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[pybullet] getNumConstraints, getConstraintInfo APIs.

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[pybullet] updated pybullet_quickstartguide.pdf
Fail clearly (assert, return BT_INFINITY) if link index is out of range for btMultiBody methods localPosToWorld,worldPosToLocal,localDirToWorld,worldDirToLocal.
pybullet getConstraintInfo
Fix warnings due to Mac OSX 10.12 upgrade (with backward compatibility)
This commit is contained in:
Erwin Coumans
2017-01-22 19:08:31 -08:00
parent f237c4440f
commit cf9f022d39
17 changed files with 841 additions and 200 deletions
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99
examples/SharedMemory/PhysicsDirect.cpp
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@@ -19,6 +19,8 @@ struct BodyJointInfoCache2
btAlignedObjectArray<b3JointInfo> m_jointInfo;
};
struct PhysicsDirectInternalData
{
DummyGUIHelper m_noGfx;
@@ -34,6 +36,7 @@ struct PhysicsDirectInternalData
btAlignedObjectArray<TmpFloat3> m_debugLinesColor;
btHashMap<btHashInt,BodyJointInfoCache2*> m_bodyJointMap;
btHashMap<btHashInt,b3UserConstraint> m_userConstraintInfoMap;
char m_bulletStreamDataServerToClient[SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE];
@@ -112,6 +115,7 @@ void PhysicsDirect::resetData()
}
}
m_data->m_bodyJointMap.clear();
m_data->m_userConstraintInfoMap.clear();
}
// return true if connection succesfull, can also check 'isConnected'
@@ -670,6 +674,47 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
break;
}
case CMD_USER_CONSTRAINT_INFO_COMPLETED:
case CMD_USER_CONSTRAINT_COMPLETED:
{
int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId;
m_data->m_userConstraintInfoMap.insert(cid,serverCmd.m_userConstraintResultArgs);
break;
}
case CMD_REMOVE_USER_CONSTRAINT_COMPLETED:
{
int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId;
m_data->m_userConstraintInfoMap.remove(cid);
break;
}
case CMD_CHANGE_USER_CONSTRAINT_COMPLETED:
{
int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId;
b3UserConstraint* userConstraintPtr = m_data->m_userConstraintInfoMap[cid];
if (userConstraintPtr)
{
const b3UserConstraint* serverConstraint = &serverCmd.m_userConstraintResultArgs;
if (serverCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_PIVOT_IN_B)
{
userConstraintPtr->m_childFrame[0] = serverConstraint->m_childFrame[0];
userConstraintPtr->m_childFrame[1] = serverConstraint->m_childFrame[1];
userConstraintPtr->m_childFrame[2] = serverConstraint->m_childFrame[2];
}
if (serverCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_FRAME_ORN_IN_B)
{
userConstraintPtr->m_childFrame[3] = serverConstraint->m_childFrame[3];
userConstraintPtr->m_childFrame[4] = serverConstraint->m_childFrame[4];
userConstraintPtr->m_childFrame[5] = serverConstraint->m_childFrame[5];
userConstraintPtr->m_childFrame[6] = serverConstraint->m_childFrame[6];
}
if (serverCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_MAX_FORCE)
{
userConstraintPtr->m_maxAppliedForce = serverConstraint->m_maxAppliedForce;
}
}
break;
}
case CMD_SYNC_BODY_INFO_COMPLETED:
case CMD_MJCF_LOADING_COMPLETED:
case CMD_SDF_LOADING_COMPLETED:
@@ -677,6 +722,29 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
//we'll stream further info from the physics server
//so serverCmd will be invalid, make a copy
int numConstraints = serverCmd.m_sdfLoadedArgs.m_numUserConstraints;
for (int i=0;i<numConstraints;i++)
{
int constraintUid = serverCmd.m_sdfLoadedArgs.m_userConstraintUniqueIds[i];
SharedMemoryCommand infoRequestCommand;
infoRequestCommand.m_type = CMD_USER_CONSTRAINT;
infoRequestCommand.m_updateFlags = USER_CONSTRAINT_REQUEST_INFO;
SharedMemoryStatus infoStatus;
bool hasStatus = m_data->m_commandProcessor->processCommand(infoRequestCommand, infoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
int timeout = 1024 * 1024 * 1024;
while ((!hasStatus) && (timeout-- > 0))
{
hasStatus = m_data->m_commandProcessor->receiveStatus(infoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
}
if (hasStatus)
{
int cid = infoStatus.m_userConstraintResultArgs.m_userConstraintUniqueId;
m_data->m_userConstraintInfoMap.insert(cid,infoStatus.m_userConstraintResultArgs);
}
}
int numBodies = serverCmd.m_sdfLoadedArgs.m_numBodies;
for (int i = 0; i<numBodies; i++)
@@ -721,10 +789,18 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
{
break;
}
case CMD_USER_CONSTRAINT_COMPLETED:
case CMD_REMOVE_USER_CONSTRAINT_FAILED:
{
b3Warning("removeConstraint failed");
break;
}
case CMD_CHANGE_USER_CONSTRAINT_FAILED:
{
b3Warning("changeConstraint failed");
break;
}
case CMD_USER_CONSTRAINT_FAILED:
{
b3Warning("createConstraint failed");
@@ -765,10 +841,12 @@ bool PhysicsDirect::submitClientCommand(const struct SharedMemoryCommand& comman
bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
m_data->m_hasStatus = hasStatus;
if (hasStatus)
/*if (hasStatus)
{
postProcessStatus(m_data->m_serverStatus);
m_data->m_hasStatus = false;
}
*/
return hasStatus;
}
@@ -777,6 +855,23 @@ int PhysicsDirect::getNumBodies() const
return m_data->m_bodyJointMap.size();
}
int PhysicsDirect::getNumUserConstraints() const
{
return m_data->m_userConstraintInfoMap.size();
}
int PhysicsDirect::getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint&info) const
{
b3UserConstraint* constraintPtr =m_data->m_userConstraintInfoMap[constraintUniqueId];
if (constraintPtr)
{
info = *constraintPtr;
return 1;
}
return 0;
}
int PhysicsDirect::getBodyUniqueId(int serialIndex) const
{