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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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8
examples/SharedMemory/plugins/b3PluginAPI.h
View File

@@ -26,10 +26,10 @@
extern "C" {
#endif
/* Plugin API */
typedef B3_API_ENTRY int (B3_API_CALL * PFN_INIT)();
typedef B3_API_ENTRY void (B3_API_CALL * PFN_EXIT)();
typedef B3_API_ENTRY int (B3_API_CALL * PFN_EXECUTE)(struct b3PluginContext* context);
typedef B3_API_ENTRY int (B3_API_CALL * PFN_INIT)(struct b3PluginContext* context);
typedef B3_API_ENTRY void (B3_API_CALL * PFN_EXIT)(struct b3PluginContext* context);
typedef B3_API_ENTRY int (B3_API_CALL * PFN_EXECUTE)(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
typedef B3_API_ENTRY int (B3_API_CALL * PFN_TICK)(struct b3PluginContext* context);
#ifdef __cplusplus
}
#endif

10
examples/SharedMemory/plugins/b3PluginContext.h
View File

@@ -5,9 +5,17 @@
struct b3PluginContext
{
const char* m_arguments;
b3PhysicsClientHandle m_physClient;
//plugin can modify the m_userPointer to store persistent object pointer (class or struct instance etc)
void* m_userPointer;
};
#endif //B3_PLUGIN_CONTEXT_H

113
examples/SharedMemory/plugins/testPlugin/testplugin.cpp
View File

@@ -16,22 +16,119 @@ p.unloadPlugin(pluginUid)
#include "../b3PluginContext.h"
#include <stdio.h>
B3_SHARED_API int initPlugin()
struct MyClass
{
int m_testData;
MyClass()
:m_testData(42)
{
}
virtual ~MyClass()
{
}
};
B3_SHARED_API int initPlugin(struct b3PluginContext* context)
{
MyClass* obj = new MyClass();
context->m_userPointer = obj;
printf("hi!\n");
return SHARED_MEMORY_MAGIC_NUMBER;
}
B3_SHARED_API int executePluginCommand(struct b3PluginContext* context)
{
printf("arguments:%s\n",context->m_arguments);
B3_SHARED_API int preTickPluginCallback(struct b3PluginContext* context)
{
MyClass* obj = (MyClass* )context->m_userPointer;
{
b3SharedMemoryCommandHandle commandHandle = b3RequestVREventsCommandInit(context->m_physClient);
int deviceTypeFilter = VR_DEVICE_CONTROLLER;
b3VREventsSetDeviceTypeFilter(commandHandle, deviceTypeFilter);
b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(context->m_physClient, commandHandle);
int statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_REQUEST_VR_EVENTS_DATA_COMPLETED)
{
struct b3VREventsData vrEvents;
int i = 0;
b3GetVREventsData(context->m_physClient, &vrEvents);
if (vrEvents.m_numControllerEvents)
{
//this is only for a test, normally you wouldn't print to the console at each simulation substep!
printf("got %d VR controller events!\n", vrEvents.m_numControllerEvents);
}
}
}
{
b3KeyboardEventsData keyboardEventsData;
b3SharedMemoryCommandHandle commandHandle = b3RequestKeyboardEventsCommandInit(context->m_physClient);
b3SubmitClientCommandAndWaitStatus(context->m_physClient, commandHandle);
b3GetKeyboardEventsData(context->m_physClient, &keyboardEventsData);
if (keyboardEventsData.m_numKeyboardEvents)
{
//this is only for a test, normally you wouldn't print to the console at each simulation substep!
printf("got %d keyboard events\n", keyboardEventsData.m_numKeyboardEvents);
}
}
{
b3MouseEventsData mouseEventsData;
b3SharedMemoryCommandHandle commandHandle = b3RequestMouseEventsCommandInit(context->m_physClient);
b3SubmitClientCommandAndWaitStatus(context->m_physClient, commandHandle);
b3GetMouseEventsData(context->m_physClient, &mouseEventsData);
if (mouseEventsData.m_numMouseEvents)
{
//this is only for a test, normally you wouldn't print to the console at each simulation substep!
printf("got %d mouse events\n", mouseEventsData.m_numMouseEvents);
}
}
return 0;
}
B3_SHARED_API int postTickPluginCallback(struct b3PluginContext* context)
{
MyClass* obj = (MyClass* )context->m_userPointer;
obj->m_testData++;
return 0;
}
B3_SHARED_API int executePluginCommand(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
{
printf("text argument:%s\n",arguments->m_text);
printf("int args: [");
for (int i=0;i<arguments->m_numInts;i++)
{
printf("%d", arguments->m_ints[i]);
if ((i+1)<arguments->m_numInts)
{
printf(",");
}
}
printf("]\nfloat args: [");
for (int i=0;i<arguments->m_numFloats;i++)
{
printf("%f", arguments->m_floats[i]);
if ((i+1)<arguments->m_numFloats)
{
printf(",");
}
}
printf("]\n");
MyClass* obj = (MyClass*) context->m_userPointer;
b3SharedMemoryStatusHandle statusHandle;
int statusType = -1;
int bodyUniqueId = -1;
b3SharedMemoryCommandHandle command =
b3LoadUrdfCommandInit(context->m_physClient, context->m_arguments);
b3LoadUrdfCommandInit(context->m_physClient, arguments->m_text);
statusHandle = b3SubmitClientCommandAndWaitStatus(context->m_physClient, command);
statusType = b3GetStatusType(statusHandle);
@@ -43,7 +140,11 @@ B3_SHARED_API int executePluginCommand(struct b3PluginContext* context)
}
B3_SHARED_API void exitPlugin()
B3_SHARED_API void exitPlugin(struct b3PluginContext* context)
{
MyClass* obj = (MyClass*) context->m_userPointer;
delete obj;
context->m_userPointer = 0;
printf("bye!\n");
}

13
examples/SharedMemory/plugins/testPlugin/testplugin.h
View File

@@ -8,9 +8,16 @@ extern "C"
{
#endif
B3_SHARED_API int initPlugin();
B3_SHARED_API void exitPlugin();
B3_SHARED_API int executePluginCommand(struct b3PluginContext* context);
//initPlugin, exitPlugin and executePluginCommand are required, otherwise plugin won't load
B3_SHARED_API int initPlugin(struct b3PluginContext* context);
B3_SHARED_API void exitPlugin(struct b3PluginContext* context);
B3_SHARED_API int executePluginCommand(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
//preTickPluginCallback and postTickPluginCallback are optional.
B3_SHARED_API int preTickPluginCallback(struct b3PluginContext* context);
B3_SHARED_API int postTickPluginCallback(struct b3PluginContext* context);
#ifdef __cplusplus
};