diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp index 0f2ec78c0..eeb619200 100644 --- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp +++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp @@ -1385,6 +1385,15 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { if (serverCmd.m_type == CMD_SYNC_USER_DATA_COMPLETED) { B3_PROFILE("CMD_SYNC_USER_DATA_COMPLETED"); + // Remove all cached user data entries. + for(int i=0; im_bodyJointMap.size(); i++) + { + BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap.getAtIndex(i); + if (bodyJointsPtr && *bodyJointsPtr) + { + (*bodyJointsPtr)->m_jointToUserDataMap.clear(); + } + } const int numIdentifiers = serverCmd.m_syncUserDataArgs.m_numUserDataIdentifiers; if (numIdentifiers > 0) { m_data->m_tempBackupServerStatus = m_data->m_lastServerStatus; diff --git a/examples/SharedMemory/PhysicsDirect.cpp b/examples/SharedMemory/PhysicsDirect.cpp index 6bf1004a0..77c53dec7 100644 --- a/examples/SharedMemory/PhysicsDirect.cpp +++ b/examples/SharedMemory/PhysicsDirect.cpp @@ -695,6 +695,7 @@ void PhysicsDirect::processAddUserData(const struct SharedMemoryStatus& serverCm (userDataCachePtr)->m_userDataMap.insert(userDataGlobalId.m_userDataId, SharedMemoryUserData(serverCmd.m_userDataResponseArgs.m_key)); userDataPtr = (userDataCachePtr)->m_userDataMap[userDataGlobalId.m_userDataId]; userDataPtr->replaceValue(dataStream,serverCmd.m_userDataResponseArgs.m_valueLength,userDataValue.m_type); + (userDataCachePtr)->m_keyToUserDataIdMap.insert(serverCmd.m_userDataResponseArgs.m_key, userDataGlobalId.m_userDataId); } } } @@ -1127,6 +1128,15 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd case CMD_SYNC_USER_DATA_COMPLETED: { B3_PROFILE("CMD_SYNC_USER_DATA_COMPLETED"); + // Remove all cached user data entries. + for(int i=0; im_bodyJointMap.size(); i++) + { + BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap.getAtIndex(i); + if (bodyJointsPtr && *bodyJointsPtr) + { + (*bodyJointsPtr)->m_jointToUserDataMap.clear(); + } + } const int numIdentifiers = serverCmd.m_syncUserDataArgs.m_numUserDataIdentifiers; b3UserDataGlobalIdentifier *identifiers = new b3UserDataGlobalIdentifier[numIdentifiers]; memcpy(identifiers, &m_data->m_bulletStreamDataServerToClient[0], numIdentifiers * sizeof(b3UserDataGlobalIdentifier)); diff --git a/examples/pybullet/unittests/userDataTest.py b/examples/pybullet/unittests/userDataTest.py new file mode 100644 index 000000000..2b3db2cb4 --- /dev/null +++ b/examples/pybullet/unittests/userDataTest.py @@ -0,0 +1,239 @@ +import unittest +import pybullet + +from pybullet_utils import bullet_client + +PLANE_PATH = "plane.urdf" +ROBOT_PATH = "r2d2.urdf" + + +class TestUserDataMethods(unittest.TestCase): + + @classmethod + def setUpClass(cls): + TestUserDataMethods.server = bullet_client.BulletClient(connection_mode=pybullet.SHARED_MEMORY_SERVER) + + @classmethod + def tearDownClass(cls): + del TestUserDataMethods.server + + def setUp(self): + self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY) + + def tearDown(self): + self.client.resetSimulation() + del self.client + + def testAddUserData(self): + plane_id = self.client.loadURDF(PLANE_PATH) + uid1 = self.client.addUserData(plane_id, 0, "MyKey1", "MyValue1") + uid2 = self.client.addUserData(plane_id, 0, "MyKey2", "MyValue2") + uid3 = self.client.addUserData(plane_id, 0, "MyKey3", "MyValue3") + uid4 = self.client.addUserData(plane_id, 0, "MyKey4", "MyValue4") + + # Retrieve user data and make sure it's correct. + self.assertEqual(b"MyValue1", self.client.getUserData(plane_id, 0, uid1)) + self.assertEqual(b"MyValue2", self.client.getUserData(plane_id, 0, uid2)) + self.assertEqual(b"MyValue3", self.client.getUserData(plane_id, 0, uid3)) + self.assertEqual(b"MyValue4", self.client.getUserData(plane_id, 0, uid4)) + + # Disconnect/reconnect and make sure that the user data is synced back. + del self.client + self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY) + + self.assertEqual(b"MyValue1", self.client.getUserData(plane_id, 0, uid1)) + self.assertEqual(b"MyValue2", self.client.getUserData(plane_id, 0, uid2)) + self.assertEqual(b"MyValue3", self.client.getUserData(plane_id, 0, uid3)) + self.assertEqual(b"MyValue4", self.client.getUserData(plane_id, 0, uid4)) + + self.client.resetSimulation() + self.assertEqual(None, self.client.getUserData(plane_id, 0, uid1)) + self.assertEqual(None, self.client.getUserData(plane_id, 0, uid2)) + self.assertEqual(None, self.client.getUserData(plane_id, 0, uid3)) + self.assertEqual(None, self.client.getUserData(plane_id, 0, uid4)) + + + def testGetNumUserData(self): + plane_id = self.client.loadURDF(PLANE_PATH) + uid1 = self.client.addUserData(plane_id, 0, "MyKey1", "MyValue1") + uid2 = self.client.addUserData(plane_id, 0, "MyKey2", "MyValue2") + uid3 = self.client.addUserData(plane_id, 0, "MyKey3", "MyValue3") + uid4 = self.client.addUserData(plane_id, 0, "MyKey4", "MyValue4") + + self.assertEqual(4, self.client.getNumUserData(plane_id, 0)) + + del self.client + self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY) + + self.assertEqual(4, self.client.getNumUserData(plane_id, 0)) + + + def testReplaceUserData(self): + plane_id = self.client.loadURDF(PLANE_PATH) + uid = self.client.addUserData(plane_id, 0, "MyKey", "MyValue") + + self.assertEqual(b"MyValue", self.client.getUserData(plane_id, 0, uid)) + + new_uid = self.client.addUserData(plane_id, 0, "MyKey", "MyNewValue") + self.assertEqual(uid, new_uid) + self.assertEqual(b"MyNewValue", self.client.getUserData(plane_id, 0, uid)) + + del self.client + self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY) + + self.assertEqual(b"MyNewValue", self.client.getUserData(plane_id, 0, uid)) + + def testGetUserDataId(self): + plane_id = self.client.loadURDF(PLANE_PATH) + uid1 = self.client.addUserData(plane_id, 0, "MyKey1", "MyValue1") + uid2 = self.client.addUserData(plane_id, 0, "MyKey2", "MyValue2") + uid3 = self.client.addUserData(plane_id, 0, "MyKey3", "MyValue3") + uid4 = self.client.addUserData(plane_id, 0, "MyKey4", "MyValue4") + + self.assertEqual(uid1, self.client.getUserDataId(plane_id, 0, "MyKey1")) + self.assertEqual(uid2, self.client.getUserDataId(plane_id, 0, "MyKey2")) + self.assertEqual(uid3, self.client.getUserDataId(plane_id, 0, "MyKey3")) + self.assertEqual(uid4, self.client.getUserDataId(plane_id, 0, "MyKey4")) + + del self.client + self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY) + + self.assertEqual(uid1, self.client.getUserDataId(plane_id, 0, "MyKey1")) + self.assertEqual(uid2, self.client.getUserDataId(plane_id, 0, "MyKey2")) + self.assertEqual(uid3, self.client.getUserDataId(plane_id, 0, "MyKey3")) + self.assertEqual(uid4, self.client.getUserDataId(plane_id, 0, "MyKey4")) + + + def testRemoveUserData(self): + plane_id = self.client.loadURDF(PLANE_PATH) + uid1 = self.client.addUserData(plane_id, 0, "MyKey1", "MyValue1") + uid2 = self.client.addUserData(plane_id, 0, "MyKey2", "MyValue2") + uid3 = self.client.addUserData(plane_id, 0, "MyKey3", "MyValue3") + uid4 = self.client.addUserData(plane_id, 0, "MyKey4", "MyValue4") + + self.client.removeUserData(plane_id, 0, uid2) + + self.assertEqual(3, self.client.getNumUserData(plane_id, 0)) + self.assertEqual(-1, self.client.getUserDataId(plane_id, 0, "MyKey2")) + self.assertEqual(None, self.client.getUserData(plane_id, 0, uid2)) + self.assertEqual(b"MyValue1", self.client.getUserData(plane_id, 0, uid1)) + self.assertEqual(b"MyValue3", self.client.getUserData(plane_id, 0, uid3)) + self.assertEqual(b"MyValue4", self.client.getUserData(plane_id, 0, uid4)) + + del self.client + self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY) + + self.assertEqual(3, self.client.getNumUserData(plane_id, 0)) + self.assertEqual(-1, self.client.getUserDataId(plane_id, 0, "MyKey2")) + self.assertEqual(None, self.client.getUserData(plane_id, 0, uid2)) + self.assertEqual(b"MyValue1", self.client.getUserData(plane_id, 0, uid1)) + self.assertEqual(b"MyValue3", self.client.getUserData(plane_id, 0, uid3)) + self.assertEqual(b"MyValue4", self.client.getUserData(plane_id, 0, uid4)) + + + def testIterateAllUserData(self): + plane_id = self.client.loadURDF(PLANE_PATH) + uid1 = self.client.addUserData(plane_id, 0, "MyKey1", "MyValue1") + uid2 = self.client.addUserData(plane_id, 0, "MyKey2", "MyValue2") + uid3 = self.client.addUserData(plane_id, 0, "MyKey3", "MyValue3") + uid4 = self.client.addUserData(plane_id, 0, "MyKey4", "MyValue4") + + entries = set() + for i in range(self.client.getNumUserData(plane_id, 0)): + userDataId, key = self.client.getUserDataInfo(plane_id, 0, i) + value = self.client.getUserData(plane_id, 0, userDataId); + entries.add((userDataId, key, value)) + + self.assertTrue((uid1, b"MyKey1", b"MyValue1") in entries) + self.assertTrue((uid2, b"MyKey2", b"MyValue2") in entries) + self.assertTrue((uid3, b"MyKey3", b"MyValue3") in entries) + self.assertTrue((uid4, b"MyKey4", b"MyValue4") in entries) + self.assertEqual(4, len(entries)) + + + def testRemoveBody(self): + plane_id = self.client.loadURDF(PLANE_PATH) + uid1 = self.client.addUserData(plane_id, 0, "MyKey1", "MyValue1") + uid2 = self.client.addUserData(plane_id, 0, "MyKey2", "MyValue2") + uid3 = self.client.addUserData(plane_id, 0, "MyKey3", "MyValue3") + uid4 = self.client.addUserData(plane_id, 0, "MyKey4", "MyValue4") + + self.client.removeBody(plane_id) + self.assertEqual(None, self.client.getUserData(plane_id, 0, uid1)) + self.assertEqual(None, self.client.getUserData(plane_id, 0, uid2)) + self.assertEqual(None, self.client.getUserData(plane_id, 0, uid3)) + self.assertEqual(None, self.client.getUserData(plane_id, 0, uid4)) + + del self.client + self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY) + + self.assertEqual(None, self.client.getUserData(plane_id, 0, uid1)) + self.assertEqual(None, self.client.getUserData(plane_id, 0, uid2)) + self.assertEqual(None, self.client.getUserData(plane_id, 0, uid3)) + self.assertEqual(None, self.client.getUserData(plane_id, 0, uid4)) + + def testMultipleBodies(self): + plane1 = self.client.loadURDF(PLANE_PATH) + plane2 = self.client.loadURDF(PLANE_PATH) + + uid1 = self.client.addUserData(plane1, 0, "MyKey1", "This is plane 1 - 1") + uid2 = self.client.addUserData(plane1, 0, "MyKey2", "This is plane 1 - 2") + + uid3 = self.client.addUserData(plane2, 0, "MyKey1", "This is plane 2 - 1") + uid4 = self.client.addUserData(plane2, 0, "MyKey2", "This is plane 2 - 2") + uid5 = self.client.addUserData(plane2, 0, "MyKey3", "This is plane 2 - 3") + + self.assertEqual(b"This is plane 1 - 1", self.client.getUserData(plane1, 0, self.client.getUserDataId(plane1, 0, "MyKey1"))) + self.assertEqual(b"This is plane 1 - 2", self.client.getUserData(plane1, 0, self.client.getUserDataId(plane1, 0, "MyKey2"))) + + self.assertEqual(b"This is plane 2 - 1", self.client.getUserData(plane2, 0, self.client.getUserDataId(plane2, 0, "MyKey1"))) + self.assertEqual(b"This is plane 2 - 2", self.client.getUserData(plane2, 0, self.client.getUserDataId(plane2, 0, "MyKey2"))) + self.assertEqual(b"This is plane 2 - 3", self.client.getUserData(plane2, 0, self.client.getUserDataId(plane2, 0, "MyKey3"))) + + + def testMultipleLinks(self): + body_id = self.client.loadURDF(ROBOT_PATH) + num_links = self.client.getNumJoints(body_id) + + self.assertTrue(num_links > 1) + + for link_index in range(num_links): + uid1 = self.client.addUserData(body_id, link_index, "MyKey1", "Value1 for link %s" % link_index) + uid2 = self.client.addUserData(body_id, link_index, "MyKey2", "Value2 for link %s" % link_index) + + for link_index in range(num_links): + uid1 = self.client.getUserDataId(body_id, link_index, "MyKey1") + uid2 = self.client.getUserDataId(body_id, link_index, "MyKey2") + self.assertEqual(("Value1 for link %s" % link_index).encode(), self.client.getUserData(body_id, link_index, uid1)) + self.assertEqual(("Value2 for link %s" % link_index).encode(), self.client.getUserData(body_id, link_index, uid2)) + + def testMultipleClients(self): + client1 = self.client + client2 = bullet_client.BulletClient(pybullet.SHARED_MEMORY) + + plane_id = client1.loadURDF(PLANE_PATH) + client2.syncBodyInfo() + + # Add user data on client 1, check on client 1 + uid = client1.addUserData(plane_id, 0, "MyKey", "MyValue") + self.assertEqual(None, client2.getUserData(plane_id, 0, uid)) + client2.syncUserData() + self.assertEqual(b"MyValue", client2.getUserData(plane_id, 0, uid)) + + # Overwrite the value on client 2, check on client 1 + client2.addUserData(plane_id, 0, "MyKey", "MyNewValue") + self.assertEqual(b"MyValue", client1.getUserData(plane_id, 0, uid)) + client1.syncUserData() + self.assertEqual(b"MyNewValue", client1.getUserData(plane_id, 0, uid)) + + # Remove user data on client 1, check on client 2 + client1.removeUserData(plane_id, 0, uid) + self.assertEqual(b"MyNewValue", client2.getUserData(plane_id, 0, uid)) + client2.syncUserData() + self.assertEqual(None, client2.getUserData(plane_id, 0, uid)) + + del client2 + + +if __name__ == "__main__": + unittest.main() diff --git a/src/LinearMath/btHashMap.h b/src/LinearMath/btHashMap.h index f43e76a80..7965c11f6 100644 --- a/src/LinearMath/btHashMap.h +++ b/src/LinearMath/btHashMap.h @@ -17,12 +17,13 @@ subject to the following restrictions: #ifndef BT_HASH_MAP_H #define BT_HASH_MAP_H +#include #include "btAlignedObjectArray.h" ///very basic hashable string implementation, compatible with btHashMap struct btHashString { - const char* m_string; + std::string m_string; unsigned int m_hash; SIMD_FORCE_INLINE unsigned int getHash()const @@ -71,7 +72,7 @@ struct btHashString bool equals(const btHashString& other) const { return (m_string == other.m_string) || - (0==portableStringCompare(m_string,other.m_string)); + (0==portableStringCompare(m_string.c_str(),other.m_string.c_str())); }