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for the GraphicsServer, expose a sync transform interval: only synchronize the transform once the stepSimulation exceeds this time interval.

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(for example, run the simulation at 1kHz but sync the graphics transforms to remove graphics server at 30Hz)
This commit is contained in:
Erwin Coumans
2019-06-19 09:45:29 -07:00
parent c3b7f39aaf
commit ed4515ae17
6 changed files with 120 additions and 82 deletions
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13
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -5501,6 +5501,19 @@ B3_SHARED_API void b3ConfigureOpenGLVisualizerSetShadowMapWorldSize(b3SharedMemo
} }
B3_SHARED_API void b3ConfigureOpenGLVisualizerSetRemoteSyncTransformInterval(b3SharedMemoryCommandHandle commandHandle, double remoteSyncTransformInterval)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CONFIGURE_OPENGL_VISUALIZER);
if (command->m_type == CMD_CONFIGURE_OPENGL_VISUALIZER)
{
command->m_updateFlags |= COV_SET_REMOTE_SYNC_TRANSFORM_INTERVAL;
command->m_configureOpenGLVisualizerArguments.m_remoteSyncTransformInterval = remoteSyncTransformInterval;
}
}
B3_SHARED_API void b3ConfigureOpenGLVisualizerSetViewMatrix(b3SharedMemoryCommandHandle commandHandle, float cameraDistance, float cameraPitch, float cameraYaw, const float cameraTargetPosition[3]) B3_SHARED_API void b3ConfigureOpenGLVisualizerSetViewMatrix(b3SharedMemoryCommandHandle commandHandle, float cameraDistance, float cameraPitch, float cameraYaw, const float cameraTargetPosition[3])
{ {
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;

1
examples/SharedMemory/PhysicsClientC_API.h
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@@ -210,6 +210,7 @@ extern "C"
B3_SHARED_API void b3ConfigureOpenGLVisualizerSetLightPosition(b3SharedMemoryCommandHandle commandHandle, const float lightPosition[3]); B3_SHARED_API void b3ConfigureOpenGLVisualizerSetLightPosition(b3SharedMemoryCommandHandle commandHandle, const float lightPosition[3]);
B3_SHARED_API void b3ConfigureOpenGLVisualizerSetShadowMapResolution(b3SharedMemoryCommandHandle commandHandle, int shadowMapResolution); B3_SHARED_API void b3ConfigureOpenGLVisualizerSetShadowMapResolution(b3SharedMemoryCommandHandle commandHandle, int shadowMapResolution);
B3_SHARED_API void b3ConfigureOpenGLVisualizerSetShadowMapWorldSize(b3SharedMemoryCommandHandle commandHandle, int shadowMapWorldSize); B3_SHARED_API void b3ConfigureOpenGLVisualizerSetShadowMapWorldSize(b3SharedMemoryCommandHandle commandHandle, int shadowMapWorldSize);
B3_SHARED_API void b3ConfigureOpenGLVisualizerSetRemoteSyncTransformInterval(b3SharedMemoryCommandHandle commandHandle, double remoteSyncTransformInterval);
B3_SHARED_API void b3ConfigureOpenGLVisualizerSetViewMatrix(b3SharedMemoryCommandHandle commandHandle, float cameraDistance, float cameraPitch, float cameraYaw, const float cameraTargetPosition[/*3*/]); B3_SHARED_API void b3ConfigureOpenGLVisualizerSetViewMatrix(b3SharedMemoryCommandHandle commandHandle, float cameraDistance, float cameraPitch, float cameraYaw, const float cameraTargetPosition[/*3*/]);

174
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1595,7 +1595,7 @@ struct PhysicsServerCommandProcessorInternalData
btScalar m_physicsDeltaTime; btScalar m_physicsDeltaTime;
btScalar m_numSimulationSubSteps; btScalar m_numSimulationSubSteps;
btScalar m_simulationTimestamp; btScalar m_simulationTimestamp;
btAlignedObjectArray<btMultiBodyJointFeedback*> m_multiBodyJointFeedbacks; btAlignedObjectArray<btMultiBodyJointFeedback*> m_multiBodyJointFeedbacks;
b3HashMap<btHashPtr, btInverseDynamics::MultiBodyTree*> m_inverseDynamicsBodies; b3HashMap<btHashPtr, btInverseDynamics::MultiBodyTree*> m_inverseDynamicsBodies;
b3HashMap<btHashPtr, IKTrajectoryHelper*> m_inverseKinematicsHelpers; b3HashMap<btHashPtr, IKTrajectoryHelper*> m_inverseKinematicsHelpers;
@@ -1672,6 +1672,9 @@ struct PhysicsServerCommandProcessorInternalData
b3ThreadPool* m_threadPool; b3ThreadPool* m_threadPool;
btScalar m_defaultCollisionMargin; btScalar m_defaultCollisionMargin;
double m_remoteSyncTransformTime;
double m_remoteSyncTransformInterval;
PhysicsServerCommandProcessorInternalData(PhysicsCommandProcessorInterface* proc) PhysicsServerCommandProcessorInternalData(PhysicsCommandProcessorInterface* proc)
: m_pluginManager(proc), : m_pluginManager(proc),
m_useRealTimeSimulation(false), m_useRealTimeSimulation(false),
@@ -1681,7 +1684,7 @@ struct PhysicsServerCommandProcessorInternalData
m_logPlaybackUid(-1), m_logPlaybackUid(-1),
m_physicsDeltaTime(1. / 240.), m_physicsDeltaTime(1. / 240.),
m_numSimulationSubSteps(0), m_numSimulationSubSteps(0),
m_simulationTimestamp(0), m_simulationTimestamp(0),
m_userConstraintUIDGenerator(1), m_userConstraintUIDGenerator(1),
m_broadphaseCollisionFilterCallback(0), m_broadphaseCollisionFilterCallback(0),
m_pairCache(0), m_pairCache(0),
@@ -1705,72 +1708,72 @@ struct PhysicsServerCommandProcessorInternalData
m_collisionFilterPlugin(-1), m_collisionFilterPlugin(-1),
m_grpcPlugin(-1), m_grpcPlugin(-1),
m_threadPool(0), m_threadPool(0),
m_defaultCollisionMargin(0.001) m_defaultCollisionMargin(0.001),
m_remoteSyncTransformTime(1. / 30.),
m_remoteSyncTransformInterval(1. / 30.)
{ {
{ {
//register static plugins: //register static plugins:
#ifdef STATIC_LINK_VR_PLUGIN #ifdef STATIC_LINK_VR_PLUGIN
b3PluginFunctions funcs(initPlugin_vrSyncPlugin,exitPlugin_vrSyncPlugin, executePluginCommand_vrSyncPlugin); b3PluginFunctions funcs(initPlugin_vrSyncPlugin, exitPlugin_vrSyncPlugin, executePluginCommand_vrSyncPlugin);
funcs.m_preTickFunc = preTickPluginCallback_vrSyncPlugin; funcs.m_preTickFunc = preTickPluginCallback_vrSyncPlugin;
m_pluginManager.registerStaticLinkedPlugin("vrSyncPlugin", funcs); m_pluginManager.registerStaticLinkedPlugin("vrSyncPlugin", funcs);
#endif //STATIC_LINK_VR_PLUGIN #endif //STATIC_LINK_VR_PLUGIN
} }
#ifndef SKIP_STATIC_PD_CONTROL_PLUGIN #ifndef SKIP_STATIC_PD_CONTROL_PLUGIN
{ {
//int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc, PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc, PFN_GET_RENDER_INTERFACE getRendererFunc, PFN_TICK processClientCommandsFunc, PFN_GET_COLLISION_INTERFACE getCollisionFunc, bool initPlugin) //int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc, PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc, PFN_GET_RENDER_INTERFACE getRendererFunc, PFN_TICK processClientCommandsFunc, PFN_GET_COLLISION_INTERFACE getCollisionFunc, bool initPlugin)
b3PluginFunctions funcs(initPlugin_pdControlPlugin,exitPlugin_pdControlPlugin,executePluginCommand_pdControlPlugin); b3PluginFunctions funcs(initPlugin_pdControlPlugin, exitPlugin_pdControlPlugin, executePluginCommand_pdControlPlugin);
funcs.m_preTickFunc = preTickPluginCallback_pdControlPlugin; funcs.m_preTickFunc = preTickPluginCallback_pdControlPlugin;
m_pdControlPlugin = m_pluginManager.registerStaticLinkedPlugin("pdControlPlugin", funcs); m_pdControlPlugin = m_pluginManager.registerStaticLinkedPlugin("pdControlPlugin", funcs);
} }
#endif //SKIP_STATIC_PD_CONTROL_PLUGIN #endif //SKIP_STATIC_PD_CONTROL_PLUGIN
#ifndef SKIP_COLLISION_FILTER_PLUGIN #ifndef SKIP_COLLISION_FILTER_PLUGIN
{ {
b3PluginFunctions funcs(initPlugin_collisionFilterPlugin,exitPlugin_collisionFilterPlugin, executePluginCommand_collisionFilterPlugin); b3PluginFunctions funcs(initPlugin_collisionFilterPlugin, exitPlugin_collisionFilterPlugin, executePluginCommand_collisionFilterPlugin);
funcs.m_getCollisionFunc = getCollisionInterface_collisionFilterPlugin; funcs.m_getCollisionFunc = getCollisionInterface_collisionFilterPlugin;
m_collisionFilterPlugin = m_pluginManager.registerStaticLinkedPlugin("collisionFilterPlugin", funcs ); m_collisionFilterPlugin = m_pluginManager.registerStaticLinkedPlugin("collisionFilterPlugin", funcs);
m_pluginManager.selectCollisionPlugin(m_collisionFilterPlugin); m_pluginManager.selectCollisionPlugin(m_collisionFilterPlugin);
} }
#endif #endif
#ifdef ENABLE_STATIC_GRPC_PLUGIN #ifdef ENABLE_STATIC_GRPC_PLUGIN
{ {
b3PluginFunctions funcs(initPlugin_grpcPlugin, exitPlugin_grpcPlugin, executePluginCommand_grpcPlugin); b3PluginFunctions funcs(initPlugin_grpcPlugin, exitPlugin_grpcPlugin, executePluginCommand_grpcPlugin);
funcs.m_processClientCommandsFunc = processClientCommands_grpcPlugin; funcs.m_processClientCommandsFunc = processClientCommands_grpcPlugin;
m_grpcPlugin = m_pluginManager.registerStaticLinkedPlugin("grpcPlugin", funcs); m_grpcPlugin = m_pluginManager.registerStaticLinkedPlugin("grpcPlugin", funcs);
} }
#endif //ENABLE_STATIC_GRPC_PLUGIN #endif //ENABLE_STATIC_GRPC_PLUGIN
#ifdef STATIC_EGLRENDERER_PLUGIN #ifdef STATIC_EGLRENDERER_PLUGIN
{ {
bool initPlugin = false; bool initPlugin = false;
b3PluginFunctions funcs(initPlugin_eglRendererPlugin, exitPlugin_eglRendererPlugin, executePluginCommand_eglRendererPlugin); b3PluginFunctions funcs(initPlugin_eglRendererPlugin, exitPlugin_eglRendererPlugin, executePluginCommand_eglRendererPlugin);
funcs.m_getRendererFunc = getRenderInterface_eglRendererPlugin; funcs.m_getRendererFunc = getRenderInterface_eglRendererPlugin;
int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("eglRendererPlugin", funcs, initPlugin); int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("eglRendererPlugin", funcs, initPlugin);
m_pluginManager.selectPluginRenderer(renderPluginId); m_pluginManager.selectPluginRenderer(renderPluginId);
} }
#endif //STATIC_EGLRENDERER_PLUGIN #endif //STATIC_EGLRENDERER_PLUGIN
#ifndef SKIP_STATIC_TINYRENDERER_PLUGIN #ifndef SKIP_STATIC_TINYRENDERER_PLUGIN
{ {
b3PluginFunctions funcs(initPlugin_tinyRendererPlugin, exitPlugin_tinyRendererPlugin, executePluginCommand_tinyRendererPlugin); b3PluginFunctions funcs(initPlugin_tinyRendererPlugin, exitPlugin_tinyRendererPlugin, executePluginCommand_tinyRendererPlugin);
funcs.m_getRendererFunc=getRenderInterface_tinyRendererPlugin; funcs.m_getRendererFunc = getRenderInterface_tinyRendererPlugin;
int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("tinyRendererPlugin", funcs); int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("tinyRendererPlugin", funcs);
m_pluginManager.selectPluginRenderer(renderPluginId); m_pluginManager.selectPluginRenderer(renderPluginId);
} }
#endif #endif
#ifdef B3_ENABLE_FILEIO_PLUGIN #ifdef B3_ENABLE_FILEIO_PLUGIN
{ {
b3PluginFunctions funcs(initPlugin_fileIOPlugin, exitPlugin_fileIOPlugin, executePluginCommand_fileIOPlugin); b3PluginFunctions funcs(initPlugin_fileIOPlugin, exitPlugin_fileIOPlugin, executePluginCommand_fileIOPlugin);
funcs.m_fileIoFunc = getFileIOFunc_fileIOPlugin; funcs.m_fileIoFunc = getFileIOFunc_fileIOPlugin;
int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("fileIOPlugin", funcs); int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("fileIOPlugin", funcs);
m_pluginManager.selectFileIOPlugin(renderPluginId); m_pluginManager.selectFileIOPlugin(renderPluginId);
} }
#endif #endif
m_vrControllerEvents.init(); m_vrControllerEvents.init();
m_bodyHandles.exitHandles(); m_bodyHandles.exitHandles();
@@ -1812,7 +1815,7 @@ struct PhysicsServerCommandProcessorInternalData
Eigen::VectorXd pose, vel; Eigen::VectorXd pose, vel;
pose.resize(7 + multiBody->getNumPosVars()); pose.resize(7 + multiBody->getNumPosVars());
vel.resize(7 + multiBody->getNumPosVars()); //?? vel.resize(7 + multiBody->getNumPosVars()); //??
btTransform tr = multiBody->getBaseWorldTransform(); btTransform tr = multiBody->getBaseWorldTransform();
int dofsrc = 0; int dofsrc = 0;
@@ -1868,49 +1871,48 @@ struct PhysicsServerCommandProcessorInternalData
int dof = 7; int dof = 7;
int veldof = 7; int veldof = 7;
for (int l = 0; l < multiBody->getNumLinks(); l++) for (int l = 0; l < multiBody->getNumLinks(); l++)
{ {
switch (multiBody->getLink(l).m_jointType) switch (multiBody->getLink(l).m_jointType)
{ {
case btMultibodyLink::eRevolute: case btMultibodyLink::eRevolute:
case btMultibodyLink::ePrismatic: case btMultibodyLink::ePrismatic:
{ {
pose[dof++] = jointPositionsQ[dofsrc++]; pose[dof++] = jointPositionsQ[dofsrc++];
vel[veldof++] = jointVelocitiesQdot[velsrcdof++]; vel[veldof++] = jointVelocitiesQdot[velsrcdof++];
break; break;
} }
case btMultibodyLink::eSpherical: case btMultibodyLink::eSpherical:
{ {
double quatXYZW[4]; double quatXYZW[4];
quatXYZW[0] = jointPositionsQ[dofsrc++]; quatXYZW[0] = jointPositionsQ[dofsrc++];
quatXYZW[1] = jointPositionsQ[dofsrc++]; quatXYZW[1] = jointPositionsQ[dofsrc++];
quatXYZW[2] = jointPositionsQ[dofsrc++]; quatXYZW[2] = jointPositionsQ[dofsrc++];
quatXYZW[3] = jointPositionsQ[dofsrc++]; quatXYZW[3] = jointPositionsQ[dofsrc++];
pose[dof++] = quatXYZW[3]; pose[dof++] = quatXYZW[3];
pose[dof++] = quatXYZW[0]; pose[dof++] = quatXYZW[0];
pose[dof++] = quatXYZW[1]; pose[dof++] = quatXYZW[1];
pose[dof++] = quatXYZW[2]; pose[dof++] = quatXYZW[2];
vel[veldof++] = jointVelocitiesQdot[velsrcdof++]; vel[veldof++] = jointVelocitiesQdot[velsrcdof++];
vel[veldof++] = jointVelocitiesQdot[velsrcdof++]; vel[veldof++] = jointVelocitiesQdot[velsrcdof++];
vel[veldof++] = jointVelocitiesQdot[velsrcdof++]; vel[veldof++] = jointVelocitiesQdot[velsrcdof++];
vel[veldof++] = jointVelocitiesQdot[velsrcdof++]; vel[veldof++] = jointVelocitiesQdot[velsrcdof++];
break; break;
} }
case btMultibodyLink::eFixed: case btMultibodyLink::eFixed:
{ {
break; break;
} }
default: default:
{ {
assert(0); assert(0);
} }
} }
} }
btVector3 gravOrg = m_dynamicsWorld->getGravity(); btVector3 gravOrg = m_dynamicsWorld->getGravity();
tVector grav (gravOrg[0], gravOrg[1], gravOrg[2], 0); tVector grav(gravOrg[0], gravOrg[1], gravOrg[2], 0);
rbdModel->SetGravity(grav); rbdModel->SetGravity(grav);
rbdModel->Update(pose, vel); rbdModel->Update(pose, vel);
@@ -7763,7 +7765,13 @@ bool PhysicsServerCommandProcessor::processForwardDynamicsCommand(const struct S
} }
serverCmd.m_type = CMD_STEP_FORWARD_SIMULATION_COMPLETED; serverCmd.m_type = CMD_STEP_FORWARD_SIMULATION_COMPLETED;
syncPhysicsToGraphics2(); m_data->m_remoteSyncTransformTime += deltaTimeScaled;
if (m_data->m_remoteSyncTransformTime >= m_data->m_remoteSyncTransformInterval)
{
m_data->m_remoteSyncTransformTime = 0;
syncPhysicsToGraphics2();
}
return hasStatus; return hasStatus;
} }
@@ -9074,6 +9082,13 @@ bool PhysicsServerCommandProcessor::processConfigureOpenGLVisualizerCommand(cons
m_data->m_guiHelper->getRenderInterface()->setShadowMapWorldSize(worldSize); m_data->m_guiHelper->getRenderInterface()->setShadowMapWorldSize(worldSize);
} }
} }
if (clientCmd.m_updateFlags & COV_SET_REMOTE_SYNC_TRANSFORM_INTERVAL)
{
m_data->m_remoteSyncTransformInterval = clientCmd.m_configureOpenGLVisualizerArguments.m_remoteSyncTransformInterval;
}
return hasStatus; return hasStatus;
} }
@@ -12047,7 +12062,8 @@ void PhysicsServerCommandProcessor::addTransformChangedNotifications()
void PhysicsServerCommandProcessor::resetSimulation() void PhysicsServerCommandProcessor::resetSimulation()
{ {
//clean up all data //clean up all data
m_data->m_remoteSyncTransformTime = m_data->m_remoteSyncTransformInterval;
m_data->m_simulationTimestamp = 0; m_data->m_simulationTimestamp = 0;
m_data->m_cachedVUrdfisualShapes.clear(); m_data->m_cachedVUrdfisualShapes.clear();

2
examples/SharedMemory/SharedMemoryCommands.h
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@@ -908,6 +908,7 @@ enum InternalOpenGLVisualizerUpdateFlags
COV_SET_LIGHT_POSITION = 4, COV_SET_LIGHT_POSITION = 4,
COV_SET_SHADOWMAP_RESOLUTION = 8, COV_SET_SHADOWMAP_RESOLUTION = 8,
COV_SET_SHADOWMAP_WORLD_SIZE = 16, COV_SET_SHADOWMAP_WORLD_SIZE = 16,
COV_SET_REMOTE_SYNC_TRANSFORM_INTERVAL = 32,
}; };
struct ConfigureOpenGLVisualizerRequest struct ConfigureOpenGLVisualizerRequest
@@ -919,6 +920,7 @@ struct ConfigureOpenGLVisualizerRequest
double m_lightPosition[3]; double m_lightPosition[3];
int m_shadowMapResolution; int m_shadowMapResolution;
int m_shadowMapWorldSize; int m_shadowMapWorldSize;
double m_remoteSyncTransformInterval;
int m_setFlag; int m_setFlag;
int m_setEnabled; int m_setEnabled;
}; };

1
examples/pybullet/examples/configureDebugVisualizer.py
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@@ -12,6 +12,7 @@ radius=5
t = 0 t = 0
p.configureDebugVisualizer(shadowMapWorldSize=5) p.configureDebugVisualizer(shadowMapWorldSize=5)
p.configureDebugVisualizer(shadowMapResolution=8192) p.configureDebugVisualizer(shadowMapResolution=8192)
while (1): while (1):
t+=dt t+=dt
p.configureDebugVisualizer(lightPosition=[radius*math.sin(t),radius*math.cos(t),3]) p.configureDebugVisualizer(lightPosition=[radius*math.sin(t),radius*math.cos(t),3])

11
examples/pybullet/pybullet.c
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@@ -5874,12 +5874,13 @@ static PyObject* pybullet_configureDebugVisualizer(PyObject* self, PyObject* arg
int shadowMapResolution = -1; int shadowMapResolution = -1;
int shadowMapWorldSize = -1; int shadowMapWorldSize = -1;
int physicsClientId = 0; int physicsClientId = 0;
double remoteSyncTransformInterval = -1;
PyObject* pyLightPosition = 0; PyObject* pyLightPosition = 0;
b3PhysicsClientHandle sm = 0; b3PhysicsClientHandle sm = 0;
static char* kwlist[] = {"flag", "enable", "lightPosition", "shadowMapResolution", "shadowMapWorldSize", "physicsClientId", NULL}; static char* kwlist[] = {"flag", "enable", "lightPosition", "shadowMapResolution", "shadowMapWorldSize", "remoteSyncTransformInterval", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|iiOiii", kwlist, if (!PyArg_ParseTupleAndKeywords(args, keywds, "|iiOiidi", kwlist,
&flag, &enable, &pyLightPosition, &shadowMapResolution, &shadowMapWorldSize, &physicsClientId)) &flag, &enable, &pyLightPosition, &shadowMapResolution, &shadowMapWorldSize, &remoteSyncTransformInterval, &physicsClientId))
return NULL; return NULL;
sm = getPhysicsClient(physicsClientId); sm = getPhysicsClient(physicsClientId);
@@ -5911,6 +5912,10 @@ static PyObject* pybullet_configureDebugVisualizer(PyObject* self, PyObject* arg
{ {
b3ConfigureOpenGLVisualizerSetShadowMapWorldSize(commandHandle, shadowMapWorldSize); b3ConfigureOpenGLVisualizerSetShadowMapWorldSize(commandHandle, shadowMapWorldSize);
} }
if (remoteSyncTransformInterval >= 0)
{
b3ConfigureOpenGLVisualizerSetRemoteSyncTransformInterval(commandHandle, remoteSyncTransformInterval);
}
b3SubmitClientCommandAndWaitStatus(sm, commandHandle); b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
} }