_STATE");
if (m_data->m_verboseOutput) if (m_data->m_verboseOutput)
{ {
b3Printf("Sending the actual state (Q,U)"); 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]; serverCmd.m_sendActualStateArgs.m_actualStateQdot[5] = mb->getBaseOmega()[2];
totalDegreeOfFreedomU += 6;//3 linear and 3 angular DOF totalDegreeOfFreedomU += 6;//3 linear and 3 angular DOF
} }
btAlignedObjectArray<btVector3> omega;
btAlignedObjectArray<btVector3> 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;l<mb->getNumLinks();l++) for (int l=0;l<mb->getNumLinks();l++)
{ {
for (int d=0;d<mb->getLink(l).m_posVarCount;d++) for (int d=0;d<mb->getLink(l).m_posVarCount;d++)
@@ -3082,6 +3120,24 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
serverCmd.m_sendActualStateArgs.m_linkState[l*7+5] = linkCOMRotation.z(); 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+6] = linkCOMRotation.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+0] = linkLocalInertialOrigin.getX();
serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+1] = linkLocalInertialOrigin.getY(); 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+2] = linkLocalInertialOrigin.getZ();
@@ -3152,6 +3208,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
} }
case CMD_STEP_FORWARD_SIMULATION: case CMD_STEP_FORWARD_SIMULATION:
{ {
BT_PROFILE("CMD_STEP_FORWARD_SIMULATION");
if (m_data->m_verboseOutput) if (m_data->m_verboseOutput)
{ {
@@ -3186,6 +3244,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_REQUEST_INTERNAL_DATA: case CMD_REQUEST_INTERNAL_DATA:
{ {
BT_PROFILE("CMD_REQUEST_INTERNAL_DATA");
//todo: also check version etc? //todo: also check version etc?
SharedMemoryStatus& serverCmd = serverStatusOut; SharedMemoryStatus& serverCmd = serverStatusOut;
@@ -3208,6 +3268,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}; };
case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS: case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS:
{ {
BT_PROFILE("CMD_SEND_PHYSICS_SIMULATION_PARAMETERS");
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DELTA_TIME) if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DELTA_TIME)
{ {
m_data->m_physicsDeltaTime = clientCmd.m_physSimParamArgs.m_deltaTime; m_data->m_physicsDeltaTime = clientCmd.m_physSimParamArgs.m_deltaTime;
@@ -3283,6 +3345,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}; };
case CMD_INIT_POSE: case CMD_INIT_POSE:
{ {
BT_PROFILE("CMD_INIT_POSE");
if (m_data->m_verboseOutput) if (m_data->m_verboseOutput)
{ {
b3Printf("Server Init Pose not implemented yet"); b3Printf("Server Init Pose not implemented yet");
@@ -3431,6 +3495,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_RESET_SIMULATION: case CMD_RESET_SIMULATION:
{ {
BT_PROFILE("CMD_RESET_SIMULATION");
resetSimulation(); resetSimulation();
@@ -3442,6 +3507,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_CREATE_RIGID_BODY: case CMD_CREATE_RIGID_BODY:
case CMD_CREATE_BOX_COLLISION_SHAPE: case CMD_CREATE_BOX_COLLISION_SHAPE:
{ {
BT_PROFILE("CMD_CREATE_RIGID_BODY");
btVector3 halfExtents(1,1,1); btVector3 halfExtents(1,1,1);
if (clientCmd.m_updateFlags & BOX_SHAPE_HAS_HALF_EXTENTS) if (clientCmd.m_updateFlags & BOX_SHAPE_HAS_HALF_EXTENTS)
{ {
@@ -3576,6 +3643,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
} }
case CMD_PICK_BODY: case CMD_PICK_BODY:
{ {
BT_PROFILE("CMD_PICK_BODY");
pickBody(btVector3(clientCmd.m_pickBodyArguments.m_rayFromWorld[0], pickBody(btVector3(clientCmd.m_pickBodyArguments.m_rayFromWorld[0],
clientCmd.m_pickBodyArguments.m_rayFromWorld[1], clientCmd.m_pickBodyArguments.m_rayFromWorld[1],
clientCmd.m_pickBodyArguments.m_rayFromWorld[2]), clientCmd.m_pickBodyArguments.m_rayFromWorld[2]),
@@ -3591,6 +3660,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
} }
case CMD_MOVE_PICKED_BODY: case CMD_MOVE_PICKED_BODY:
{ {
BT_PROFILE("CMD_MOVE_PICKED_BODY");
movePickedBody(btVector3(clientCmd.m_pickBodyArguments.m_rayFromWorld[0], movePickedBody(btVector3(clientCmd.m_pickBodyArguments.m_rayFromWorld[0],
clientCmd.m_pickBodyArguments.m_rayFromWorld[1], clientCmd.m_pickBodyArguments.m_rayFromWorld[1],
clientCmd.m_pickBodyArguments.m_rayFromWorld[2]), clientCmd.m_pickBodyArguments.m_rayFromWorld[2]),
@@ -3605,6 +3676,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
} }
case CMD_REMOVE_PICKING_CONSTRAINT_BODY: case CMD_REMOVE_PICKING_CONSTRAINT_BODY:
{ {
BT_PROFILE("CMD_REMOVE_PICKING_CONSTRAINT_BODY");
removePickingConstraint(); removePickingConstraint();
SharedMemoryStatus& serverCmd =serverStatusOut; SharedMemoryStatus& serverCmd =serverStatusOut;
@@ -3614,6 +3686,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
} }
case CMD_REQUEST_AABB_OVERLAP: case CMD_REQUEST_AABB_OVERLAP:
{ {
BT_PROFILE("CMD_REQUEST_AABB_OVERLAP");
SharedMemoryStatus& serverCmd = serverStatusOut; SharedMemoryStatus& serverCmd = serverStatusOut;
int curObjectIndex = clientCmd.m_requestOverlappingObjectsArgs.m_startingOverlappingObjectIndex; int curObjectIndex = clientCmd.m_requestOverlappingObjectsArgs.m_startingOverlappingObjectIndex;
@@ -3671,6 +3744,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_CONFIGURE_OPENGL_VISUALIZER: case CMD_CONFIGURE_OPENGL_VISUALIZER:
{ {
BT_PROFILE("CMD_CONFIGURE_OPENGL_VISUALIZER");
SharedMemoryStatus& serverCmd = serverStatusOut; SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type =CMD_CLIENT_COMMAND_COMPLETED; serverCmd.m_type =CMD_CLIENT_COMMAND_COMPLETED;
@@ -3694,6 +3768,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_REQUEST_CONTACT_POINT_INFORMATION: case CMD_REQUEST_CONTACT_POINT_INFORMATION:
{ {
BT_PROFILE("CMD_REQUEST_CONTACT_POINT_INFORMATION");
SharedMemoryStatus& serverCmd =serverStatusOut; SharedMemoryStatus& serverCmd =serverStatusOut;
serverCmd.m_sendContactPointArgs.m_numContactPointsCopied = 0; serverCmd.m_sendContactPointArgs.m_numContactPointsCopied = 0;
@@ -4004,6 +4079,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
} }
case CMD_CALCULATE_INVERSE_DYNAMICS: case CMD_CALCULATE_INVERSE_DYNAMICS:
{ {
BT_PROFILE("CMD_CALCULATE_INVERSE_DYNAMICS");
SharedMemoryStatus& serverCmd = serverStatusOut; SharedMemoryStatus& serverCmd = serverStatusOut;
InternalBodyHandle* bodyHandle = m_data->getHandle(clientCmd.m_calculateInverseDynamicsArguments.m_bodyUniqueId); InternalBodyHandle* bodyHandle = m_data->getHandle(clientCmd.m_calculateInverseDynamicsArguments.m_bodyUniqueId);
if (bodyHandle && bodyHandle->m_multiBody) if (bodyHandle && bodyHandle->m_multiBody)
@@ -4054,6 +4130,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
} }
case CMD_CALCULATE_JACOBIAN: case CMD_CALCULATE_JACOBIAN:
{ {
BT_PROFILE("CMD_CALCULATE_JACOBIAN");
SharedMemoryStatus& serverCmd = serverStatusOut; SharedMemoryStatus& serverCmd = serverStatusOut;
InternalBodyHandle* bodyHandle = m_data->getHandle(clientCmd.m_calculateJacobianArguments.m_bodyUniqueId); InternalBodyHandle* bodyHandle = m_data->getHandle(clientCmd.m_calculateJacobianArguments.m_bodyUniqueId);
if (bodyHandle && bodyHandle->m_multiBody) if (bodyHandle && bodyHandle->m_multiBody)
@@ -4110,6 +4188,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
} }
case CMD_APPLY_EXTERNAL_FORCE: case CMD_APPLY_EXTERNAL_FORCE:
{ {
BT_PROFILE("CMD_APPLY_EXTERNAL_FORCE");
if (m_data->m_verboseOutput) if (m_data->m_verboseOutput)
{ {
b3Printf("CMD_APPLY_EXTERNAL_FORCE clientCmd = %d\n", clientCmd.m_sequenceNumber); 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: case CMD_USER_CONSTRAINT:
{ {
BT_PROFILE("CMD_USER_CONSTRAINT");
SharedMemoryStatus& serverCmd =serverStatusOut; SharedMemoryStatus& serverCmd =serverStatusOut;
serverCmd.m_type = CMD_USER_CONSTRAINT_FAILED; serverCmd.m_type = CMD_USER_CONSTRAINT_FAILED;
hasStatus = true; hasStatus = true;
@@ -4439,6 +4521,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
} }
case CMD_CALCULATE_INVERSE_KINEMATICS: case CMD_CALCULATE_INVERSE_KINEMATICS:
{ {
BT_PROFILE("CMD_CALCULATE_INVERSE_KINEMATICS");
SharedMemoryStatus& serverCmd = serverStatusOut; SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_CALCULATE_INVERSE_KINEMATICS_FAILED; serverCmd.m_type = CMD_CALCULATE_INVERSE_KINEMATICS_FAILED;
@@ -4608,7 +4691,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
} }
case CMD_REQUEST_VISUAL_SHAPE_INFO: case CMD_REQUEST_VISUAL_SHAPE_INFO:
{ {
BT_PROFILE("CMD_REQUEST_VISUAL_SHAPE_INFO");
SharedMemoryStatus& serverCmd = serverStatusOut; SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_VISUAL_SHAPE_INFO_FAILED; serverCmd.m_type = CMD_VISUAL_SHAPE_INFO_FAILED;
//retrieve the visual shape information for a specific body //retrieve the visual shape information for a specific body
@@ -4637,6 +4720,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
} }
case CMD_UPDATE_VISUAL_SHAPE: case CMD_UPDATE_VISUAL_SHAPE:
{ {
BT_PROFILE("CMD_UPDATE_VISUAL_SHAPE");
SharedMemoryStatus& serverCmd = serverStatusOut; SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_FAILED; serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_FAILED;
@@ -4649,6 +4733,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
} }
case CMD_LOAD_TEXTURE: case CMD_LOAD_TEXTURE:
{ {
BT_PROFILE("CMD_LOAD_TEXTURE");
SharedMemoryStatus& serverCmd = serverStatusOut; SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_LOAD_TEXTURE_FAILED; serverCmd.m_type = CMD_LOAD_TEXTURE_FAILED;
@@ -4668,7 +4753,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_LOAD_BULLET: case CMD_LOAD_BULLET:
{ {
BT_PROFILE("CMD_LOAD_BULLET");
SharedMemoryStatus& serverCmd = serverStatusOut; SharedMemoryStatus& serverCmd = serverStatusOut;
btBulletWorldImporter* importer = new btBulletWorldImporter(m_data->m_dynamicsWorld); btBulletWorldImporter* importer = new btBulletWorldImporter(m_data->m_dynamicsWorld);
@@ -4739,6 +4824,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_SAVE_BULLET: case CMD_SAVE_BULLET:
{ {
BT_PROFILE("CMD_SAVE_BULLET");
SharedMemoryStatus& serverCmd = serverStatusOut; SharedMemoryStatus& serverCmd = serverStatusOut;
FILE* f = fopen(clientCmd.m_fileArguments.m_fileName, "wb"); FILE* f = fopen(clientCmd.m_fileArguments.m_fileName, "wb");
@@ -4758,6 +4844,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_LOAD_MJCF: case CMD_LOAD_MJCF:
{ {
BT_PROFILE("CMD_LOAD_MJCF");
SharedMemoryStatus& serverCmd = serverStatusOut; SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_MJCF_LOADING_FAILED; serverCmd.m_type = CMD_MJCF_LOADING_FAILED;
const MjcfArgs& mjcfArgs = clientCmd.m_mjcfArguments; const MjcfArgs& mjcfArgs = clientCmd.m_mjcfArguments;
@@ -4792,6 +4879,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_USER_DEBUG_DRAW: case CMD_USER_DEBUG_DRAW:
{ {
BT_PROFILE("CMD_USER_DEBUG_DRAW");
SharedMemoryStatus& serverCmd = serverStatusOut; SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_USER_DEBUG_DRAW_FAILED; serverCmd.m_type = CMD_USER_DEBUG_DRAW_FAILED;
hasStatus = true; hasStatus = true;
@@ -4916,6 +5004,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
default: default:
{ {
BT_PROFILE("CMD_UNKNOWN");
b3Error("Unknown command encountered"); b3Error("Unknown command encountered");
SharedMemoryStatus& serverCmd =serverStatusOut; SharedMemoryStatus& serverCmd =serverStatusOut;

9
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -23,7 +23,6 @@
#include "../CommonInterfaces/CommonParameterInterface.h" #include "../CommonInterfaces/CommonParameterInterface.h"
//@todo(erwincoumans) those globals are hacks for a VR demo, move this to Python/pybullet! //@todo(erwincoumans) those globals are hacks for a VR demo, move this to Python/pybullet!
extern btVector3 gLastPickPos; extern btVector3 gLastPickPos;
@@ -309,13 +308,12 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
do do
{ {
BT_PROFILE("loop");
{ {
BT_PROFILE("usleep(0)");
b3Clock::usleep(0); b3Clock::usleep(0);
} }
{
if (gMaxNumCmdPer1ms>0) if (gMaxNumCmdPer1ms>0)
{ {
if (numCmdSinceSleep1ms>gMaxNumCmdPer1ms) if (numCmdSinceSleep1ms>gMaxNumCmdPer1ms)
@@ -331,6 +329,7 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
sleepClock.reset(); sleepClock.reset();
numCmdSinceSleep1ms = 0; numCmdSinceSleep1ms = 0;
} }
}
unsigned long long int curTime = clock.getTimeMicroseconds(); unsigned long long int curTime = clock.getTimeMicroseconds();
unsigned long long int dtMicro = curTime - prevTime; unsigned long long int dtMicro = curTime - prevTime;
@@ -449,7 +448,6 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
args->m_csGUI->unlock(); args->m_csGUI->unlock();
{ {
BT_PROFILE("stepSimulationRealTime");
args->m_physicsServerPtr->stepSimulationRealTime(deltaTimeInSeconds, args->m_sendVrControllerEvents,numSendVrControllers, keyEvents, args->m_sendKeyEvents.size()); args->m_physicsServerPtr->stepSimulationRealTime(deltaTimeInSeconds, args->m_sendVrControllerEvents,numSendVrControllers, keyEvents, args->m_sendKeyEvents.size());
} }
deltaTimeInSeconds = 0; deltaTimeInSeconds = 0;
@@ -487,7 +485,6 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
args->m_csGUI->unlock(); args->m_csGUI->unlock();
{ {
BT_PROFILE("processClientCommands");
args->m_physicsServerPtr->processClientCommands(); args->m_physicsServerPtr->processClientCommands();
numCmdSinceSleep1ms++; numCmdSinceSleep1ms++;
} }

1
examples/SharedMemory/PhysicsServerSharedMemory.cpp
View File

@@ -252,6 +252,7 @@ void PhysicsServerSharedMemory::processClientCommands()
if (m_data->m_testBlocks[block]->m_numClientCommands> m_data->m_testBlocks[block]->m_numProcessedClientCommands) 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 //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); btAssert(m_data->m_testBlocks[block]->m_numClientCommands==m_data->m_testBlocks[block]->m_numProcessedClientCommands+1);

1
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -383,6 +383,7 @@ struct SendActualStateArgs
double m_jointMotorForce[MAX_DEGREE_OF_FREEDOM]; double m_jointMotorForce[MAX_DEGREE_OF_FREEDOM];
double m_linkState[7*MAX_NUM_LINKS]; 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]; double m_linkLocalInertialFrames[7*MAX_NUM_LINKS];
}; };

19
examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
View File

@@ -5,7 +5,7 @@
#include "PhysicsClientSharedMemory.h" #include "PhysicsClientSharedMemory.h"
#include"../ExampleBrowser/InProcessExampleBrowser.h" #include"../ExampleBrowser/InProcessExampleBrowser.h"
#include "Bullet3Common/b3Logging.h"
class InProcessPhysicsClientSharedMemoryMainThread : public PhysicsClientSharedMemory class InProcessPhysicsClientSharedMemoryMainThread : public PhysicsClientSharedMemory
{ {
btInProcessExampleBrowserMainThreadInternalData* m_data; btInProcessExampleBrowserMainThreadInternalData* m_data;
@@ -38,19 +38,34 @@ public:
// return non-null if there is a status, nullptr otherwise // return non-null if there is a status, nullptr otherwise
virtual const struct SharedMemoryStatus* processServerStatus() virtual const struct SharedMemoryStatus* processServerStatus()
{
{ {
if (btIsExampleBrowserMainThreadTerminated(m_data)) if (btIsExampleBrowserMainThreadTerminated(m_data))
{ {
PhysicsClientSharedMemory::disconnectSharedMemory(); PhysicsClientSharedMemory::disconnectSharedMemory();
} }
}
{
unsigned long int ms = m_clock.getTimeMilliseconds(); unsigned long int ms = m_clock.getTimeMilliseconds();
if (ms>20) if (ms>20)
{ {
B3_PROFILE("m_clock.reset()");
m_clock.reset(); m_clock.reset();
btUpdateInProcessExampleBrowserMainThread(m_data); btUpdateInProcessExampleBrowserMainThread(m_data);
} }
}
{
b3Clock::usleep(0); b3Clock::usleep(0);
return PhysicsClientSharedMemory::processServerStatus(); }
const SharedMemoryStatus* stat = 0;
{
stat = PhysicsClientSharedMemory::processServerStatus();
}
return stat;
} }

17
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -4,7 +4,7 @@
#define SHARED_MEMORY_KEY 12347 #define SHARED_MEMORY_KEY 12347
///increase the SHARED_MEMORY_MAGIC_NUMBER whenever incompatible changes are made in the structures ///increase the SHARED_MEMORY_MAGIC_NUMBER whenever incompatible changes are made in the structures
///my convention is year/month/day/rev ///my convention is year/month/day/rev
#define SHARED_MEMORY_MAGIC_NUMBER 201703010 #define SHARED_MEMORY_MAGIC_NUMBER 201703024
enum EnumSharedMemoryClientCommand enum EnumSharedMemoryClientCommand
{ {
@@ -174,7 +174,11 @@ struct b3JointInfo
int m_jointIndex; int m_jointIndex;
int m_flags; int m_flags;
double m_jointDamping; double m_jointDamping;
double m_jointFriction; 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_parentFrame[7]; // position and orientation (quaternion)
double m_childFrame[7]; // ^^^ double m_childFrame[7]; // ^^^
double m_jointAxis[3]; // joint axis in parent local frame double m_jointAxis[3]; // joint axis in parent local frame
@@ -377,6 +381,11 @@ struct b3VisualShapeInformation
struct b3VisualShapeData* m_visualShapeData; struct b3VisualShapeData* m_visualShapeData;
}; };
enum eLinkStateFlags
{
ACTUAL_STATE_COMPUTE_LINKVELOCITY=1
};
///b3LinkState provides extra information such as the Cartesian world coordinates ///b3LinkState provides extra information such as the Cartesian world coordinates
///center of mass (COM) of the link, relative to the world reference frame. ///center of mass (COM) of the link, relative to the world reference frame.
///Orientation is a quaternion x,y,z,w ///Orientation is a quaternion x,y,z,w
@@ -394,6 +403,10 @@ struct b3LinkState
///world position and orientation of the (URDF) link frame ///world position and orientation of the (URDF) link frame
double m_worldLinkFramePosition[3]; double m_worldLinkFramePosition[3];
double m_worldLinkFrameOrientation[4]; 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 //todo: discuss and decide about control mode and combinations

50
examples/pybullet/pybullet.c
View File

@@ -2075,7 +2075,7 @@ static PyObject* pybullet_getJointInfo(PyObject* self, PyObject* args, PyObject*
int bodyUniqueId = -1; int bodyUniqueId = -1;
int jointIndex = -1; int jointIndex = -1;
int jointInfoSize = 8; // size of struct b3JointInfo int jointInfoSize = 12; // size of struct b3JointInfo
b3PhysicsClientHandle sm = 0; b3PhysicsClientHandle sm = 0;
int physicsClientId = 0; int physicsClientId = 0;
static char* kwlist[] = {"bodyUniqueId", "jointIndex", "physicsClientId", NULL}; static char* kwlist[] = {"bodyUniqueId", "jointIndex", "physicsClientId", NULL};
@@ -2118,7 +2118,16 @@ static PyObject* pybullet_getJointInfo(PyObject* self, PyObject* args, PyObject*
PyTuple_SetItem(pyListJointInfo, 6, PyTuple_SetItem(pyListJointInfo, 6,
PyFloat_FromDouble(info.m_jointDamping)); PyFloat_FromDouble(info.m_jointDamping));
PyTuple_SetItem(pyListJointInfo, 7, 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; return pyListJointInfo;
} }
else else
@@ -2246,17 +2255,21 @@ static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args, PyObject*
PyObject* pyLinkStateLocalInertialOrientation; PyObject* pyLinkStateLocalInertialOrientation;
PyObject* pyLinkStateWorldLinkFramePosition; PyObject* pyLinkStateWorldLinkFramePosition;
PyObject* pyLinkStateWorldLinkFrameOrientation; PyObject* pyLinkStateWorldLinkFrameOrientation;
PyObject* pyLinkStateWorldLinkLinearVelocity;
PyObject* pyLinkStateWorldLinkAngularVelocity;
struct b3LinkState linkState; struct b3LinkState linkState;
int bodyUniqueId = -1; int bodyUniqueId = -1;
int linkIndex = -1; int linkIndex = -1;
int computeLinkVelocity = 0;
int i; int i;
b3PhysicsClientHandle sm = 0; b3PhysicsClientHandle sm = 0;
int physicsClientId = 0; int physicsClientId = 0;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "physicsClientId", NULL}; static char* kwlist[] = {"bodyUniqueId", "linkIndex", "computeLinkVelocity", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|i", kwlist, &bodyUniqueId, &linkIndex, &physicsClientId)) if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|ii", kwlist, &bodyUniqueId, &linkIndex,&computeLinkVelocity, &physicsClientId))
{ {
return NULL; return NULL;
} }
@@ -2286,6 +2299,12 @@ static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args, PyObject*
cmd_handle = cmd_handle =
b3RequestActualStateCommandInit(sm, bodyUniqueId); b3RequestActualStateCommandInit(sm, bodyUniqueId);
if (computeLinkVelocity)
{
b3RequestActualStateCommandComputeLinkVelocity(cmd_handle,computeLinkVelocity);
}
status_handle = status_handle =
b3SubmitClientCommandAndWaitStatus(sm, cmd_handle); b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
@@ -2340,7 +2359,16 @@ static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args, PyObject*
PyFloat_FromDouble(linkState.m_worldLinkFrameOrientation[i])); PyFloat_FromDouble(linkState.m_worldLinkFrameOrientation[i]));
} }
if (computeLinkVelocity)
{
pyLinkState = PyTuple_New(8);
} else
{
pyLinkState = PyTuple_New(6); pyLinkState = PyTuple_New(6);
}
PyTuple_SetItem(pyLinkState, 0, pyLinkStateWorldPosition); PyTuple_SetItem(pyLinkState, 0, pyLinkStateWorldPosition);
PyTuple_SetItem(pyLinkState, 1, pyLinkStateWorldOrientation); PyTuple_SetItem(pyLinkState, 1, pyLinkStateWorldOrientation);
PyTuple_SetItem(pyLinkState, 2, pyLinkStateLocalInertialPosition); 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, 4, pyLinkStateWorldLinkFramePosition);
PyTuple_SetItem(pyLinkState, 5, pyLinkStateWorldLinkFrameOrientation); 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; return pyLinkState;
} }
} }

4
src/BulletDynamics/Featherstone/btMultiBody.cpp
View File

@@ -1965,6 +1965,10 @@ const char* btMultiBody::serialize(void* dataBuffer, class btSerializer* seriali
memPtr->m_parentIndex = getLink(i).m_parent; memPtr->m_parentIndex = getLink(i).m_parent;
memPtr->m_jointDamping = getLink(i).m_jointDamping; memPtr->m_jointDamping = getLink(i).m_jointDamping;
memPtr->m_jointFriction = getLink(i).m_jointFriction; 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_eVector.serialize(memPtr->m_parentComToThisComOffset);
getLink(i).m_dVector.serialize(memPtr->m_thisPivotToThisComOffset); getLink(i).m_dVector.serialize(memPtr->m_thisPivotToThisComOffset);

8
src/BulletDynamics/Featherstone/btMultiBody.h
View File

@@ -728,6 +728,10 @@ struct btMultiBodyLinkDoubleData
double m_jointDamping; double m_jointDamping;
double m_jointFriction; double m_jointFriction;
double m_jointLowerLimit;
double m_jointUpperLimit;
double m_jointMaxForce;
double m_jointMaxVelocity;
char *m_linkName; char *m_linkName;
char *m_jointName; char *m_jointName;
@@ -757,6 +761,10 @@ struct btMultiBodyLinkFloatData
int m_posVarCount; int m_posVarCount;
float m_jointDamping; float m_jointDamping;
float m_jointFriction; float m_jointFriction;
float m_jointLowerLimit;
float m_jointUpperLimit;
float m_jointMaxForce;
float m_jointMaxVelocity;
char *m_linkName; char *m_linkName;
char *m_jointName; char *m_jointName;

10
src/BulletDynamics/Featherstone/btMultiBodyLink.h
View File

@@ -136,6 +136,10 @@ 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_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_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 // ctor: set some sensible defaults
btMultibodyLink() btMultibodyLink()
@@ -153,7 +157,11 @@ btVector3 m_appliedConstraintForce; // In WORLD frame
m_jointName(0), m_jointName(0),
m_userPtr(0), m_userPtr(0),
m_jointDamping(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); m_inertiaLocal.setValue(1, 1, 1);

1
src/LinearMath/CMakeLists.txt
View File

@@ -11,6 +11,7 @@ SET(LinearMath_SRCS
btPolarDecomposition.cpp btPolarDecomposition.cpp
btQuickprof.cpp btQuickprof.cpp
btSerializer.cpp btSerializer.cpp
btSerializer64.cpp
btThreads.cpp btThreads.cpp
btVector3.cpp btVector3.cpp
) )

2
src/LinearMath/btScalar.h
View File

@@ -25,7 +25,7 @@ subject to the following restrictions:
#include <float.h> #include <float.h>
/* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/ /* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/
#define BT_BULLET_VERSION 286 #define BT_BULLET_VERSION 287
inline int btGetVersion() inline int btGetVersion()
{ {

1160
src/LinearMath/btSerializer.cpp
View File

File diff suppressed because it is too large Load Diff

4
src/LinearMath/btSerializer.h
View File

@@ -26,7 +26,7 @@ subject to the following restrictions:
///only the 32bit versions for now
extern char sBulletDNAstr[]; extern char sBulletDNAstr[];
extern int sBulletDNAlen; extern int sBulletDNAlen;
extern char sBulletDNAstr64[]; extern char sBulletDNAstr64[];
@@ -505,7 +505,7 @@ public:
buffer[9] = '2'; buffer[9] = '2';
buffer[10] = '8'; buffer[10] = '8';
buffer[11] = '6'; buffer[11] = '7';
} }

599
src/LinearMath/btSerializer64.cpp Normal file
View File

@@ -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),
char(115),char(116),char(114),char(97),char(105),char(110),char(116),char(115),char(0),char(42),char(102),char(105),char(114),char(115),char(116),char(0),char(42),char(108),char(97),char(115),
char(116),char(0),char(109),char(95),char(102),char(108),char(111),char(97),char(116),char(115),char(91),char(52),char(93),char(0),char(109),char(95),char(101),char(108),char(91),char(51),
char(93),char(0),char(109),char(95),char(98),char(97),char(115),char(105),char(115),char(0),char(109),char(95),char(111),char(114),char(105),char(103),char(105),char(110),char(0),char(109),
char(95),char(114),char(111),char(111),char(116),char(78),char(111),char(100),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),char(95),char(115),char(117),char(98),
char(116),char(114),char(101),char(101),char(83),char(105),char(122),char(101),char(0),char(109),char(95),char(113),char(117),char(97),char(110),char(116),char(105),char(122),char(101),char(100),
char(65),char(97),char(98),char(98),char(77),char(105),char(110),char(91),char(51),char(93),char(0),char(109),char(95),char(113),char(117),char(97),char(110),char(116),char(105),char(122),
char(101),char(100),char(65),char(97),char(98),char(98),char(77),char(97),char(120),char(91),char(51),char(93),char(0),char(109),char(95),char(97),char(97),char(98),char(98),char(77),
char(105),char(110),char(79),char(114),char(103),char(0),char(109),char(95),char(97),char(97),char(98),char(98),char(77),char(97),char(120),char(79),char(114),char(103),char(0),char(109),
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char(114),char(116),char(0),char(109),char(95),char(116),char(114),char(105),char(97),char(110),char(103),char(108),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),
char(95),char(112),char(97),char(100),char(91),char(52),char(93),char(0),char(109),char(95),char(101),char(115),char(99),char(97),char(112),char(101),char(73),char(110),char(100),char(101),
char(120),char(79),char(114),char(84),char(114),char(105),char(97),char(110),char(103),char(108),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),char(95),char(98),
char(118),char(104),char(65),char(97),char(98),char(98),char(77),char(105),char(110),char(0),char(109),char(95),char(98),char(118),char(104),char(65),char(97),char(98),char(98),char(77),
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char(95),char(112),char(108),char(97),char(110),char(101),char(67),char(111),char(110),char(115),char(116),char(97),char(110),char(116),char(0),char(109),char(95),char(105),char(109),char(112),
char(108),char(105),char(99),char(105),char(116),char(83),char(104),char(97),char(112),char(101),char(68),char(105),char(109),char(101),char(110),char(115),char(105),char(111),char(110),char(115),
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char(4),char(0),char(-67),char(0),char(8),char(0),char(-66),char(0),char(8),char(0),char(-65),char(0),char(8),char(0),char(-64),char(0),char(8),char(0),char(-63),char(0),
char(8),char(0),char(-62),char(0),char(8),char(0),char(-61),char(0),char(8),char(0),char(-60),char(0),char(0),char(0),char(-59),char(0),char(68),char(0),char(10),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(-58),char(0),char(8),char(0),char(-57),char(0),
char(8),char(0),char(-56),char(0),char(8),char(0),char(-62),char(0),char(8),char(0),char(-61),char(0),char(8),char(0),char(-60),char(0),char(8),char(0),char(127),char(0),
char(69),char(0),char(11),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(-58),char(0),
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),
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(75),char(0),char(41),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(-44),char(0),char(14),char(0),char(-43),char(0),char(14),char(0),char(-42),char(0),
char(14),char(0),char(-41),char(0),char(14),char(0),char(-40),char(0),char(14),char(0),char(-39),char(0),char(14),char(0),char(-38),char(0),char(14),char(0),char(-37),char(0),
char(14),char(0),char(-36),char(0),char(14),char(0),char(-35),char(0),char(14),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(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);