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add option to statically link a plugin, select the postFix (to avoid naming conflict of multiple plugins functions ('initPlugin' becomes initPlugin_postFix)

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pass events (keyboard, mouse, vr controllers etc) to the plugin, and clear them after the tick callback, so that it doesn't interfere with Python 'getEvents'
This commit is contained in:
Erwin Coumans
2017-10-03 15:00:52 -07:00
parent 0be9dde36c
commit acbe457d31
11 changed files with 159 additions and 50 deletions
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17
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1777,6 +1777,23 @@ B3_SHARED_API void b3CustomCommandLoadPlugin(b3SharedMemoryCommandHandle command
}
}
B3_SHARED_API void b3CustomCommandLoadPluginSetPostFix(b3SharedMemoryCommandHandle commandHandle, const char* postFix)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_CUSTOM_COMMAND);
if (command->m_type == CMD_CUSTOM_COMMAND)
{
command->m_updateFlags |= CMD_CUSTOM_COMMAND_LOAD_PLUGIN_POSTFIX;
command->m_customCommandArgs.m_postFix[0] = 0;
int len = strlen(postFix);
if (len<MAX_FILENAME_LENGTH)
{
strcpy(command->m_customCommandArgs.m_postFix, postFix);
}
}
}
B3_SHARED_API int b3GetStatusPluginCommandResult(b3SharedMemoryStatusHandle statusHandle)

1
examples/SharedMemory/PhysicsClientC_API.h
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@@ -63,6 +63,7 @@ B3_SHARED_API int b3GetStatusType(b3SharedMemoryStatusHandle statusHandle);
///Plugin system, load and unload a plugin, execute a command
B3_SHARED_API b3SharedMemoryCommandHandle b3CreateCustomCommand(b3PhysicsClientHandle physClient);
B3_SHARED_API void b3CustomCommandLoadPlugin(b3SharedMemoryCommandHandle commandHandle, const char* pluginPath);
B3_SHARED_API void b3CustomCommandLoadPluginSetPostFix(b3SharedMemoryCommandHandle commandHandle, const char* postFix);
B3_SHARED_API int b3GetStatusPluginUniqueId(b3SharedMemoryStatusHandle statusHandle);
B3_SHARED_API int b3GetStatusPluginCommandResult(b3SharedMemoryStatusHandle statusHandle);

28
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -40,6 +40,11 @@
#include "../Utils/b3Clock.h"
#include "b3PluginManager.h"
#ifdef STATIC_LINK_VR_PLUGIN
#include "plugins/vrSyncPlugin/vrSyncPlugin.h"
#endif
#ifdef B3_ENABLE_TINY_AUDIO
#include "../TinyAudio/b3SoundEngine.h"
#endif
@@ -1546,10 +1551,11 @@ struct PhysicsServerCommandProcessorInternalData
{
//test to statically link a plugin
//#include "plugins/testPlugin/testplugin.h"
//register static plugins:
//m_pluginManager.registerStaticLinkedPlugin("path", initPlugin, exitPlugin, executePluginCommand);
#ifdef STATIC_LINK_VR_PLUGIN
m_pluginManager.registerStaticLinkedPlugin("vrSyncPlugin", initPlugin_vrSyncPlugin, exitPlugin_vrSyncPlugin, executePluginCommand_vrSyncPlugin,preTickPluginCallback_vrSyncPlugin,0);
#endif //STATIC_LINK_VR_PLUGIN
}
m_vrControllerEvents.init();
@@ -1699,7 +1705,6 @@ void logCallback(btDynamicsWorld *world, btScalar timeStep)
bool isPreTick = false;
proc->tickPlugins(timeStep, isPreTick);
}
bool MyContactAddedCallback(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1)
@@ -1810,6 +1815,11 @@ void PhysicsServerCommandProcessor::processCollisionForces(btScalar timeStep)
void PhysicsServerCommandProcessor::tickPlugins(btScalar timeStep, bool isPreTick)
{
m_data->m_pluginManager.tickPlugins(timeStep, isPreTick);
if (!isPreTick)
{
//clear events after each postTick, so we don't receive events multiple ticks
m_data->m_pluginManager.clearEvents();
}
}
@@ -8027,7 +8037,13 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
if (clientCmd.m_updateFlags & CMD_CUSTOM_COMMAND_LOAD_PLUGIN)
{
//pluginPath could be registered or load from disk
int pluginUniqueId = m_data->m_pluginManager.loadPlugin(clientCmd.m_customCommandArgs.m_pluginPath);
const char* postFix = "";
if (clientCmd.m_updateFlags & CMD_CUSTOM_COMMAND_LOAD_PLUGIN_POSTFIX)
{
postFix = clientCmd.m_customCommandArgs.m_postFix;
}
int pluginUniqueId = m_data->m_pluginManager.loadPlugin(clientCmd.m_customCommandArgs.m_pluginPath, postFix);
if (pluginUniqueId>=0)
{
serverCmd.m_customCommandResultArgs.m_pluginUniqueId = pluginUniqueId;
@@ -8291,7 +8307,7 @@ 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);
m_data->m_pluginManager.addEvents(vrControllerEvents, numVRControllerEvents, keyEvents, numKeyEvents, mouseEvents, numMouseEvents);
for (int i=0;i<m_data->m_stateLoggers.size();i++)
{

3
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -114,6 +114,7 @@ enum CustomCommandEnum
CMD_CUSTOM_COMMAND_LOAD_PLUGIN=1,
CMD_CUSTOM_COMMAND_UNLOAD_PLUGIN=2,
CMD_CUSTOM_COMMAND_EXECUTE_PLUGIN_COMMAND=4,
CMD_CUSTOM_COMMAND_LOAD_PLUGIN_POSTFIX=8,
};
struct b3CustomCommand
@@ -121,6 +122,8 @@ struct b3CustomCommand
int m_pluginUniqueId;
b3PluginArguments m_arguments;
char m_pluginPath[MAX_FILENAME_LENGTH];
char m_postFix[MAX_FILENAME_LENGTH];
};
struct b3CustomCommandResultArgs

100
examples/SharedMemory/b3PluginManager.cpp
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@@ -74,8 +74,11 @@ typedef b3PoolBodyHandle<b3Plugin> b3PluginHandle;
struct b3PluginManagerInternalData
{
b3ResizablePool<b3PluginHandle> m_plugins;
b3HashMap<b3HashString, b3PluginHandle> m_pluginMap;
b3HashMap<b3HashString, b3PluginHandle*> m_pluginMap;
PhysicsDirect* m_physicsDirect;
b3AlignedObjectArray<b3KeyboardEvent> m_keyEvents;
b3AlignedObjectArray<b3VRControllerEvent> m_vrEvents;
b3AlignedObjectArray<b3MouseEvent> m_mouseEvents;
};
b3PluginManager::b3PluginManager(class PhysicsCommandProcessorInterface* physSdk)
@@ -89,8 +92,8 @@ b3PluginManager::~b3PluginManager()
{
while (m_data->m_pluginMap.size())
{
b3PluginHandle* plugin = m_data->m_pluginMap.getAtIndex(0);
unloadPlugin(plugin->m_pluginUniqueId);
b3PluginHandle** plugin = m_data->m_pluginMap.getAtIndex(0);
unloadPlugin((*plugin)->m_pluginUniqueId);
}
delete m_data->m_physicsDirect;
m_data->m_pluginMap.clear();
@@ -98,16 +101,46 @@ b3PluginManager::~b3PluginManager()
delete m_data;
}
void b3PluginManager::addEvents(const struct b3VRControllerEvent* vrControllerEvents, int numVRControllerEvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents, const struct b3MouseEvent* mouseEvents, int numMouseEvents)
{
static int maxSize = 0;
int b3PluginManager::loadPlugin(const char* pluginPath)
for (int i = 0; i < numKeyEvents; i++)
{
m_data->m_keyEvents.push_back(keyEvents[i]);
}
for (int i = 0; i < numVRControllerEvents; i++)
{
m_data->m_vrEvents.push_back(vrControllerEvents[i]);
if (m_data->m_vrEvents.size() > maxSize)
{
printf("maxSize=%d\n", maxSize);
maxSize = m_data->m_vrEvents.size();
}
}
for (int i = 0; i < numMouseEvents; i++)
{
m_data->m_mouseEvents.push_back(mouseEvents[i]);
}
}
void b3PluginManager::clearEvents()
{
m_data->m_keyEvents.resize(0);
m_data->m_vrEvents.resize(0);
m_data->m_mouseEvents.resize(0);
}
int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
{
int pluginUniqueId = -1;
b3Plugin* pluginOrg = m_data->m_pluginMap.find(pluginPath);
if (pluginOrg)
b3PluginHandle** pluginOrgPtr = m_data->m_pluginMap.find(pluginPath);
if (pluginOrgPtr)
{
//already loaded
pluginUniqueId = pluginOrg->m_pluginUniqueId;
pluginUniqueId = (*pluginOrgPtr)->m_pluginUniqueId;
}
else
{
@@ -118,12 +151,18 @@ int b3PluginManager::loadPlugin(const char* pluginPath)
bool ok = false;
if (pluginHandle)
{
std::string postFix = postFixStr;
std::string initStr = std::string("initPlugin") + postFix;
std::string exitStr = std::string("exitPlugin") + postFix;
std::string executePluginCommandStr = std::string("executePluginCommand") + postFix;
std::string preTickPluginCallbackStr = std::string("preTickPluginCallback") + postFix;
std::string postTickPluginCallback = std::string("postTickPluginCallback") + postFix;
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");
plugin->m_initFunc = (PFN_INIT)B3_DYNLIB_IMPORT(pluginHandle, initStr.c_str());
plugin->m_exitFunc = (PFN_EXIT)B3_DYNLIB_IMPORT(pluginHandle, exitStr.c_str());
plugin->m_executeCommandFunc = (PFN_EXECUTE)B3_DYNLIB_IMPORT(pluginHandle, executePluginCommandStr.c_str());
plugin->m_preTickFunc = (PFN_TICK)B3_DYNLIB_IMPORT(pluginHandle, preTickPluginCallbackStr.c_str());
plugin->m_postTickFunc = (PFN_TICK)B3_DYNLIB_IMPORT(pluginHandle, postTickPluginCallback.c_str());
if (plugin->m_initFunc && plugin->m_exitFunc && plugin->m_executeCommandFunc)
{
@@ -140,7 +179,7 @@ int b3PluginManager::loadPlugin(const char* pluginPath)
plugin->m_ownsPluginHandle = true;
plugin->m_pluginHandle = pluginHandle;
plugin->m_pluginPath = pluginPath;
m_data->m_pluginMap.insert(pluginPath, *plugin);
m_data->m_pluginMap.insert(pluginPath, plugin);
}
else
{
@@ -190,14 +229,28 @@ 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);
b3PluginHandle** pluginPtr = m_data->m_pluginMap.getAtIndex(i);
b3PluginHandle* plugin = 0;
if (pluginPtr && *pluginPtr)
{
plugin = *pluginPtr;
}
else
{
continue;
}
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;
context.m_numMouseEvents = m_data->m_mouseEvents.size();
context.m_mouseEvents = m_data->m_mouseEvents.size() ? &m_data->m_mouseEvents[0] : 0;
context.m_numKeyEvents = m_data->m_keyEvents.size();
context.m_keyEvents = m_data->m_keyEvents.size() ? &m_data->m_keyEvents[0] : 0;
context.m_numVRControllerEvents = m_data->m_vrEvents.size();
context.m_vrControllerEvents = m_data->m_vrEvents.size()? &m_data->m_vrEvents[0]:0;
int result = tick(&context);
plugin->m_userPointer = context.m_userPointer;
}
@@ -214,7 +267,13 @@ int b3PluginManager::executePluginCommand(int pluginUniqueId, const b3PluginArgu
b3PluginContext context;
context.m_userPointer = plugin->m_userPointer;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
context.m_numMouseEvents = 0;
context.m_mouseEvents = 0;
context.m_numKeyEvents = 0;
context.m_keyEvents = 0;
context.m_numVRControllerEvents = 0;
context.m_vrControllerEvents = 0;
result = plugin->m_executeCommandFunc(&context, arguments);
plugin->m_userPointer = context.m_userPointer;
}
@@ -242,12 +301,19 @@ int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT
pluginHandle->m_pluginPath = pluginPath;
pluginHandle->m_userPointer = 0;
m_data->m_pluginMap.insert(pluginPath, *pluginHandle);
m_data->m_pluginMap.insert(pluginPath, pluginHandle);
{
b3PluginContext context;
context.m_userPointer = 0;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
context.m_numMouseEvents = 0;
context.m_mouseEvents = 0;
context.m_numKeyEvents = 0;
context.m_keyEvents = 0;
context.m_numVRControllerEvents = 0;
context.m_vrControllerEvents = 0;
int result = pluginHandle->m_initFunc(&context);
pluginHandle->m_userPointer = context.m_userPointer;
}

6
examples/SharedMemory/b3PluginManager.h
View File

@@ -12,10 +12,14 @@ class b3PluginManager
b3PluginManager(class PhysicsCommandProcessorInterface* physSdk);
virtual ~b3PluginManager();
int loadPlugin(const char* pluginPath);
int loadPlugin(const char* pluginPath, const char* postFixStr ="");
void unloadPlugin(int pluginUniqueId);
int executePluginCommand(int pluginUniqueId, const struct b3PluginArguments* arguments);
void addEvents(const struct b3VRControllerEvent* vrControllerEvents, int numVRControllerEvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents, const struct b3MouseEvent* mouseEvents, int numMouseEvents);
void clearEvents();
void tickPlugins(double timeStep, bool isPreTick);
int registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc,PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc);
};

7
examples/SharedMemory/plugins/b3PluginContext.h
View File

@@ -5,12 +5,17 @@
struct b3PluginContext
{
b3PhysicsClientHandle m_physClient;
//plugin can modify the m_userPointer to store persistent object pointer (class or struct instance etc)
void* m_userPointer;
const struct b3VRControllerEvent* m_vrControllerEvents;
int m_numVRControllerEvents;
const struct b3KeyboardEvent* m_keyEvents;
int m_numKeyEvents;
const struct b3MouseEvent* m_mouseEvents;
int m_numMouseEvents;
};

25
examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.cpp
View File

@@ -37,7 +37,7 @@ struct MyClass
}
};
B3_SHARED_API int initPlugin(struct b3PluginContext* context)
B3_SHARED_API int initPlugin_vrSyncPlugin(struct b3PluginContext* context)
{
MyClass* obj = new MyClass();
context->m_userPointer = obj;
@@ -47,28 +47,17 @@ B3_SHARED_API int initPlugin(struct b3PluginContext* context)
}
B3_SHARED_API int preTickPluginCallback(struct b3PluginContext* context)
B3_SHARED_API int preTickPluginCallback_vrSyncPlugin(struct b3PluginContext* context)
{
MyClass* obj = (MyClass* )context->m_userPointer;
if (obj->m_controllerId>=0)
if (obj && obj->m_controllerId>=0)
{
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)
{
for (int n=0;n<vrEvents.m_numControllerEvents;n++)
for (int n=0;n<context->m_numVRControllerEvents;n++)
{
b3VRControllerEvent& event = vrEvents.m_controllerEvents[n];
const b3VRControllerEvent& event = context->m_vrControllerEvents[n];
if (event.m_controllerId ==obj->m_controllerId)
{
if (obj->m_constraintId>=0)
@@ -171,7 +160,7 @@ B3_SHARED_API int preTickPluginCallback(struct b3PluginContext* context)
B3_SHARED_API int executePluginCommand(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
B3_SHARED_API int executePluginCommand_vrSyncPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
{
MyClass* obj = (MyClass*) context->m_userPointer;
if (arguments->m_numInts>=4 && arguments->m_numFloats >= 2)
@@ -199,7 +188,7 @@ B3_SHARED_API int executePluginCommand(struct b3PluginContext* context, const st
}
B3_SHARED_API void exitPlugin(struct b3PluginContext* context)
B3_SHARED_API void exitPlugin_vrSyncPlugin(struct b3PluginContext* context)
{
MyClass* obj = (MyClass*) context->m_userPointer;
delete obj;

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

@@ -9,12 +9,12 @@ extern "C"
#endif
//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);
B3_SHARED_API int initPlugin_vrSyncPlugin(struct b3PluginContext* context);
B3_SHARED_API void exitPlugin_vrSyncPlugin(struct b3PluginContext* context);
B3_SHARED_API int executePluginCommand_vrSyncPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
//preTickPluginCallback and postTickPluginCallback are optional.
B3_SHARED_API int preTickPluginCallback(struct b3PluginContext* context);
B3_SHARED_API int preTickPluginCallback_vrSyncPlugin(struct b3PluginContext* context);

4
examples/pybullet/examples/vr_kuka_setup_vrSyncPlugin.py
View File

@@ -116,7 +116,9 @@ while (controllerId<0):
print("Using controllerId="+str(controllerId))
plugin = p.loadPlugin("d:/develop/bullet3/bin/pybullet_vrSyncPlugin_vs2010_x64_release.dll")
plugin = p.loadPlugin("d:/develop/bullet3/bin/pybullet_vrSyncPlugin_vs2010_x64_release.dll","_vrSyncPlugin")
#plugin = p.loadPlugin("vrSyncPlugin")
print("PluginId="+str(plugin))
p.executePluginCommand(plugin ,"bla", [controllerId,pr2_cid, pr2_cid2,pr2_gripper],[50,3])

10
examples/pybullet/pybullet.c
View File

@@ -6681,13 +6681,15 @@ static PyObject* pybullet_loadPlugin(PyObject* self,
int physicsClientId = 0;
char* pluginPath = 0;
char* postFix = 0;
b3SharedMemoryCommandHandle command = 0;
b3SharedMemoryStatusHandle statusHandle = 0;
int statusType = -1;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = { "pluginPath", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|i", kwlist, &pluginPath, &physicsClientId))
static char* kwlist[] = { "pluginPath", "postFix", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|si", kwlist, &pluginPath, &postFix, &physicsClientId))
{
return NULL;
}
@@ -6701,6 +6703,10 @@ static PyObject* pybullet_loadPlugin(PyObject* self,
command = b3CreateCustomCommand(sm);
b3CustomCommandLoadPlugin(command, pluginPath);
if (postFix)
{
b3CustomCommandLoadPluginSetPostFix(command, postFix);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusPluginUniqueId(statusHandle);
return PyInt_FromLong(statusType);