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Changes UserData to use global identifiers and makes linkIndex optional.

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This removes the need to specify the body id/link index when retrieving a user data entry.
Additionally, user data can now optionally be set to visual shapes as well.

The following public pybullet APIs have changed (backwards incompatible)
addUserData and getUserDataId
  Makes linkIndex parameter optional (default value is -1)
  Adds optional visualShapeIndex parameter (default value is -1)

getUserData and removeUserData
  Removes required parameters bodyUniqueId and linkIndex

getNumUserData
  Removes required bodyUniqueId parameter

getUserDataInfo
  Removes required linkIndex parameter
  Changes returned tuple from (userDataId, key) to (userDataId, key, bodyUniqueId, linkIndex, visualShapeIndex)
This commit is contained in:
Tigran Gasparian
2018-07-03 17:45:19 +02:00
parent 04556502f0
commit 9c7aa3a863
16 changed files with 478 additions and 555 deletions
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141
examples/SharedMemory/PhysicsDirect.cpp
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@@ -16,24 +16,13 @@
#include "SharedMemoryUserData.h"
#include "LinearMath/btQuickprof.h"
struct UserDataCache {
btHashMap<btHashInt, SharedMemoryUserData> m_userDataMap;
btHashMap<btHashString, int> m_keyToUserDataIdMap;
~UserDataCache()
{
}
};
struct BodyJointInfoCache2
{
std::string m_baseName;
btAlignedObjectArray<b3JointInfo> m_jointInfo;
std::string m_bodyName;
// Joint index -> user data.
btHashMap<btHashInt, UserDataCache> m_jointToUserDataMap;
btAlignedObjectArray<int> m_userDataIds;
~BodyJointInfoCache2() {
}
@@ -85,6 +74,9 @@ struct PhysicsDirectInternalData
btAlignedObjectArray<b3RayHitInfo> m_raycastHits;
btHashMap<btHashInt, SharedMemoryUserData> m_userDataMap;
btHashMap<SharedMemoryUserDataHashKey, int> m_userDataHandleLookup;
PhysicsCommandProcessorInterface* m_commandProcessor;
bool m_ownsCommandProcessor;
double m_timeOutInSeconds;
@@ -685,34 +677,23 @@ void PhysicsDirect::processBodyJointInfo(int bodyUniqueId, const SharedMemorySta
}
void PhysicsDirect::processAddUserData(const struct SharedMemoryStatus& serverCmd) {
const b3UserDataGlobalIdentifier userDataGlobalId = serverCmd.m_userDataResponseArgs.m_userDataGlobalId;
BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[userDataGlobalId.m_bodyUniqueId];
if (bodyJointsPtr && *bodyJointsPtr)
{
UserDataCache* userDataCachePtr = (*bodyJointsPtr)->m_jointToUserDataMap[userDataGlobalId.m_linkIndex];
if (!userDataCachePtr)
{
UserDataCache cache;
(*bodyJointsPtr)->m_jointToUserDataMap.insert(userDataGlobalId.m_linkIndex, cache);
}
userDataCachePtr = (*bodyJointsPtr)->m_jointToUserDataMap[userDataGlobalId.m_linkIndex];
const UserDataResponseArgs response = serverCmd.m_userDataResponseArgs;
BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[response.m_bodyUniqueId];
if (bodyJointsPtr && *bodyJointsPtr) {
const char *dataStream = m_data->m_bulletStreamDataServerToClient;
b3UserDataValue userDataValue;
userDataValue.m_type = serverCmd.m_userDataResponseArgs.m_valueType;
userDataValue.m_length = serverCmd.m_userDataResponseArgs.m_valueLength;
SharedMemoryUserData *userDataPtr = userDataCachePtr->m_userDataMap[userDataGlobalId.m_userDataId];
if (userDataPtr) {
SharedMemoryUserData* userData = m_data->m_userDataMap[response.m_userDataId];
if (userData) {
// Only replace the value.
(userDataPtr)->replaceValue(dataStream,serverCmd.m_userDataResponseArgs.m_valueLength,userDataValue.m_type);
userData->replaceValue(dataStream, response.m_valueLength, response.m_valueType);
}
else {
// Add a new user data entry.
(userDataCachePtr)->m_userDataMap.insert(userDataGlobalId.m_userDataId, SharedMemoryUserData(serverCmd.m_userDataResponseArgs.m_key));
userDataPtr = (userDataCachePtr)->m_userDataMap[userDataGlobalId.m_userDataId];
userDataPtr->replaceValue(dataStream,serverCmd.m_userDataResponseArgs.m_valueLength,userDataValue.m_type);
(userDataCachePtr)->m_keyToUserDataIdMap.insert(serverCmd.m_userDataResponseArgs.m_key, userDataGlobalId.m_userDataId);
const char *key = response.m_key;
m_data->m_userDataMap.insert(response.m_userDataId, SharedMemoryUserData(key, response.m_bodyUniqueId, response.m_linkIndex, response.m_visualShapeIndex));
userData = m_data->m_userDataMap[response.m_userDataId];
userData->replaceValue(dataStream, response.m_valueLength, response.m_valueType);
m_data->m_userDataHandleLookup.insert(SharedMemoryUserDataHashKey(userData), response.m_userDataId);
(*bodyJointsPtr)->m_userDataIds.push_back(response.m_userDataId);
}
}
}
@@ -1152,16 +1133,18 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap.getAtIndex(i);
if (bodyJointsPtr && *bodyJointsPtr)
{
(*bodyJointsPtr)->m_jointToUserDataMap.clear();
(*bodyJointsPtr)->m_userDataIds.clear();
}
m_data->m_userDataMap.clear();
m_data->m_userDataHandleLookup.clear();
}
const int numIdentifiers = serverCmd.m_syncUserDataArgs.m_numUserDataIdentifiers;
b3UserDataGlobalIdentifier *identifiers = new b3UserDataGlobalIdentifier[numIdentifiers];
memcpy(identifiers, &m_data->m_bulletStreamDataServerToClient[0], numIdentifiers * sizeof(b3UserDataGlobalIdentifier));
int *identifiers = new int[numIdentifiers];
memcpy(identifiers, &m_data->m_bulletStreamDataServerToClient[0], numIdentifiers * sizeof(int));
for (int i=0; i<numIdentifiers; i++) {
m_data->m_tmpInfoRequestCommand.m_type = CMD_REQUEST_USER_DATA;
m_data->m_tmpInfoRequestCommand.m_userDataRequestArgs = identifiers[i];
m_data->m_tmpInfoRequestCommand.m_userDataRequestArgs.m_userDataId = identifiers[i];
bool hasStatus = m_data->m_commandProcessor->processCommand(m_data->m_tmpInfoRequestCommand, m_data->m_tmpInfoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
@@ -1184,18 +1167,15 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
}
case CMD_REMOVE_USER_DATA_COMPLETED:
{
const b3UserDataGlobalIdentifier userDataGlobalId = serverCmd.m_removeUserDataResponseArgs;
BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[userDataGlobalId.m_bodyUniqueId];
if (bodyJointsPtr && *bodyJointsPtr) {
UserDataCache *userDataCachePtr = (*bodyJointsPtr)->m_jointToUserDataMap[userDataGlobalId.m_linkIndex];
if (userDataCachePtr)
{
SharedMemoryUserData* userDataPtr = (userDataCachePtr)->m_userDataMap[userDataGlobalId.m_userDataId];
if (userDataPtr) {
(userDataCachePtr)->m_keyToUserDataIdMap.remove((userDataPtr)->m_key.c_str());
(userDataCachePtr)->m_userDataMap.remove(userDataGlobalId.m_userDataId);
}
const int userDataId = serverCmd.m_removeUserDataResponseArgs.m_userDataId;
SharedMemoryUserData *userData = m_data->m_userDataMap[userDataId];
if (userData) {
BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[userData->m_bodyUniqueId];
if (bodyJointsPtr && *bodyJointsPtr) {
(*bodyJointsPtr)->m_userDataIds.remove(userDataId);
}
m_data->m_userDataHandleLookup.remove(SharedMemoryUserDataHashKey(userData));
m_data->m_userDataMap.remove(userDataId);
}
break;
}
@@ -1253,6 +1233,12 @@ void PhysicsDirect::removeCachedBody(int bodyUniqueId)
BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
if (bodyJointsPtr && *bodyJointsPtr)
{
for(int i=0; i<(*bodyJointsPtr)->m_userDataIds.size(); i++) {
const int userDataId = (*bodyJointsPtr)->m_userDataIds[i];
SharedMemoryUserData *userData = m_data->m_userDataMap[userDataId];
m_data->m_userDataHandleLookup.remove(SharedMemoryUserDataHashKey(userData));
m_data->m_userDataMap.remove(userDataId);
}
delete (*bodyJointsPtr);
m_data->m_bodyJointMap.remove(bodyUniqueId);
}
@@ -1499,72 +1485,49 @@ double PhysicsDirect::getTimeOut() const
return m_data->m_timeOutInSeconds;
}
bool PhysicsDirect::getCachedUserData(int bodyUniqueId, int linkIndex, int userDataId, struct b3UserDataValue &valueOut) const {
BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
if (!bodyJointsPtr || !(*bodyJointsPtr)) {
return false;
}
UserDataCache* userDataCachePtr = (*bodyJointsPtr)->m_jointToUserDataMap[linkIndex];
if (!userDataCachePtr)
{
return false;
}
SharedMemoryUserData* userDataPtr = (userDataCachePtr)->m_userDataMap[userDataId];
bool PhysicsDirect::getCachedUserData(int userDataId, struct b3UserDataValue &valueOut) const {
SharedMemoryUserData *userDataPtr = m_data->m_userDataMap[userDataId];
if (!userDataPtr)
{
return false;
}
valueOut.m_type = userDataPtr->m_type;
valueOut.m_type = (userDataPtr)->m_type;
valueOut.m_length = userDataPtr->m_bytes.size();
valueOut.m_data1 = userDataPtr->m_bytes.size()? &userDataPtr->m_bytes[0] : 0;
return true;
}
int PhysicsDirect::getCachedUserDataId(int bodyUniqueId, int linkIndex, const char *key) const {
BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
if (!bodyJointsPtr || !(*bodyJointsPtr)) {
return -1;
}
UserDataCache* userDataCachePtr = (*bodyJointsPtr)->m_jointToUserDataMap[linkIndex];
if (!userDataCachePtr) {
return -1;
}
int *userDataId = (userDataCachePtr)->m_keyToUserDataIdMap[key];
int PhysicsDirect::getCachedUserDataId(int bodyUniqueId, int linkIndex, int visualShapeIndex, const char *key) const {
int* userDataId = m_data->m_userDataHandleLookup.find(SharedMemoryUserDataHashKey(key, bodyUniqueId, linkIndex, visualShapeIndex));
if (!userDataId) {
return -1;
}
return *userDataId;
}
int PhysicsDirect::getNumUserData(int bodyUniqueId, int linkIndex) const {
int PhysicsDirect::getNumUserData(int bodyUniqueId) const {
BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
if (!bodyJointsPtr || !(*bodyJointsPtr)) {
return 0;
}
UserDataCache* userDataCachePtr = (*bodyJointsPtr)->m_jointToUserDataMap[linkIndex];
if (!userDataCachePtr) {
return 0;
}
return (userDataCachePtr)->m_userDataMap.size();
return (*bodyJointsPtr)->m_userDataIds.size();
}
void PhysicsDirect::getUserDataInfo(int bodyUniqueId, int linkIndex, int userDataIndex, const char **keyOut, int *userDataIdOut) const {
void PhysicsDirect::getUserDataInfo(int bodyUniqueId, int userDataIndex, const char **keyOut, int *userDataIdOut, int *linkIndexOut, int *visualShapeIndexOut) const {
BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
if (!bodyJointsPtr || !(*bodyJointsPtr)) {
*keyOut = 0;
*userDataIdOut = -1;
return;
}
UserDataCache* userDataCachePtr = (*bodyJointsPtr)->m_jointToUserDataMap[linkIndex];
if (!userDataCachePtr || userDataIndex >= (userDataCachePtr)->m_userDataMap.size())
if (!bodyJointsPtr || !(*bodyJointsPtr) || userDataIndex <= 0 || userDataIndex > (*bodyJointsPtr)->m_userDataIds.size())
{
*keyOut = 0;
*userDataIdOut = -1;
return;
}
*userDataIdOut = (userDataCachePtr)->m_userDataMap.getKeyAtIndex(userDataIndex).getUid1();
SharedMemoryUserData* userDataPtr = (userDataCachePtr)->m_userDataMap.getAtIndex(userDataIndex);
*keyOut = (userDataPtr)->m_key.c_str();
int userDataId = (*bodyJointsPtr)->m_userDataIds[userDataIndex];
SharedMemoryUserData *userData = m_data->m_userDataMap[userDataId];
*userDataIdOut = userDataId;
*keyOut = userData->m_key.c_str();
*linkIndexOut = userData->m_linkIndex;
*visualShapeIndexOut = userData->m_visualShapeIndex;
}