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enable pdControlPlugin by default (requires pdControlPlugin.cpp and b3RobotSimulatorClientAPI_NoDirect.cpp)

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add pdControl.py example, make pdControlPlugin functional
reduce memory usage
fix examples/pybullet/gym/pybullet_data/random_urdfs/948/948.urdf, fixes issue #1704
This commit is contained in:
erwincoumans
2018-06-05 15:59:01 -07:00
parent 49eb83c24e
commit b6f5cb4c34
23 changed files with 286 additions and 179 deletions
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42
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -45,9 +45,9 @@
#include "../Extras/Serialize/BulletFileLoader/btBulletFile.h"
#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
#ifdef STATIC_PD_CONTROL_PLUGIN
#ifndef SKIP_STATIC_PD_CONTROL_PLUGIN
#include "plugins/pdControlPlugin/pdControlPlugin.h"
#endif //STATIC_PD_CONTROL_PLUGIN
#endif //SKIP_STATIC_PD_CONTROL_PLUGIN
#ifdef STATIC_LINK_VR_PLUGIN
#include "plugins/vrSyncPlugin/vrSyncPlugin.h"
@@ -105,7 +105,6 @@ struct UrdfLinkNameMapUtil
}
virtual ~UrdfLinkNameMapUtil()
{
delete m_memSerializer;
}
};
@@ -1599,7 +1598,7 @@ struct PhysicsServerCommandProcessorInternalData
btAlignedObjectArray<btMultiBodyWorldImporter*> m_worldImporters;
btAlignedObjectArray<UrdfLinkNameMapUtil*> m_urdfLinkNameMapper;
btAlignedObjectArray<std::string*> m_strings;
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
@@ -1692,11 +1691,11 @@ struct PhysicsServerCommandProcessorInternalData
m_pluginManager.registerStaticLinkedPlugin("vrSyncPlugin", initPlugin_vrSyncPlugin, exitPlugin_vrSyncPlugin, executePluginCommand_vrSyncPlugin, preTickPluginCallback_vrSyncPlugin, 0, 0);
#endif //STATIC_LINK_VR_PLUGIN
#ifdef STATIC_PD_CONTROL_PLUGIN
#ifndef SKIP_STATIC_PD_CONTROL_PLUGIN
{
m_pdControlPlugin = m_pluginManager.registerStaticLinkedPlugin("pdControlPlugin", initPlugin_pdControlPlugin, exitPlugin_pdControlPlugin, executePluginCommand_pdControlPlugin, preTickPluginCallback_pdControlPlugin, postTickPluginCallback_pdControlPlugin, 0);
m_pdControlPlugin = m_pluginManager.registerStaticLinkedPlugin("pdControlPlugin", initPlugin_pdControlPlugin, exitPlugin_pdControlPlugin, executePluginCommand_pdControlPlugin, preTickPluginCallback_pdControlPlugin, 0, 0);
}
#endif //STATIC_PD_CONTROL_PLUGIN
#endif //SKIP_STATIC_PD_CONTROL_PLUGIN
#ifndef SKIP_STATIC_TINYRENDERER_PLUGIN
@@ -2482,12 +2481,13 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld()
}
m_data->m_worldImporters.clear();
#ifdef ENABLE_LINK_MAPPER
for (int i=0;i<m_data->m_urdfLinkNameMapper.size();i++)
{
delete m_data->m_urdfLinkNameMapper[i];
}
m_data->m_urdfLinkNameMapper.clear();
#endif //ENABLE_LINK_MAPPER
for (int i=0;i<m_data->m_strings.size();i++)
{
@@ -3010,10 +3010,12 @@ int PhysicsServerCommandProcessor::createBodyInfoStream(int bodyUniqueId, char*
btMultiBody* mb = bodyHandle? bodyHandle->m_multiBody:0;
if (mb)
{
UrdfLinkNameMapUtil* util = new UrdfLinkNameMapUtil;
m_data->m_urdfLinkNameMapper.push_back(util);
UrdfLinkNameMapUtil utilBla;
UrdfLinkNameMapUtil* util = &utilBla;
btDefaultSerializer ser(bufferSizeInBytes ,(unsigned char*)bufferServerToClient);
util->m_mb = mb;
util->m_memSerializer = new btDefaultSerializer(bufferSizeInBytes ,(unsigned char*)bufferServerToClient);
util->m_memSerializer = &ser;
util->m_memSerializer->startSerialization();
//disable serialization of the collision objects (they are too big, and the client likely doesn't need them);
@@ -3046,9 +3048,11 @@ int PhysicsServerCommandProcessor::createBodyInfoStream(int bodyUniqueId, char*
btRigidBody* rb = bodyHandle? bodyHandle->m_rigidBody :0;
if (rb)
{
UrdfLinkNameMapUtil* util = new UrdfLinkNameMapUtil;
m_data->m_urdfLinkNameMapper.push_back(util);
util->m_memSerializer = new btDefaultSerializer(bufferSizeInBytes ,(unsigned char*)bufferServerToClient);
UrdfLinkNameMapUtil utilBla;
UrdfLinkNameMapUtil* util = &utilBla;
btDefaultSerializer ser(bufferSizeInBytes ,(unsigned char*)bufferServerToClient);
util->m_memSerializer = &ser;
util->m_memSerializer->startSerialization();
util->m_memSerializer->registerNameForPointer(bodyHandle->m_rigidBody,bodyHandle->m_bodyName.c_str());
//disable serialization of the collision objects (they are too big, and the client likely doesn't need them);
@@ -6049,10 +6053,8 @@ bool PhysicsServerCommandProcessor::processCreateMultiBodyCommand(const struct S
serverStatusOut.m_type = CMD_CREATE_MULTI_BODY_COMPLETED;
int streamSizeInBytes = createBodyInfoStream(bodyUniqueId, bufferServerToClient, bufferSizeInBytes);
if (m_data->m_urdfLinkNameMapper.size())
{
serverStatusOut.m_numDataStreamBytes = m_data->m_urdfLinkNameMapper.at(m_data->m_urdfLinkNameMapper.size()-1)->m_memSerializer->getCurrentBufferSize();
}
serverStatusOut.m_numDataStreamBytes = streamSizeInBytes;
serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId;
InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str());
@@ -6120,12 +6122,14 @@ bool PhysicsServerCommandProcessor::processLoadURDFCommand(const struct SharedMe
serverStatusOut.m_type = CMD_URDF_LOADING_COMPLETED;
int streamSizeInBytes = createBodyInfoStream(bodyUniqueId, bufferServerToClient, bufferSizeInBytes);
serverStatusOut.m_numDataStreamBytes = streamSizeInBytes;
#ifdef ENABLE_LINK_MAPPER
if (m_data->m_urdfLinkNameMapper.size())
{
serverStatusOut.m_numDataStreamBytes = m_data->m_urdfLinkNameMapper.at(m_data->m_urdfLinkNameMapper.size()-1)->m_memSerializer->getCurrentBufferSize();
}
#endif
serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId;
InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str());