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Add Extras/BulletRobotics, will be installed as 'Extra Libs' using CMake

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Reduce size of command-logfile (used in PhysicsServer (Logging) and PhysicsServer (Log Replay))
Make Bullet3Common and BulletInverseDynamics part of core Bullet libraries (not optional)
This commit is contained in:
Erwin Coumans
2017-09-06 13:18:39 -07:00
parent adafcce830
commit 7878f7ace9
8 changed files with 439 additions and 34 deletions
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253
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -293,29 +293,108 @@ struct CommandLogger
void logCommand(const SharedMemoryCommand& command)
{
btCommandChunk chunk;
chunk.m_chunkCode = command.m_type;
chunk.m_oldPtr = 0;
chunk.m_dna_nr = 0;
chunk.m_length = sizeof(SharedMemoryCommand);
chunk.m_number = 1;
fwrite((const char*)&chunk,sizeof(btCommandChunk), 1,m_file);
fwrite((const char*)&command,sizeof(SharedMemoryCommand),1,m_file);
if (m_file)
{
btCommandChunk chunk;
chunk.m_chunkCode = command.m_type;
chunk.m_oldPtr = 0;
chunk.m_dna_nr = 0;
chunk.m_length = sizeof(SharedMemoryCommand);
chunk.m_number = 1;
fwrite((const char*)&chunk,sizeof(btCommandChunk), 1,m_file);
switch (command.m_type)
{
case CMD_LOAD_MJCF:
{
fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
fwrite((const char*)&command.m_mjcfArguments , sizeof(MjcfArgs),1,m_file);
break;
}
case CMD_REQUEST_BODY_INFO:
{
fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
fwrite((const char*)&command.m_sdfRequestInfoArgs, sizeof(SdfRequestInfoArgs),1,m_file);
break;
}
case CMD_REQUEST_VISUAL_SHAPE_INFO:
{
fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
fwrite((const char*)&command.m_requestVisualShapeDataArguments, sizeof(RequestVisualShapeDataArgs),1,m_file);
break;
}
case CMD_LOAD_URDF:
{
fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
fwrite((const char*)&command.m_urdfArguments, sizeof(UrdfArgs),1,m_file);
break;
}
case CMD_INIT_POSE:
{
fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
fwrite((const char*)&command.m_initPoseArgs,sizeof(InitPoseArgs),1,m_file);
break;
};
case CMD_REQUEST_ACTUAL_STATE:
{
fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
fwrite((const char*)&command.m_requestActualStateInformationCommandArgument,
sizeof(RequestActualStateArgs),1,m_file);
break;
};
case CMD_SEND_DESIRED_STATE:
{
fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
fwrite((const char*)&command.m_sendDesiredStateCommandArgument,sizeof(SendDesiredStateArgs),1,m_file);
break;
}
case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS:
{
fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
fwrite((const char*)&command.m_physSimParamArgs, sizeof(SendPhysicsSimulationParameters), 1,m_file);
break;
}
case CMD_REQUEST_CONTACT_POINT_INFORMATION:
{
fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
fwrite((const char*)&command.m_requestContactPointArguments,sizeof(RequestContactDataArgs),1,m_file);
break;
}
case CMD_STEP_FORWARD_SIMULATION:
case CMD_RESET_SIMULATION:
case CMD_REQUEST_INTERNAL_DATA:
{
break;
};
default:
{
fwrite((const char*)&command,sizeof(SharedMemoryCommand),1,m_file);
}
};
}
}
CommandLogger(const char* fileName)
{
m_file = fopen(fileName,"wb");
unsigned char buf[15];
buf[12] = 12;
buf[13] = 13;
buf[14] = 14;
writeHeader(buf);
fwrite(buf,12,1,m_file);
if (m_file)
{
unsigned char buf[15];
buf[12] = 12;
buf[13] = 13;
buf[14] = 14;
writeHeader(buf);
fwrite(buf,12,1,m_file);
}
}
virtual ~CommandLogger()
{
fclose(m_file);
if (m_file)
{
fclose(m_file);
}
}
};
@@ -355,28 +434,162 @@ struct CommandLogPlayback
}
bool processNextCommand(SharedMemoryCommand* cmd)
{
//for a little while, keep this flag to be able to read 'old' log files
//#define BACKWARD_COMPAT
#if BACKWARD_COMPAT
SharedMemoryCommand unused;
#endif//BACKWARD_COMPAT
bool result = false;
if (m_file)
{
size_t s = 0;
int commandType = -1;
if (m_fileIs64bit)
{
bCommandChunkPtr8 chunk8;
s = fread((void*)&chunk8,sizeof(bCommandChunkPtr8),1,m_file);
commandType = chunk8.code;
} else
{
bCommandChunkPtr4 chunk4;
s = fread((void*)&chunk4,sizeof(bCommandChunkPtr4),1,m_file);
commandType = chunk4.code;
}
if (s==1)
{
s = fread(cmd,sizeof(SharedMemoryCommand),1,m_file);
return (s==1);
memset(cmd,0,sizeof(SharedMemoryCommand));
cmd->m_type = commandType;
#ifdef BACKWARD_COMPAT
s = fread(&unused,sizeof(SharedMemoryCommand),1,m_file);
cmd->m_updateFlags = unused.m_updateFlags;
#endif
switch (commandType)
{
case CMD_LOAD_MJCF:
{
#ifdef BACKWARD_COMPAT
cmd->m_mjcfArguments = unused.m_mjcfArguments;
#else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_mjcfArguments,sizeof(MjcfArgs),1,m_file);
#endif
result=true;
break;
}
case CMD_REQUEST_BODY_INFO:
{
#ifdef BACKWARD_COMPAT
cmd->m_sdfRequestInfoArgs = unused.m_sdfRequestInfoArgs;
#else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_sdfRequestInfoArgs,sizeof(SdfRequestInfoArgs),1,m_file);
#endif
result=true;
break;
}
case CMD_REQUEST_VISUAL_SHAPE_INFO:
{
#ifdef BACKWARD_COMPAT
cmd->m_requestVisualShapeDataArguments = unused.m_requestVisualShapeDataArguments;
#else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_requestVisualShapeDataArguments,sizeof(RequestVisualShapeDataArgs),1,m_file);
#endif
result=true;
break;
}
case CMD_LOAD_URDF:
{
#ifdef BACKWARD_COMPAT
cmd->m_urdfArguments = unused.m_urdfArguments;
#else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_urdfArguments,sizeof(UrdfArgs),1,m_file);
#endif
result=true;
break;
}
case CMD_INIT_POSE:
{
#ifdef BACKWARD_COMPAT
cmd->m_initPoseArgs = unused.m_initPoseArgs;
#else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_initPoseArgs,sizeof(InitPoseArgs),1,m_file);
#endif
result=true;
break;
};
case CMD_REQUEST_ACTUAL_STATE:
{
#ifdef BACKWARD_COMPAT
cmd->m_requestActualStateInformationCommandArgument = unused.m_requestActualStateInformationCommandArgument;
#else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_requestActualStateInformationCommandArgument,sizeof(RequestActualStateArgs),1,m_file);
#endif
result=true;
break;
};
case CMD_SEND_DESIRED_STATE:
{
#ifdef BACKWARD_COMPAT
cmd->m_sendDesiredStateCommandArgument = unused.m_sendDesiredStateCommandArgument;
#else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_sendDesiredStateCommandArgument ,sizeof(SendDesiredStateArgs),1,m_file);
#endif
result = true;
break;
}
case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS:
{
#ifdef BACKWARD_COMPAT
cmd->m_physSimParamArgs = unused.m_physSimParamArgs;
#else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_physSimParamArgs ,sizeof(SendPhysicsSimulationParameters),1,m_file);
#endif
result = true;
break;
}
case CMD_REQUEST_CONTACT_POINT_INFORMATION:
{
#ifdef BACKWARD_COMPAT
cmd->m_requestContactPointArguments = unused.m_requestContactPointArguments;
#else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_requestContactPointArguments ,sizeof(RequestContactDataArgs),1,m_file);
#endif
result = true;
break;
}
case CMD_STEP_FORWARD_SIMULATION:
case CMD_RESET_SIMULATION:
case CMD_REQUEST_INTERNAL_DATA:
{
result=true;
break;
}
default:
{
s = fread(cmd,sizeof(SharedMemoryCommand),1,m_file);
result=(s==1);
}
};
}
}
return false;
return result;
}
};
@@ -3458,7 +3671,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = sdfInfoArgs.m_bodyUniqueId;
serverStatusOut.m_dataStreamArguments.m_bodyName[0] = 0;
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_calculateJacobianArguments.m_bodyUniqueId);
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(sdfInfoArgs.m_bodyUniqueId);
if (bodyHandle)
{
strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName,bodyHandle->m_bodyName.c_str());