Changes UserData to use global identifiers and makes linkIndex optional.
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
@@ -222,72 +222,6 @@ struct InternalCollisionShapeData
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#include "SharedMemoryUserData.h"
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/**
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* Holds all custom user data entries for a link.
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*/
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struct InternalLinkUserData {
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// Used to look up user data entry handles for string keys.
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btHashMap<btHashString, int> m_keyToHandleMap;
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b3ResizablePool<b3PoolBodyHandle<SharedMemoryUserData> > m_userData;
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// Adds or replaces a user data entry.
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// Returns the user data handle.
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const int add(const char* key, const char* bytes, int len, int type)
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{
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// If an entry with the key already exists, just update the value.
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int userDataId = getUserDataId(key);
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if (userDataId != -1) {
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SharedMemoryUserData* userData = m_userData.getHandle(userDataId);
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b3Assert(userData);
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userData->replaceValue(bytes, len, type);
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return userDataId;
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}
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userDataId = m_userData.allocHandle();
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SharedMemoryUserData* userData = m_userData.getHandle(userDataId);
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userData->m_key = key;
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userData->replaceValue(bytes, len, type);
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m_keyToHandleMap.insert(userData->m_key.c_str(), userDataId);
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return userDataId;
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}
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// Returns the user data handle for a specified key or -1 if not found.
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const int getUserDataId(const char* key) const
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{
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const int* userDataIdPtr = m_keyToHandleMap.find(key);
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if (userDataIdPtr)
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{
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return *userDataIdPtr;
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}
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return -1;
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}
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// Removes a user data entry given the handle.
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// Returns true when the entry was removed, false otherwise.
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const bool remove(int userDataId)
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{
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const SharedMemoryUserData* userData = m_userData.getHandle(userDataId);
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if (!userData)
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{
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return false;
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}
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m_keyToHandleMap.remove(userData->m_key.c_str());
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m_userData.freeHandle(userDataId);
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return true;
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}
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// Returns the user data given the user data id. null otherwise.
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const SharedMemoryUserData* getUserData(const int userDataId) const
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{
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return m_userData.getHandle(userDataId);
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}
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void getUserDataIds(b3AlignedObjectArray<int> &userDataIds) const
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{
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m_userData.getUsedHandles(userDataIds);
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}
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};
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struct InternalBodyData
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{
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btMultiBody* m_multiBody;
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@@ -303,7 +237,7 @@ struct InternalBodyData
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btAlignedObjectArray<btGeneric6DofSpring2Constraint*> m_rigidBodyJoints;
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btAlignedObjectArray<std::string> m_rigidBodyJointNames;
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btAlignedObjectArray<std::string> m_rigidBodyLinkNames;
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btHashMap<btHashInt, InternalLinkUserData*> m_linkUserDataMap;
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btAlignedObjectArray<int> m_userDataHandles;
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#ifdef B3_ENABLE_TINY_AUDIO
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b3HashMap<btHashInt, SDFAudioSource> m_audioSources;
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@@ -328,10 +262,7 @@ struct InternalBodyData
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m_rigidBodyJoints.clear();
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m_rigidBodyJointNames.clear();
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m_rigidBodyLinkNames.clear();
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for(int i=0; i<m_linkUserDataMap.size(); i++) {
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delete *m_linkUserDataMap.getAtIndex(i);
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}
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m_linkUserDataMap.clear();
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m_userDataHandles.clear();
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}
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};
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@@ -1607,8 +1538,8 @@ struct PhysicsServerCommandProcessorInternalData
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b3ResizablePool< InternalBodyHandle > m_bodyHandles;
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b3ResizablePool<InternalCollisionShapeHandle> m_userCollisionShapeHandles;
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b3ResizablePool<InternalVisualShapeHandle> m_userVisualShapeHandles;
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b3ResizablePool<b3PoolBodyHandle<SharedMemoryUserData>> m_userDataHandles;
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btHashMap<SharedMemoryUserDataHashKey, int> m_userDataHandleLookup;
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b3PluginManager m_pluginManager;
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@@ -5042,34 +4973,11 @@ bool PhysicsServerCommandProcessor::processSyncUserDataCommand(const struct Shar
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bool hasStatus = true;
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BT_PROFILE("CMD_SYNC_USER_DATA");
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b3UserDataGlobalIdentifier *userDataIdentifiers = (b3UserDataGlobalIdentifier *)bufferServerToClient;
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int numIdentifiers = 0;
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b3AlignedObjectArray<int> bodyHandles;
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m_data->m_bodyHandles.getUsedHandles(bodyHandles);
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for (int i=0; i<bodyHandles.size(); i++) {
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int bodyHandle = bodyHandles[i];
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InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyHandle);
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if (!body) {
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continue;
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}
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for (int j=0; j<body->m_linkUserDataMap.size(); j++) {
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const int linkIndex = body->m_linkUserDataMap.getKeyAtIndex(j).getUid1();
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InternalLinkUserData **userDataPtr = body->m_linkUserDataMap.getAtIndex(j);
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if (!userDataPtr) {
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continue;
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}
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b3AlignedObjectArray<int> userDataIds;
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(*userDataPtr)->getUserDataIds(userDataIds);
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for (int k=0; k<userDataIds.size(); k++) {
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b3UserDataGlobalIdentifier &identifier = userDataIdentifiers[numIdentifiers++];
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identifier.m_bodyUniqueId = bodyHandle;
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identifier.m_linkIndex = linkIndex;
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identifier.m_userDataId = userDataIds[k];
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}
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}
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}
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b3AlignedObjectArray<int> userDataHandles;
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m_data->m_userDataHandles.getUsedHandles(userDataHandles);
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memcpy(bufferServerToClient, &userDataHandles[0], sizeof(int) * userDataHandles.size());
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serverStatusOut.m_syncUserDataArgs.m_numUserDataIdentifiers = numIdentifiers;
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serverStatusOut.m_syncUserDataArgs.m_numUserDataIdentifiers = userDataHandles.size();
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serverStatusOut.m_type = CMD_SYNC_USER_DATA_COMPLETED;
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return hasStatus;
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}
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@@ -5080,21 +4988,16 @@ bool PhysicsServerCommandProcessor::processRequestUserDataCommand(const struct S
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BT_PROFILE("CMD_REQUEST_USER_DATA");
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serverStatusOut.m_type = CMD_REQUEST_USER_DATA_FAILED;
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InternalBodyData *body = m_data->m_bodyHandles.getHandle(clientCmd.m_userDataRequestArgs.m_bodyUniqueId);
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if (!body) {
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return hasStatus;
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}
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const int linkIndex = clientCmd.m_userDataRequestArgs.m_linkIndex;
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InternalLinkUserData **userDataPtr = body->m_linkUserDataMap[linkIndex];
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if (!userDataPtr) {
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return hasStatus;
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}
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const SharedMemoryUserData *userData = (*userDataPtr)->getUserData(clientCmd.m_userDataRequestArgs.m_userDataId);
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SharedMemoryUserData *userData = m_data->m_userDataHandles.getHandle(clientCmd.m_userDataRequestArgs.m_userDataId);
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if (!userData) {
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return hasStatus;
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}
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btAssert(bufferSizeInBytes >= userData->m_bytes.size());
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serverStatusOut.m_userDataResponseArgs.m_userDataGlobalId = clientCmd.m_userDataRequestArgs;
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btAssert(bufferSizeInBytes >= userData->m_bytes.size());
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serverStatusOut.m_userDataResponseArgs.m_userDataId = clientCmd.m_userDataRequestArgs.m_userDataId;
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serverStatusOut.m_userDataResponseArgs.m_bodyUniqueId = userData->m_bodyUniqueId;
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serverStatusOut.m_userDataResponseArgs.m_linkIndex = userData->m_linkIndex;
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serverStatusOut.m_userDataResponseArgs.m_visualShapeIndex = userData->m_visualShapeIndex;
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serverStatusOut.m_userDataResponseArgs.m_valueType = userData->m_type;
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serverStatusOut.m_userDataResponseArgs.m_valueLength = userData->m_bytes.size();
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serverStatusOut.m_type = CMD_REQUEST_USER_DATA_COMPLETED;
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@@ -5117,27 +5020,43 @@ bool PhysicsServerCommandProcessor::processAddUserDataCommand(const struct Share
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{
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return hasStatus;
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}
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InternalBodyData *body = m_data->m_bodyHandles.getHandle(clientCmd.m_addUserDataRequestArgs.m_bodyUniqueId);
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if (!body) {
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return hasStatus;
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}
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const int linkIndex = clientCmd.m_addUserDataRequestArgs.m_linkIndex;
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InternalLinkUserData **userDataPtr = body->m_linkUserDataMap[linkIndex];
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if (!userDataPtr) {
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InternalLinkUserData *userData = new InternalLinkUserData;
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userDataPtr = &userData;
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body->m_linkUserDataMap.insert(linkIndex, userData);
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SharedMemoryUserDataHashKey userDataIdentifier(
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clientCmd.m_addUserDataRequestArgs.m_key,
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clientCmd.m_addUserDataRequestArgs.m_bodyUniqueId,
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clientCmd.m_addUserDataRequestArgs.m_linkIndex,
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clientCmd.m_addUserDataRequestArgs.m_visualShapeIndex);
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int* userDataHandlePtr = m_data->m_userDataHandleLookup.find(userDataIdentifier);
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int userDataHandle = userDataHandlePtr ? *userDataHandlePtr : m_data->m_userDataHandles.allocHandle();
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SharedMemoryUserData *userData = m_data->m_userDataHandles.getHandle(userDataHandle);
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if (!userData) {
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return hasStatus;
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}
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const int userDataId = (*userDataPtr)->add(clientCmd.m_addUserDataRequestArgs.m_key,
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bufferServerToClient,clientCmd.m_addUserDataRequestArgs.m_valueLength,
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if (!userDataHandlePtr) {
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userData->m_key = clientCmd.m_addUserDataRequestArgs.m_key;
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userData->m_bodyUniqueId = clientCmd.m_addUserDataRequestArgs.m_bodyUniqueId;
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userData->m_linkIndex = clientCmd.m_addUserDataRequestArgs.m_linkIndex;
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userData->m_visualShapeIndex = clientCmd.m_addUserDataRequestArgs.m_visualShapeIndex;
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m_data->m_userDataHandleLookup.insert(userDataIdentifier, userDataHandle);
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body->m_userDataHandles.push_back(userDataHandle);
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}
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userData->replaceValue(bufferServerToClient,
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clientCmd.m_addUserDataRequestArgs.m_valueLength,
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clientCmd.m_addUserDataRequestArgs.m_valueType);
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serverStatusOut.m_type = CMD_ADD_USER_DATA_COMPLETED;
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serverStatusOut.m_userDataResponseArgs.m_userDataGlobalId.m_userDataId = userDataId;
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serverStatusOut.m_userDataResponseArgs.m_userDataGlobalId.m_bodyUniqueId = clientCmd.m_addUserDataRequestArgs.m_bodyUniqueId;
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serverStatusOut.m_userDataResponseArgs.m_userDataGlobalId.m_linkIndex = clientCmd.m_addUserDataRequestArgs.m_linkIndex;
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serverStatusOut.m_userDataResponseArgs.m_userDataId = userDataHandle;
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serverStatusOut.m_userDataResponseArgs.m_bodyUniqueId = clientCmd.m_addUserDataRequestArgs.m_bodyUniqueId;
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serverStatusOut.m_userDataResponseArgs.m_linkIndex = clientCmd.m_addUserDataRequestArgs.m_linkIndex;
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serverStatusOut.m_userDataResponseArgs.m_visualShapeIndex = clientCmd.m_addUserDataRequestArgs.m_visualShapeIndex;
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serverStatusOut.m_userDataResponseArgs.m_valueLength = clientCmd.m_addUserDataRequestArgs.m_valueLength;
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serverStatusOut.m_userDataResponseArgs.m_valueType = clientCmd.m_addUserDataRequestArgs.m_valueType;
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strcpy(serverStatusOut.m_userDataResponseArgs.m_key, clientCmd.m_addUserDataRequestArgs.m_key);
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@@ -5152,19 +5071,20 @@ bool PhysicsServerCommandProcessor::processRemoveUserDataCommand(const struct Sh
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BT_PROFILE("CMD_REMOVE_USER_DATA");
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serverStatusOut.m_type = CMD_REMOVE_USER_DATA_FAILED;
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InternalBodyData *body = m_data->m_bodyHandles.getHandle(clientCmd.m_removeUserDataRequestArgs.m_bodyUniqueId);
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SharedMemoryUserData *userData = m_data->m_userDataHandles.getHandle(clientCmd.m_removeUserDataRequestArgs.m_userDataId);
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if (!userData) {
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return hasStatus;
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}
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InternalBodyData *body = m_data->m_bodyHandles.getHandle(userData->m_bodyUniqueId);
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if (!body) {
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return hasStatus;
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}
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const int linkIndex = clientCmd.m_removeUserDataRequestArgs.m_linkIndex;
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InternalLinkUserData **userDataPtr = body->m_linkUserDataMap[linkIndex];
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if (!userDataPtr) {
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return hasStatus;
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}
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const bool removed = (*userDataPtr)->remove(clientCmd.m_removeUserDataRequestArgs.m_userDataId);
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if (!removed) {
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return hasStatus;
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}
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body->m_userDataHandles.remove(clientCmd.m_removeUserDataRequestArgs.m_userDataId);
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m_data->m_userDataHandleLookup.remove(SharedMemoryUserDataHashKey(userData));
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m_data->m_userDataHandles.freeHandle(clientCmd.m_removeUserDataRequestArgs.m_userDataId);
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serverStatusOut.m_removeUserDataResponseArgs = clientCmd.m_removeUserDataRequestArgs;
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serverStatusOut.m_type = CMD_REMOVE_USER_DATA_COMPLETED;
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return hasStatus;
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@@ -8278,6 +8198,12 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared
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bodyHandle->m_rigidBody=0;
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serverCmd.m_type = CMD_REMOVE_BODY_COMPLETED;
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}
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for (int i=0; i < bodyHandle->m_userDataHandles.size(); i++) {
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int userDataHandle = bodyHandle->m_userDataHandles[i];
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SharedMemoryUserData *userData = m_data->m_userDataHandles.getHandle(userDataHandle);
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m_data->m_userDataHandleLookup.remove(SharedMemoryUserDataHashKey(userData));
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m_data->m_userDataHandles.freeHandle(userDataHandle);
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}
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m_data->m_bodyHandles.freeHandle(bodyUniqueId);
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}
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@@ -10495,6 +10421,9 @@ void PhysicsServerCommandProcessor::resetSimulation()
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m_data->m_userCollisionShapeHandles.exitHandles();
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m_data->m_userCollisionShapeHandles.initHandles();
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m_data->m_userDataHandles.exitHandles();
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m_data->m_userDataHandles.initHandles();
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m_data->m_userDataHandleLookup.clear();
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}
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