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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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74
examples/SharedMemory/b3PluginManager.cpp
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@@ -38,6 +38,7 @@ struct b3Plugin
PFN_TICK m_preTickFunc;
PFN_TICK m_postTickFunc;
PFN_TICK m_tickPluginFunc;
PFN_GET_RENDER_INTERFACE m_getRendererFunc;
@@ -52,6 +53,7 @@ struct b3Plugin
m_executeCommandFunc(0),
m_preTickFunc(0),
m_postTickFunc(0),
m_tickPluginFunc(0),
m_getRendererFunc(0),
m_userPointer(0)
{
@@ -83,10 +85,12 @@ struct b3PluginManagerInternalData
b3AlignedObjectArray<b3KeyboardEvent> m_keyEvents;
b3AlignedObjectArray<b3VRControllerEvent> m_vrEvents;
b3AlignedObjectArray<b3MouseEvent> m_mouseEvents;
b3AlignedObjectArray<b3Notification> m_notifications[2];
int m_activeNotificationsBufferIndex;
int m_activeRendererPluginUid;
b3PluginManagerInternalData()
:m_activeRendererPluginUid(-1)
:m_activeRendererPluginUid(-1), m_activeNotificationsBufferIndex(0)
{
}
};
@@ -140,6 +144,11 @@ void b3PluginManager::clearEvents()
m_data->m_mouseEvents.resize(0);
}
void b3PluginManager::addNotification(const struct b3Notification& notification)
{
m_data->m_notifications[m_data->m_activeNotificationsBufferIndex].push_back(notification);
}
int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
{
int pluginUniqueId = -1;
@@ -165,6 +174,7 @@ int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
std::string executePluginCommandStr = std::string("executePluginCommand") + postFix;
std::string preTickPluginCallbackStr = std::string("preTickPluginCallback") + postFix;
std::string postTickPluginCallback = std::string("postTickPluginCallback") + postFix;
std::string tickPluginStr = std::string("tickPlugin") + postFix;
std::string getRendererStr = std::string("getRenderInterface") + postFix;
plugin->m_initFunc = (PFN_INIT)B3_DYNLIB_IMPORT(pluginHandle, initStr.c_str());
@@ -172,6 +182,7 @@ int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
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());
plugin->m_tickPluginFunc = (PFN_TICK)B3_DYNLIB_IMPORT(pluginHandle, tickPluginStr.c_str());
plugin->m_getRendererFunc = (PFN_GET_RENDER_INTERFACE)B3_DYNLIB_IMPORT(pluginHandle, getRendererStr.c_str());
if (plugin->m_initFunc && plugin->m_exitFunc && plugin->m_executeCommandFunc)
@@ -236,7 +247,7 @@ void b3PluginManager::unloadPlugin(int pluginUniqueId)
b3PluginHandle* plugin = m_data->m_plugins.getHandle(pluginUniqueId);
if (plugin)
{
b3PluginContext context;
b3PluginContext context = {0};
context.m_userPointer = plugin->m_userPointer;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
@@ -266,7 +277,7 @@ void b3PluginManager::tickPlugins(double timeStep, bool isPreTick)
PFN_TICK tick = isPreTick? plugin->m_preTickFunc : plugin->m_postTickFunc;
if (tick)
{
b3PluginContext context;
b3PluginContext context = {0};
context.m_userPointer = plugin->m_userPointer;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
context.m_numMouseEvents = m_data->m_mouseEvents.size();
@@ -281,6 +292,39 @@ void b3PluginManager::tickPlugins(double timeStep, bool isPreTick)
}
}
void b3PluginManager::tickPlugins()
{
b3AlignedObjectArray<b3Notification> &notifications = m_data->m_notifications[m_data->m_activeNotificationsBufferIndex];
// Swap notification buffers.
m_data->m_activeNotificationsBufferIndex = 1 - m_data->m_activeNotificationsBufferIndex;
for (int i=0;i<m_data->m_pluginMap.size();i++)
{
int* pluginUidPtr = m_data->m_pluginMap.getAtIndex(i);
b3PluginHandle* plugin = 0;
if (pluginUidPtr)
{
int pluginUid = *pluginUidPtr;
plugin = m_data->m_plugins.getHandle(pluginUid);
}
else
{
continue;
}
if (plugin->m_tickPluginFunc) {
b3PluginContext context = {0};
context.m_userPointer = plugin->m_userPointer;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
context.m_numNotifications = notifications.size();
context.m_notifications = notifications.size() ? &notifications[0] : 0;
plugin->m_tickPluginFunc(&context);
}
}
notifications.clear();
}
int b3PluginManager::executePluginCommand(int pluginUniqueId, const b3PluginArguments* arguments)
{
int result = -1;
@@ -288,15 +332,9 @@ int b3PluginManager::executePluginCommand(int pluginUniqueId, const b3PluginArgu
b3PluginHandle* plugin = m_data->m_plugins.getHandle(pluginUniqueId);
if (plugin)
{
b3PluginContext context;
b3PluginContext context = {0};
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;
@@ -329,15 +367,9 @@ int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT
m_data->m_pluginMap.insert(pluginPath, pluginUniqueId);
{
b3PluginContext context;
b3PluginContext context = {0};
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;
@@ -359,15 +391,9 @@ UrdfRenderingInterface* b3PluginManager::getRenderInterface()
b3PluginHandle* plugin = m_data->m_plugins.getHandle(m_data->m_activeRendererPluginUid);
if (plugin)
{
b3PluginContext context;
b3PluginContext context = {0};
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;
renderer = plugin->m_getRendererFunc(&context);
}