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More work on the C/C++ plugin system for pybullet/C-API:

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Add preTickPluginCallback/postTickPluginCallback
User pointer for b3PluginContext, to store objects (class/struct instances)
Pass ints and floats as optional argument for plugin executePluginCommand
This commit is contained in:
erwincoumans
2017-09-23 18:05:23 -07:00
parent 5373ca39e1
commit 8e496036c6
13 changed files with 380 additions and 97 deletions
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83
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1,5 +1,6 @@
#include "PhysicsServerCommandProcessor.h"
#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
@@ -1488,7 +1489,7 @@ struct PhysicsServerCommandProcessorInternalData
btAlignedObjectArray<int> m_sdfRecentLoadedBodies;
btAlignedObjectArray<InternalStateLogger*> m_stateLoggers;
int m_stateLoggersUniqueId;
int m_profileTimingLoggingUid;
@@ -1541,6 +1542,16 @@ struct PhysicsServerCommandProcessorInternalData
m_pickedConstraint(0),
m_pickingMultiBodyPoint2Point(0)
{
{
//test to statically link a plugin
//#include "plugins/testPlugin/testplugin.h"
//register static plugins:
//m_pluginManager.registerStaticLinkedPlugin("path", initPlugin, exitPlugin, executePluginCommand);
}
m_vrControllerEvents.init();
m_bodyHandles.exitHandles();
@@ -1671,13 +1682,23 @@ PhysicsServerCommandProcessor::~PhysicsServerCommandProcessor()
delete m_data;
}
void preTickCallback(btDynamicsWorld *world, btScalar timeStep)
{
PhysicsServerCommandProcessor* proc = (PhysicsServerCommandProcessor*) world->getWorldUserInfo();
bool isPreTick = true;
proc->tickPlugins(timeStep, isPreTick);
}
void logCallback(btDynamicsWorld *world, btScalar timeStep)
{
//handle the logging and playing sounds
PhysicsServerCommandProcessor* proc = (PhysicsServerCommandProcessor*) world->getWorldUserInfo();
proc->processCollisionForces(timeStep);
proc->logObjectStates(timeStep);
bool isPreTick = false;
proc->tickPlugins(timeStep, isPreTick);
}
@@ -1786,6 +1807,12 @@ void PhysicsServerCommandProcessor::processCollisionForces(btScalar timeStep)
#endif//B3_ENABLE_TINY_AUDIO
}
void PhysicsServerCommandProcessor::tickPlugins(btScalar timeStep, bool isPreTick)
{
m_data->m_pluginManager.tickPlugins(timeStep, isPreTick);
}
void PhysicsServerCommandProcessor::logObjectStates(btScalar timeStep)
{
for (int i=0;i<m_data->m_stateLoggers.size();i++)
@@ -2149,7 +2176,11 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
{
m_data->m_guiHelper->createPhysicsDebugDrawer(m_data->m_dynamicsWorld);
}
m_data->m_dynamicsWorld->setInternalTickCallback(logCallback,this);
bool isPreTick=false;
m_data->m_dynamicsWorld->setInternalTickCallback(logCallback,this,isPreTick);
isPreTick = true;
m_data->m_dynamicsWorld->setInternalTickCallback(preTickCallback,this,isPreTick);
#ifdef B3_ENABLE_TINY_AUDIO
m_data->m_soundEngine.init(16,true);
@@ -2966,27 +2997,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
bool hasStatus = false;
{
///we ignore overflow of integer for now
{
//until we implement a proper ring buffer, we assume always maximum of 1 outstanding commands
//const SharedMemoryCommand& clientCmd =m_data->m_testBlock1->m_clientCommands[0];
#if 1
if (m_data->m_commandLogger)
{
m_data->m_commandLogger->logCommand(clientCmd);
}
#endif
//m_data->m_testBlock1->m_numProcessedClientCommands++;
//no timestamp yet
//int timeStamp = 0;
//catch uninitialized cases
serverStatusOut.m_type = CMD_INVALID_STATUS;
serverStatusOut.m_numDataStreamBytes = 0;
serverStatusOut.m_dataStream = 0;
@@ -2994,32 +3009,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
//consume the command
switch (clientCmd.m_type)
{
#if 0
case CMD_SEND_BULLET_DATA_STREAM:
{
if (m_data->m_verboseOutput)
{
b3Printf("Processed CMD_SEND_BULLET_DATA_STREAM length %d",clientCmd.m_dataStreamArguments.m_streamChunkLength);
}
btBulletWorldImporter* worldImporter = new btBulletWorldImporter(m_data->m_dynamicsWorld);
m_data->m_worldImporters.push_back(worldImporter);
bool completedOk = worldImporter->loadFileFromMemory(m_data->m_testBlock1->m_bulletStreamDataClientToServer,clientCmd.m_dataStreamArguments.m_streamChunkLength);
if (completedOk)
{
SharedMemoryStatus& status = m_data->createServerStatus(CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED,clientCmd.m_sequenceNumber,timeStamp);
m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld);
m_data->submitServerStatus(status);
} else
{
SharedMemoryStatus& status = m_data->createServerStatus(CMD_BULLET_DATA_STREAM_RECEIVED_FAILED,clientCmd.m_sequenceNumber,timeStamp);
m_data->submitServerStatus(status);
}
break;
}
#endif
case CMD_STATE_LOGGING:
{
BT_PROFILE("CMD_STATE_LOGGING");
@@ -7996,7 +7986,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
if (clientCmd.m_updateFlags & CMD_CUSTOM_COMMAND_EXECUTE_PLUGIN_COMMAND)
{
int result = m_data->m_pluginManager.executePluginCommand(clientCmd.m_customCommandArgs.m_pluginUniqueId, clientCmd.m_customCommandArgs.m_pluginArguments);
int result = m_data->m_pluginManager.executePluginCommand(clientCmd.m_customCommandArgs.m_pluginUniqueId, &clientCmd.m_customCommandArgs.m_arguments);
serverCmd.m_customCommandResultArgs.m_executeCommandResult = result;
serverCmd.m_type = CMD_CUSTOM_COMMAND_COMPLETED;
@@ -8245,6 +8236,8 @@ bool PhysicsServerCommandProcessor::isRealTimeSimulationEnabled() const
void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec,const struct b3VRControllerEvent* vrControllerEvents, int numVRControllerEvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents, const struct b3MouseEvent* mouseEvents, int numMouseEvents)
{
m_data->m_vrControllerEvents.addNewVREvents(vrControllerEvents,numVRControllerEvents);
for (int i=0;i<m_data->m_stateLoggers.size();i++)
{
if (m_data->m_stateLoggers[i]->m_loggingType==STATE_LOGGING_VR_CONTROLLERS)