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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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121
examples/SharedMemory/b3PluginManager.cpp
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@@ -2,7 +2,6 @@
#include "b3PluginManager.h"
#include "Bullet3Common/b3HashMap.h"
#include "Bullet3Common/b3ResizablePool.h"
#include "plugins/b3PluginAPI.h"
#include "SharedMemoryPublic.h"
#include "PhysicsDirect.h"
#include "plugins/b3PluginContext.h"
@@ -30,19 +29,43 @@
struct b3Plugin
{
B3_DYNLIB_HANDLE m_pluginHandle;
bool m_ownsPluginHandle;
std::string m_pluginPath;
int m_pluginUniqueId;
PFN_INIT m_initFunc;
PFN_EXIT m_exitFunc;
PFN_EXECUTE m_executeCommandFunc;
PFN_TICK m_preTickFunc;
PFN_TICK m_postTickFunc;
void* m_userPointer;
b3Plugin()
:m_pluginHandle(0),
m_ownsPluginHandle(false),
m_pluginUniqueId(-1),
m_initFunc(0),
m_exitFunc(0),
m_executeCommandFunc(0),
m_postTickFunc(0),
m_preTickFunc(0),
m_userPointer(0)
{
}
void clear()
{
B3_DYNLIB_CLOSE(m_pluginHandle);
if (m_ownsPluginHandle)
{
B3_DYNLIB_CLOSE(m_pluginHandle);
}
m_pluginHandle = 0;
m_initFunc = 0;
m_exitFunc = 0;
m_executeCommandFunc = 0;
m_preTickFunc = 0;
m_postTickFunc = 0;
m_userPointer = 0;
}
};
@@ -64,26 +87,33 @@ b3PluginManager::b3PluginManager(class PhysicsCommandProcessorInterface* physSdk
b3PluginManager::~b3PluginManager()
{
while (m_data->m_pluginMap.size())
{
b3PluginHandle* plugin = m_data->m_pluginMap.getAtIndex(0);
unloadPlugin(plugin->m_pluginUniqueId);
}
delete m_data->m_physicsDirect;
m_data->m_pluginMap.clear();
m_data->m_plugins.exitHandles();
delete m_data;
}
int b3PluginManager::loadPlugin(const char* pluginPath)
{
int pluginUniqueId = -1;
b3Plugin* plugin = m_data->m_pluginMap.find(pluginPath);
if (plugin)
b3Plugin* pluginOrg = m_data->m_pluginMap.find(pluginPath);
if (pluginOrg)
{
//already loaded
pluginUniqueId = pluginOrg->m_pluginUniqueId;
}
else
{
pluginUniqueId = m_data->m_plugins.allocHandle();
b3PluginHandle* plugin = m_data->m_plugins.getHandle(pluginUniqueId);
plugin->m_pluginUniqueId = pluginUniqueId;
B3_DYNLIB_HANDLE pluginHandle = B3_DYNLIB_OPEN(pluginPath);
bool ok = false;
if (pluginHandle)
@@ -92,13 +122,22 @@ int b3PluginManager::loadPlugin(const char* pluginPath)
plugin->m_initFunc = (PFN_INIT)B3_DYNLIB_IMPORT(pluginHandle, "initPlugin");
plugin->m_exitFunc = (PFN_EXIT)B3_DYNLIB_IMPORT(pluginHandle, "exitPlugin");
plugin->m_executeCommandFunc = (PFN_EXECUTE)B3_DYNLIB_IMPORT(pluginHandle, "executePluginCommand");
plugin->m_preTickFunc = (PFN_TICK)B3_DYNLIB_IMPORT(pluginHandle, "preTickPluginCallback");
plugin->m_postTickFunc = (PFN_TICK)B3_DYNLIB_IMPORT(pluginHandle, "postTickPluginCallback");
if (plugin->m_initFunc && plugin->m_exitFunc && plugin->m_executeCommandFunc)
{
int version = plugin->m_initFunc();
b3PluginContext context;
context.m_userPointer = plugin->m_userPointer;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
int version = plugin->m_initFunc(&context);
//keep the user pointer persistent
plugin->m_userPointer = context.m_userPointer;
if (version == SHARED_MEMORY_MAGIC_NUMBER)
{
ok = true;
plugin->m_ownsPluginHandle = true;
plugin->m_pluginHandle = pluginHandle;
plugin->m_pluginPath = pluginPath;
m_data->m_pluginMap.insert(pluginPath, *plugin);
@@ -137,14 +176,35 @@ void b3PluginManager::unloadPlugin(int pluginUniqueId)
b3PluginHandle* plugin = m_data->m_plugins.getHandle(pluginUniqueId);
if (plugin)
{
plugin->m_exitFunc();
b3PluginContext context;
context.m_userPointer = plugin->m_userPointer;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
plugin->m_exitFunc(&context);
m_data->m_pluginMap.remove(plugin->m_pluginPath.c_str());
m_data->m_plugins.freeHandle(pluginUniqueId);
}
}
void b3PluginManager::tickPlugins(double timeStep, bool isPreTick)
{
for (int i=0;i<m_data->m_pluginMap.size();i++)
{
b3PluginHandle* plugin = m_data->m_pluginMap.getAtIndex(i);
int b3PluginManager::executePluginCommand(int pluginUniqueId, const char* arguments)
PFN_TICK tick = isPreTick? plugin->m_preTickFunc : plugin->m_postTickFunc;
if (tick)
{
b3PluginContext context;
context.m_userPointer = plugin->m_userPointer;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
int result = tick(&context);
plugin->m_userPointer = context.m_userPointer;
}
}
}
int b3PluginManager::executePluginCommand(int pluginUniqueId, const b3PluginArguments* arguments)
{
int result = -1;
@@ -152,9 +212,44 @@ int b3PluginManager::executePluginCommand(int pluginUniqueId, const char* argume
if (plugin)
{
b3PluginContext context;
context.m_arguments = arguments;
context.m_userPointer = plugin->m_userPointer;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
result = plugin->m_executeCommandFunc(&context);
result = plugin->m_executeCommandFunc(&context, arguments);
plugin->m_userPointer = context.m_userPointer;
}
return result;
}
int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc,PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc)
{
b3Plugin orgPlugin;
int pluginUniqueId = m_data->m_plugins.allocHandle();
b3PluginHandle* pluginHandle = m_data->m_plugins.getHandle(pluginUniqueId);
pluginHandle->m_pluginHandle = 0;
pluginHandle->m_ownsPluginHandle =false;
pluginHandle->m_pluginUniqueId = pluginUniqueId;
pluginHandle->m_executeCommandFunc = executeCommandFunc;
pluginHandle->m_exitFunc = exitFunc;
pluginHandle->m_initFunc = initFunc;
pluginHandle->m_preTickFunc = preTickFunc;
pluginHandle->m_postTickFunc = postTickFunc;
pluginHandle->m_pluginHandle = 0;
pluginHandle->m_pluginPath = pluginPath;
pluginHandle->m_userPointer = 0;
m_data->m_pluginMap.insert(pluginPath, *pluginHandle);
{
b3PluginContext context;
context.m_userPointer = 0;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
int result = pluginHandle->m_initFunc(&context);
pluginHandle->m_userPointer = context.m_userPointer;
}
return pluginUniqueId;
}