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Notify plugins on certain events (e.g. body added).

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This also adds a periodic tick function to plugins, giving them periodically control over the simulation thread, even when the simulation is paused.
This commit is contained in:
Tigran Gasparian
2018-07-24 14:12:16 +02:00
parent 0e1dce41ea
commit c59afb88c4
11 changed files with 252 additions and 28 deletions
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124
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1902,6 +1902,10 @@ void PhysicsServerCommandProcessor::processCollisionForces(btScalar timeStep)
#endif//B3_ENABLE_TINY_AUDIO
}
void PhysicsServerCommandProcessor::tickPlugins() {
m_data->m_pluginManager.tickPlugins();
}
void PhysicsServerCommandProcessor::tickPlugins(btScalar timeStep, bool isPreTick)
{
m_data->m_pluginManager.tickPlugins(timeStep, isPreTick);
@@ -2855,6 +2859,11 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
}
}
}
b3Notification notification;
notification.m_notificationType = BODY_ADDED;
notification.m_bodyArgs.m_bodyUniqueId = bodyUniqueId;
m_data->m_pluginManager.addNotification(notification);
}
@@ -5108,6 +5117,11 @@ bool PhysicsServerCommandProcessor::processAddUserDataCommand(const struct Share
serverStatusOut.m_userDataResponseArgs.m_valueType = clientCmd.m_addUserDataRequestArgs.m_valueType;
strcpy(serverStatusOut.m_userDataResponseArgs.m_key, clientCmd.m_addUserDataRequestArgs.m_key);
b3Notification notification;
notification.m_notificationType = USER_DATA_ADDED;
notification.m_userDataArgs.m_userDataId = userDataHandle;
m_data->m_pluginManager.addNotification(notification);
// Keep bufferServerToClient as-is.
return hasStatus;
}
@@ -5134,6 +5148,12 @@ bool PhysicsServerCommandProcessor::processRemoveUserDataCommand(const struct Sh
serverStatusOut.m_removeUserDataResponseArgs = clientCmd.m_removeUserDataRequestArgs;
serverStatusOut.m_type = CMD_REMOVE_USER_DATA_COMPLETED;
b3Notification notification;
notification.m_notificationType = USER_DATA_REMOVED;
notification.m_userDataArgs.m_userDataId = clientCmd.m_removeUserDataRequestArgs.m_userDataId;
m_data->m_pluginManager.addNotification(notification);
return hasStatus;
}
@@ -6481,6 +6501,11 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
bodyHandle->m_softBody = psb;
serverStatusOut.m_loadSoftBodyResultArguments.m_objectUniqueId = bodyUniqueId;
serverStatusOut.m_type = CMD_LOAD_SOFT_BODY_COMPLETED;
b3Notification notification;
notification.m_notificationType = BODY_ADDED;
notification.m_bodyArgs.m_bodyUniqueId = bodyUniqueId;
m_data->m_pluginManager.addNotification(notification);
}
}
}
@@ -6741,17 +6766,25 @@ bool PhysicsServerCommandProcessor::processForwardDynamicsCommand(const struct S
btScalar deltaTimeScaled = m_data->m_physicsDeltaTime*simTimeScalingFactor;
int numSteps = 0;
if (m_data->m_numSimulationSubSteps > 0)
{
m_data->m_dynamicsWorld->stepSimulation(deltaTimeScaled, m_data->m_numSimulationSubSteps, m_data->m_physicsDeltaTime / m_data->m_numSimulationSubSteps);
numSteps = m_data->m_dynamicsWorld->stepSimulation(deltaTimeScaled, m_data->m_numSimulationSubSteps, m_data->m_physicsDeltaTime / m_data->m_numSimulationSubSteps);
}
else
{
m_data->m_dynamicsWorld->stepSimulation(deltaTimeScaled, 0);
numSteps = m_data->m_dynamicsWorld->stepSimulation(deltaTimeScaled, 0);
}
if (numSteps > 0)
{
addTransformChangedNotifications();
}
SharedMemoryStatus& serverCmd =serverStatusOut;
serverCmd.m_type = CMD_STEP_FORWARD_SIMULATION_COMPLETED;
return hasStatus;
}
@@ -7049,6 +7082,13 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
SharedMemoryStatus& serverCmd =serverStatusOut;
serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;
b3Notification notification;
notification.m_notificationType = LINK_DYNAMICS_CHANGED;
notification.m_linkArgs.m_bodyUniqueId = bodyUniqueId;
notification.m_linkArgs.m_linkIndex = linkIndex;
m_data->m_pluginManager.addNotification(notification);
return hasStatus;
}
@@ -7657,6 +7697,11 @@ bool PhysicsServerCommandProcessor::processCreateRigidBodyCommand(const struct S
rb->setUserIndex2(bodyUniqueId);
bodyHandle->m_rootLocalInertialFrame.setIdentity();
bodyHandle->m_rigidBody = rb;
b3Notification notification;
notification.m_notificationType = BODY_ADDED;
notification.m_bodyArgs.m_bodyUniqueId = bodyUniqueId;
m_data->m_pluginManager.addNotification(notification);
return hasStatus;
}
@@ -8257,6 +8302,14 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared
}
m_data->m_guiHelper->setVisualizerFlag(COV_ENABLE_SYNC_RENDERING_INTERNAL,1);
for (int i=0;i<serverCmd.m_removeObjectArgs.m_numBodies;i++)
{
b3Notification notification;
notification.m_notificationType = BODY_REMOVED;
notification.m_bodyArgs.m_bodyUniqueId = serverCmd.m_removeObjectArgs.m_bodyUniqueIds[i];
m_data->m_pluginManager.addNotification(notification);
}
return hasStatus;
}
@@ -9419,7 +9472,15 @@ bool PhysicsServerCommandProcessor::processUpdateVisualShapeCommand(const struct
}
serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_COMPLETED;
return hasStatus;
b3Notification notification;
notification.m_notificationType = VISUAL_SHAPE_CHANGED;
notification.m_visualShapeArgs.m_bodyUniqueId = clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId;
notification.m_visualShapeArgs.m_linkIndex = clientCmd.m_updateVisualShapeDataArguments.m_jointIndex;
notification.m_visualShapeArgs.m_visualShapeIndex = clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex;
m_data->m_pluginManager.addNotification(notification);
return hasStatus;
}
bool PhysicsServerCommandProcessor::processChangeTextureCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
@@ -9640,6 +9701,11 @@ bool PhysicsServerCommandProcessor::processLoadBulletCommand(const struct Shared
serverStatusOut.m_sdfLoadedArgs.m_numBodies++;
serverStatusOut.m_sdfLoadedArgs.m_bodyUniqueIds[i] = bodyUniqueId;
}
b3Notification notification;
notification.m_notificationType = BODY_ADDED;
notification.m_bodyArgs.m_bodyUniqueId = bodyUniqueId;
m_data->m_pluginManager.addNotification(notification);
}
}
}
@@ -10439,11 +10505,59 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec,const
{
gNumSteps = numSteps;
gDtInSec = dtInSec;
addTransformChangedNotifications();
}
}
}
b3Notification createTransformChangedNotification(int bodyUniqueId, int linkIndex, const btCollisionObject* colObj)
{
b3Notification notification;
notification.m_notificationType = TRANSFORM_CHANGED;
notification.m_transformChangeArgs.m_bodyUniqueId = bodyUniqueId;
notification.m_transformChangeArgs.m_linkIndex = linkIndex;
const btTransform &tr = colObj->getWorldTransform();
notification.m_transformChangeArgs.m_worldPosition[0] = tr.getOrigin()[0];
notification.m_transformChangeArgs.m_worldPosition[1] = tr.getOrigin()[1];
notification.m_transformChangeArgs.m_worldPosition[2] = tr.getOrigin()[2];
notification.m_transformChangeArgs.m_worldRotation[0] = tr.getRotation()[0];
notification.m_transformChangeArgs.m_worldRotation[1] = tr.getRotation()[1];
notification.m_transformChangeArgs.m_worldRotation[2] = tr.getRotation()[2];
notification.m_transformChangeArgs.m_worldRotation[3] = tr.getRotation()[3];
const btVector3 &scaling = colObj->getCollisionShape()->getLocalScaling();
notification.m_transformChangeArgs.m_localScaling[0] = scaling[0];
notification.m_transformChangeArgs.m_localScaling[1] = scaling[1];
notification.m_transformChangeArgs.m_localScaling[2] = scaling[2];
return notification;
}
void PhysicsServerCommandProcessor::addTransformChangedNotifications()
{
b3AlignedObjectArray<int> usedHandles;
m_data->m_bodyHandles.getUsedHandles(usedHandles);
for (int i=0;i<usedHandles.size();i++) {
int bodyUniqueId = usedHandles[i];
InternalBodyData *bodyData = m_data->m_bodyHandles.getHandle(bodyUniqueId);
if (!bodyData) {
continue;
}
if (bodyData->m_multiBody && bodyData->m_multiBody->isAwake()) {
btMultiBody *mb = bodyData->m_multiBody;
m_data->m_pluginManager.addNotification(createTransformChangedNotification(bodyUniqueId, -1, mb->getBaseCollider()));
for (int linkIndex=0;linkIndex < mb->getNumLinks(); linkIndex++) {
m_data->m_pluginManager.addNotification(createTransformChangedNotification(bodyUniqueId, linkIndex, mb->getLinkCollider(linkIndex)));
}
}
else if (bodyData->m_rigidBody && bodyData->m_rigidBody->isActive()) {
m_data->m_pluginManager.addNotification(createTransformChangedNotification(bodyUniqueId, -1, bodyData->m_rigidBody));
}
}
}
void PhysicsServerCommandProcessor::resetSimulation()
{
@@ -10490,6 +10604,10 @@ void PhysicsServerCommandProcessor::resetSimulation()
m_data->m_userDataHandles.exitHandles();
m_data->m_userDataHandles.initHandles();
m_data->m_userDataHandleLookup.clear();
b3Notification notification;
notification.m_notificationType = SIMULATION_RESET;
m_data->m_pluginManager.addNotification(notification);
}