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PyBullet.addUserData / getUserData / removeUserData / getUserDataId / getNumUserData / getUserDataInfo

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See examples/pybullet/examples/userData.py how to use it. TODO: add to PyBullet Quickstart Guide.
Thanks to Tigran Gasparian for the contribution!
This commit is contained in:
erwincoumans
2018-06-02 13:40:08 -07:00
parent cb6b7a7c38
commit b6120e760a
16 changed files with 1257 additions and 29 deletions
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243
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -11,16 +11,34 @@
#include "../../Extras/Serialize/BulletFileLoader/autogenerated/bullet.h"
#include "SharedMemoryBlock.h"
#include "BodyJointInfoUtility.h"
#include "SharedMemoryUserData.h"
struct UserDataCache
{
btHashMap<btHashInt, SharedMemoryUserData> m_userDataMap;
btHashMap<btHashString, int> m_keyToUserDataIdMap;
UserDataCache()
{
}
~UserDataCache()
{
}
};
struct BodyJointInfoCache
{
std::string m_baseName;
b3AlignedObjectArray<b3JointInfo> m_jointInfo;
std::string m_bodyName;
// Joint index -> user data.
btHashMap<btHashInt, UserDataCache> m_jointToUserDataMap;
~BodyJointInfoCache()
{
}
};
struct PhysicsClientSharedMemoryInternalData {
@@ -28,32 +46,34 @@ struct PhysicsClientSharedMemoryInternalData {
bool m_ownsSharedMemory;
SharedMemoryBlock* m_testBlock1;
b3HashMap<b3HashInt,BodyJointInfoCache*> m_bodyJointMap;
b3HashMap<b3HashInt,b3UserConstraint> m_userConstraintInfoMap;
btHashMap<btHashInt,BodyJointInfoCache*> m_bodyJointMap;
btHashMap<btHashInt,b3UserConstraint> m_userConstraintInfoMap;
b3AlignedObjectArray<TmpFloat3> m_debugLinesFrom;
b3AlignedObjectArray<TmpFloat3> m_debugLinesTo;
b3AlignedObjectArray<TmpFloat3> m_debugLinesColor;
btAlignedObjectArray<TmpFloat3> m_debugLinesFrom;
btAlignedObjectArray<TmpFloat3> m_debugLinesTo;
btAlignedObjectArray<TmpFloat3> m_debugLinesColor;
int m_cachedCameraPixelsWidth;
int m_cachedCameraPixelsHeight;
b3AlignedObjectArray<unsigned char> m_cachedCameraPixelsRGBA;
b3AlignedObjectArray<float> m_cachedCameraDepthBuffer;
b3AlignedObjectArray<int> m_cachedSegmentationMaskBuffer;
btAlignedObjectArray<unsigned char> m_cachedCameraPixelsRGBA;
btAlignedObjectArray<float> m_cachedCameraDepthBuffer;
btAlignedObjectArray<int> m_cachedSegmentationMaskBuffer;
b3AlignedObjectArray<b3ContactPointData> m_cachedContactPoints;
b3AlignedObjectArray<b3OverlappingObject> m_cachedOverlappingObjects;
b3AlignedObjectArray<b3VisualShapeData> m_cachedVisualShapes;
b3AlignedObjectArray<b3CollisionShapeData> m_cachedCollisionShapes;
btAlignedObjectArray<b3ContactPointData> m_cachedContactPoints;
btAlignedObjectArray<b3OverlappingObject> m_cachedOverlappingObjects;
btAlignedObjectArray<b3VisualShapeData> m_cachedVisualShapes;
btAlignedObjectArray<b3CollisionShapeData> m_cachedCollisionShapes;
b3AlignedObjectArray<b3VRControllerEvent> m_cachedVREvents;
b3AlignedObjectArray<b3KeyboardEvent> m_cachedKeyboardEvents;
b3AlignedObjectArray<b3MouseEvent> m_cachedMouseEvents;
b3AlignedObjectArray<double> m_cachedMassMatrix;
b3AlignedObjectArray<b3RayHitInfo> m_raycastHits;
btAlignedObjectArray<b3VRControllerEvent> m_cachedVREvents;
btAlignedObjectArray<b3KeyboardEvent> m_cachedKeyboardEvents;
btAlignedObjectArray<b3MouseEvent> m_cachedMouseEvents;
btAlignedObjectArray<double> m_cachedMassMatrix;
btAlignedObjectArray<b3RayHitInfo> m_raycastHits;
b3AlignedObjectArray<int> m_bodyIdsRequestInfo;
b3AlignedObjectArray<int> m_constraintIdsRequestInfo;
btAlignedObjectArray<int> m_bodyIdsRequestInfo;
btAlignedObjectArray<int> m_constraintIdsRequestInfo;
btAlignedObjectArray<b3UserDataGlobalIdentifier> m_userDataIdsRequestInfo;
SharedMemoryStatus m_tempBackupServerStatus;
@@ -1285,6 +1305,33 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
{
break;
}
case CMD_SYNC_USER_DATA_FAILED:
{
b3Warning("Synchronizing user data failed.");
break;
}
case CMD_REQUEST_USER_DATA_FAILED:
{
b3Warning("Requesting user data failed");
break;
}
case CMD_ADD_USER_DATA_FAILED:
{
b3Warning("Adding user data failed (do the specified body and link exist?)");
break;
}
case CMD_REMOVE_USER_DATA_FAILED:
{
b3Warning("Removing user data failed");
break;
}
case CMD_REQUEST_USER_DATA_COMPLETED:
case CMD_SYNC_USER_DATA_COMPLETED:
case CMD_REMOVE_USER_DATA_COMPLETED:
case CMD_ADD_USER_DATA_COMPLETED:
{
break;
}
default: {
b3Error("Unknown server status %d\n", serverCmd.m_type);
btAssert(0);
@@ -1336,6 +1383,94 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
}
}
if (serverCmd.m_type == CMD_SYNC_USER_DATA_COMPLETED) {
B3_PROFILE("CMD_SYNC_USER_DATA_COMPLETED");
const int numIdentifiers = serverCmd.m_syncUserDataArgs.m_numUserDataIdentifiers;
if (numIdentifiers > 0) {
m_data->m_tempBackupServerStatus = m_data->m_lastServerStatus;
const b3UserDataGlobalIdentifier *identifiers = (b3UserDataGlobalIdentifier *)m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor;
for (int i=0; i<numIdentifiers; i++) {
m_data->m_userDataIdsRequestInfo.push_back(identifiers[i]);
}
// Request individual user data entries.
const b3UserDataGlobalIdentifier userDataGlobalId = m_data->m_userDataIdsRequestInfo[m_data->m_userDataIdsRequestInfo.size()-1];
m_data->m_userDataIdsRequestInfo.pop_back();
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
command.m_type = CMD_REQUEST_USER_DATA;
command.m_userDataRequestArgs = userDataGlobalId;
submitClientCommand(command);
return 0;
}
}
if (serverCmd.m_type == CMD_ADD_USER_DATA_COMPLETED || serverCmd.m_type == CMD_REQUEST_USER_DATA_COMPLETED) {
B3_PROFILE("CMD_ADD_USER_DATA_COMPLETED");
const b3UserDataGlobalIdentifier userDataGlobalId = serverCmd.m_userDataResponseArgs.m_userDataGlobalId;
BodyJointInfoCache** 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 char *dataStream = m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor;
SharedMemoryUserData* userDataPtr = (userDataCachePtr)->m_userDataMap[userDataGlobalId.m_userDataId];
if (userDataPtr) {
// Only replace the value.
userDataPtr->replaceValue(dataStream, serverCmd.m_userDataResponseArgs.m_valueLength, serverCmd.m_userDataResponseArgs.m_valueType);
}
else {
// Add a new user data entry.
const char *key = serverCmd.m_userDataResponseArgs.m_key;
(userDataCachePtr)->m_userDataMap.insert(userDataGlobalId.m_userDataId, SharedMemoryUserData(key));
(userDataCachePtr)->m_keyToUserDataIdMap.insert(key, userDataGlobalId.m_userDataId);
userDataPtr = (userDataCachePtr)->m_userDataMap[userDataGlobalId.m_userDataId];
userDataPtr->replaceValue(dataStream, serverCmd.m_userDataResponseArgs.m_valueLength, serverCmd.m_userDataResponseArgs.m_valueType);
}
}
}
if (serverCmd.m_type == CMD_REQUEST_USER_DATA_COMPLETED) {
if (m_data->m_userDataIdsRequestInfo.size() > 0) {
// Request individual user data entries.
const b3UserDataGlobalIdentifier userDataGlobalId = m_data->m_userDataIdsRequestInfo[m_data->m_userDataIdsRequestInfo.size()-1];
m_data->m_userDataIdsRequestInfo.pop_back();
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
command.m_type = CMD_REQUEST_USER_DATA;
command.m_userDataRequestArgs = userDataGlobalId;
submitClientCommand(command);
return 0;
}
m_data->m_lastServerStatus = m_data->m_tempBackupServerStatus;
}
if (serverCmd.m_type == CMD_REMOVE_USER_DATA_COMPLETED) {
B3_PROFILE("CMD_REMOVE_USER_DATA_COMPLETED");
const b3UserDataGlobalIdentifier userDataGlobalId = serverCmd.m_removeUserDataResponseArgs;
BodyJointInfoCache** 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);
}
}
}
}
if (serverCmd.m_type == CMD_REMOVE_BODY_COMPLETED)
{
for (int i=0;i<serverCmd.m_removeObjectArgs.m_numBodies;i++)
@@ -1663,3 +1798,73 @@ double PhysicsClientSharedMemory::getTimeOut() const
{
return m_data->m_timeOutInSeconds;
}
bool PhysicsClientSharedMemory::getCachedUserData(int bodyUniqueId, int linkIndex, int userDataId, struct b3UserDataValue &valueOut) const {
BodyJointInfoCache** 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];
if (!userDataPtr)
{
return false;
}
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 PhysicsClientSharedMemory::getCachedUserDataId(int bodyUniqueId, int linkIndex, const char *key) const {
BodyJointInfoCache** 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];
if (!userDataId) {
return -1;
}
return *userDataId;
}
int PhysicsClientSharedMemory::getNumUserData(int bodyUniqueId, int linkIndex) const {
BodyJointInfoCache** 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();
}
void PhysicsClientSharedMemory::getUserDataInfo(int bodyUniqueId, int linkIndex, int userDataIndex, const char **keyOut, int *userDataIdOut) const {
BodyJointInfoCache** 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())
{
*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();
}