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store mass matrix in streaming part of shared memory (no support for unlimited mass matrix sizes at the moment)

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This commit is contained in:
erwincoumans
2017-10-05 08:23:10 -07:00
parent a2d6a2e822
commit f467f325f7
11 changed files with 129 additions and 25 deletions
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63
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -3003,6 +3003,38 @@ int PhysicsServerCommandProcessor::createBodyInfoStream(int bodyUniqueId, char*
bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes )
{
// BT_PROFILE("processCommand");
int szc = sizeof(SharedMemoryCommand);
int sz = sizeof(SharedMemoryStatus);
int sz1 = sizeof(BulletDataStreamArgs);
int sz2 = sizeof(SdfLoadedArgs);
int sz3 = sizeof(SendActualStateArgs);//30k
int sz4= sizeof(SendDebugLinesArgs);
int sz5= sizeof(SendPixelDataArgs);
int sz6 = sizeof(RigidBodyCreateArgs);
int sz7 = sizeof(CalculateInverseDynamicsResultArgs);
int sz8 = sizeof(CalculateJacobianResultArgs);
int sz9 = sizeof(CalculateMassMatrixResultArgs);//130k
int sz10 = sizeof(SendContactDataArgs);
int sz11 = sizeof(SendOverlappingObjectsArgs);
int sz12 = sizeof(CalculateInverseKinematicsResultArgs);
int sz13 = sizeof(SendVisualShapeDataArgs);
int sz14 = sizeof(UserDebugDrawResultArgs);
int sz15 = sizeof(b3UserConstraint);
int sz16 = sizeof(SendVREvents);
int sz17 = sizeof(SendKeyboardEvents);
int sz18 = sizeof(SendRaycastHits);
int sz19 = sizeof(StateLoggingResultArgs);
int sz20 = sizeof(b3OpenGLVisualizerCameraInfo);
int sz21 = sizeof(b3ObjectArgs);
int sz22 = sizeof(b3DynamicsInfo);
int sz23 = sizeof(b3CreateCollisionShapeResultArgs);
int sz24 = sizeof(b3CreateVisualShapeResultArgs);
int sz25 = sizeof(b3CreateMultiBodyResultArgs);
int sz26 = sizeof(b3SendCollisionInfoArgs);
int sz27 = sizeof(SendMouseEvents);
int sz28 = sizeof(b3LoadTextureResultArgs);
int sz29 = sizeof(b3CustomCommandResultArgs);
bool hasStatus = false;
@@ -6722,10 +6754,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
BT_PROFILE("CMD_CALCULATE_MASS_MATRIX");
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_CALCULATED_MASS_MATRIX_FAILED;
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_calculateMassMatrixArguments.m_bodyUniqueId);
if (bodyHandle && bodyHandle->m_multiBody)
{
serverCmd.m_type = CMD_CALCULATED_MASS_MATRIX_FAILED;
btInverseDynamics::MultiBodyTree* tree = m_data->findOrCreateTree(bodyHandle->m_multiBody);
@@ -6744,20 +6776,23 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
serverCmd.m_massMatrixResultArgs.m_dofCount = totDofs;
// Fill in the result into the shared memory.
for (int i = 0; i < (totDofs); ++i)
{
for (int j = 0; j < (totDofs); ++j)
{
int element = (totDofs) * i + j;
serverCmd.m_massMatrixResultArgs.m_massMatrix[element] = massMatrix(i,j);
}
}
serverCmd.m_type = CMD_CALCULATED_MASS_MATRIX_COMPLETED;
}
else
{
serverCmd.m_type = CMD_CALCULATED_MASS_MATRIX_FAILED;
double* sharedBuf = (double*)bufferServerToClient;
int sizeInBytes = totDofs*totDofs*sizeof(double);
if (sizeInBytes < bufferSizeInBytes)
{
for (int i = 0; i < (totDofs); ++i)
{
for (int j = 0; j < (totDofs); ++j)
{
int element = (totDofs) * i + j;
sharedBuf[element] = massMatrix(i,j);
}
}
serverCmd.m_type = CMD_CALCULATED_MASS_MATRIX_COMPLETED;
}
}
}
}