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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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This commit is contained in:
Erwin Coumans
2018-07-08 11:24:37 +02:00
parent 127b82ec1b 2ce1e65b53
commit f8cc33f3a3
19 changed files with 5055 additions and 9 deletions
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2
examples/SharedMemory/SharedMemoryPublic.h
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@@ -752,6 +752,8 @@ enum eCONNECT_METHOD {
eCONNECT_GUI_SERVER=7,
eCONNECT_GUI_MAIN_THREAD=8,
eCONNECT_SHARED_MEMORY_SERVER=9,
eCONNECT_DART=10,
eCONNECT_MUJOCO=11,
};
enum eURDF_Flags

16
examples/SharedMemory/dart/DARTPhysicsC_API.cpp Normal file
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@@ -0,0 +1,16 @@
#ifdef BT_ENABLE_DART
#include "DARTPhysicsC_API.h"
#include "DARTPhysicsServerCommandProcessor.h"
#include "DARTPhysicsClient.h"
//think more about naming. The b3ConnectPhysicsLoopback
B3_SHARED_API b3PhysicsClientHandle b3ConnectPhysicsDART()
{
DARTPhysicsServerCommandProcessor* sdk = new DARTPhysicsServerCommandProcessor;
DARTPhysicsClient* direct = new DARTPhysicsClient(sdk,true);
bool connected;
connected = direct->connect();
return (b3PhysicsClientHandle )direct;
}
#endif//BT_ENABLE_DART

20
examples/SharedMemory/dart/DARTPhysicsC_API.h Normal file
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@@ -0,0 +1,20 @@
#ifndef DART_PHYSICS_C_API_H
#define DART_PHYSICS_C_API_H
#ifdef BT_ENABLE_DART
#include "../PhysicsClientC_API.h"
#ifdef __cplusplus
extern "C" {
#endif
//think more about naming. The b3ConnectPhysicsLoopback
B3_SHARED_API b3PhysicsClientHandle b3ConnectPhysicsDART();
#ifdef __cplusplus
}
#endif
#endif //BT_ENABLE_DART
#endif //DART_PHYSICS_C_API_H

1596
examples/SharedMemory/dart/DARTPhysicsClient.cpp Normal file
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124
examples/SharedMemory/dart/DARTPhysicsClient.h Normal file
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@@ -0,0 +1,124 @@
#ifndef DART_PHYSICS_CLIENT_H
#define DART_PHYSICS_CLIENT_H
#include "../PhysicsClient.h"
///PhysicsDirect executes the commands directly, without transporting them or having a separate server executing commands
class DARTPhysicsClient : public PhysicsClient
{
protected:
struct DARTPhysicsDirectInternalData* m_data;
bool processDebugLines(const struct SharedMemoryCommand& orgCommand);
bool processCamera(const struct SharedMemoryCommand& orgCommand);
bool processContactPointData(const struct SharedMemoryCommand& orgCommand);
bool processOverlappingObjects(const struct SharedMemoryCommand& orgCommand);
bool processVisualShapeData(const struct SharedMemoryCommand& orgCommand);
void processBodyJointInfo(int bodyUniqueId, const struct SharedMemoryStatus& serverCmd);
void processAddUserData(const struct SharedMemoryStatus& serverCmd);
void postProcessStatus(const struct SharedMemoryStatus& serverCmd);
void resetData();
void removeCachedBody(int bodyUniqueId);
public:
DARTPhysicsClient(class PhysicsCommandProcessorInterface* physSdk, bool passSdkOwnership);
virtual ~DARTPhysicsClient();
// return true if connection succesfull, can also check 'isConnected'
//it is OK to pass a null pointer for the gui helper
virtual bool connect();
////todo: rename to 'disconnect'
virtual void disconnectSharedMemory();
virtual bool isConnected() const;
// return non-null if there is a status, nullptr otherwise
virtual const SharedMemoryStatus* processServerStatus();
virtual SharedMemoryCommand* getAvailableSharedMemoryCommand();
virtual bool canSubmitCommand() const;
virtual bool submitClientCommand(const struct SharedMemoryCommand& command);
virtual int getNumBodies() const;
virtual int getBodyUniqueId(int serialIndex) const;
virtual bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const;
virtual int getNumJoints(int bodyIndex) const;
virtual bool getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const;
virtual int getNumUserConstraints() const;
virtual int getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint& info) const;
virtual int getUserConstraintId(int serialIndex) const;
///todo: move this out of the
virtual void setSharedMemoryKey(int key);
void uploadBulletFileToSharedMemory(const char* data, int len);
virtual void uploadRaysToSharedMemory(struct SharedMemoryCommand& command, const double* rayFromWorldArray, const double* rayToWorldArray, int numRays);
virtual int getNumDebugLines() const;
virtual const float* getDebugLinesFrom() const;
virtual const float* getDebugLinesTo() const;
virtual const float* getDebugLinesColor() const;
virtual void getCachedCameraImage(b3CameraImageData* cameraData);
virtual void getCachedContactPointInformation(struct b3ContactInformation* contactPointData);
virtual void getCachedOverlappingObjects(struct b3AABBOverlapData* overlappingObjects);
virtual void getCachedVisualShapeInformation(struct b3VisualShapeInformation* visualShapesInfo);
virtual void getCachedCollisionShapeInformation(struct b3CollisionShapeInformation* collisionShapesInfo);
virtual void getCachedVREvents(struct b3VREventsData* vrEventsData);
virtual void getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData);
virtual void getCachedMouseEvents(struct b3MouseEventsData* mouseEventsData);
virtual void getCachedRaycastHits(struct b3RaycastInformation* raycastHits);
virtual void getCachedMassMatrix(int dofCountCheck, double* massMatrix);
//the following APIs are for internal use for visualization:
virtual bool connect(struct GUIHelperInterface* guiHelper);
virtual void renderScene();
virtual void debugDraw(int debugDrawMode);
virtual void setTimeOut(double timeOutInSeconds);
virtual double getTimeOut() const;
virtual bool getCachedUserData(int bodyUniqueId, int linkIndex, int userDataId, struct b3UserDataValue &valueOut) const;
virtual int getCachedUserDataId(int bodyUniqueId, int linkIndex, const char *key) const;
virtual int getNumUserData(int bodyUniqueId, int linkIndex) const;
virtual void getUserDataInfo(int bodyUniqueId, int linkIndex, int userDataIndex, const char **keyOut, int *userDataIdOut) const;
virtual void pushProfileTiming(const char* timingName);
virtual void popProfileTiming();
};
#endif //DART_PHYSICS__H

39
examples/SharedMemory/dart/DARTPhysicsServerCommandProcessor.cpp Normal file
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@@ -0,0 +1,39 @@
#include "DARTPhysicsServerCommandProcessor.h"
DARTPhysicsServerCommandProcessor::DARTPhysicsServerCommandProcessor()
{
}
DARTPhysicsServerCommandProcessor::~DARTPhysicsServerCommandProcessor()
{
}
bool DARTPhysicsServerCommandProcessor::connect()
{
return false;
}
void DARTPhysicsServerCommandProcessor::disconnect()
{
}
bool DARTPhysicsServerCommandProcessor::isConnected() const
{
return false;
}
bool DARTPhysicsServerCommandProcessor::processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
return false;
}
bool DARTPhysicsServerCommandProcessor::receiveStatus(struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
return false;
}

31
examples/SharedMemory/dart/DARTPhysicsServerCommandProcessor.h Normal file
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@@ -0,0 +1,31 @@
#ifndef DART_PHYSICS_SERVER_COMMAND_PROCESSOR_H
#define DART_PHYSICS_SERVER_COMMAND_PROCESSOR_H
#include "../PhysicsCommandProcessorInterface.h"
class DARTPhysicsServerCommandProcessor : public PhysicsCommandProcessorInterface
{
public:
DARTPhysicsServerCommandProcessor();
virtual ~DARTPhysicsServerCommandProcessor();
virtual bool connect();
virtual void disconnect();
virtual bool isConnected() const;
virtual bool processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
virtual bool receiveStatus(struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
virtual void renderScene(int renderFlags){}
virtual void physicsDebugDraw(int debugDrawFlags){}
virtual void setGuiHelper(struct GUIHelperInterface* guiHelper){}
virtual void setTimeOut(double timeOutInSeconds){}
};
#endif //DART_PHYSICS_COMMAND_PROCESSOR_H

15
examples/SharedMemory/mujoco/MuJoCoPhysicsC_API.cpp Normal file
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@@ -0,0 +1,15 @@
#ifdef BT_ENABLE_MUJOCO
#include "MuJoCoPhysicsC_API.h"
#include "MuJoCoPhysicsServerCommandProcessor.h"
#include "MuJoCoPhysicsClient.h"
B3_SHARED_API b3PhysicsClientHandle b3ConnectPhysicsMuJoCo()
{
MuJoCoPhysicsServerCommandProcessor* sdk = new MuJoCoPhysicsServerCommandProcessor;
MuJoCoPhysicsClient* direct = new MuJoCoPhysicsClient(sdk,true);
bool connected;
connected = direct->connect();
return (b3PhysicsClientHandle )direct;
}
#endif//BT_ENABLE_MUJOCO

20
examples/SharedMemory/mujoco/MuJoCoPhysicsC_API.h Normal file
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@@ -0,0 +1,20 @@
#ifndef MUJOCO_PHYSICS_C_API_H
#define MUJOCO_PHYSICS_C_API_H
#ifdef BT_ENABLE_MUJOCO
#include "../PhysicsClientC_API.h"
#ifdef __cplusplus
extern "C" {
#endif
//think more about naming. The b3ConnectPhysicsLoopback
B3_SHARED_API b3PhysicsClientHandle b3ConnectPhysicsMuJoCo();
#ifdef __cplusplus
}
#endif
#endif //BT_ENABLE_MUJOCO
#endif //MUJOCO_PHYSICS_C_API_H

1598
examples/SharedMemory/mujoco/MuJoCoPhysicsClient.cpp Normal file
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123
examples/SharedMemory/mujoco/MuJoCoPhysicsClient.h Normal file
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@@ -0,0 +1,123 @@
#ifndef MUJOCO_PHYSICS_CLIENT_H
#define MUJOCO_PHYSICS_CLIENT_H
#include "../PhysicsClient.h"
///PhysicsDirect executes the commands directly, without transporting them or having a separate server executing commands
class MuJoCoPhysicsClient : public PhysicsClient
{
protected:
struct MuJoCoPhysicsDirectInternalData* m_data;
bool processDebugLines(const struct SharedMemoryCommand& orgCommand);
bool processCamera(const struct SharedMemoryCommand& orgCommand);
bool processContactPointData(const struct SharedMemoryCommand& orgCommand);
bool processOverlappingObjects(const struct SharedMemoryCommand& orgCommand);
bool processVisualShapeData(const struct SharedMemoryCommand& orgCommand);
void processBodyJointInfo(int bodyUniqueId, const struct SharedMemoryStatus& serverCmd);
void processAddUserData(const struct SharedMemoryStatus& serverCmd);
void postProcessStatus(const struct SharedMemoryStatus& serverCmd);
void resetData();
void removeCachedBody(int bodyUniqueId);
public:
MuJoCoPhysicsClient(class PhysicsCommandProcessorInterface* physSdk, bool passSdkOwnership);
virtual ~MuJoCoPhysicsClient();
// return true if connection succesfull, can also check 'isConnected'
//it is OK to pass a null pointer for the gui helper
virtual bool connect();
////todo: rename to 'disconnect'
virtual void disconnectSharedMemory();
virtual bool isConnected() const;
// return non-null if there is a status, nullptr otherwise
virtual const SharedMemoryStatus* processServerStatus();
virtual SharedMemoryCommand* getAvailableSharedMemoryCommand();
virtual bool canSubmitCommand() const;
virtual bool submitClientCommand(const struct SharedMemoryCommand& command);
virtual int getNumBodies() const;
virtual int getBodyUniqueId(int serialIndex) const;
virtual bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const;
virtual int getNumJoints(int bodyIndex) const;
virtual bool getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const;
virtual int getNumUserConstraints() const;
virtual int getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint& info) const;
virtual int getUserConstraintId(int serialIndex) const;
///todo: move this out of the
virtual void setSharedMemoryKey(int key);
void uploadBulletFileToSharedMemory(const char* data, int len);
virtual void uploadRaysToSharedMemory(struct SharedMemoryCommand& command, const double* rayFromWorldArray, const double* rayToWorldArray, int numRays);
virtual int getNumDebugLines() const;
virtual const float* getDebugLinesFrom() const;
virtual const float* getDebugLinesTo() const;
virtual const float* getDebugLinesColor() const;
virtual void getCachedCameraImage(b3CameraImageData* cameraData);
virtual void getCachedContactPointInformation(struct b3ContactInformation* contactPointData);
virtual void getCachedOverlappingObjects(struct b3AABBOverlapData* overlappingObjects);
virtual void getCachedVisualShapeInformation(struct b3VisualShapeInformation* visualShapesInfo);
virtual void getCachedCollisionShapeInformation(struct b3CollisionShapeInformation* collisionShapesInfo);
virtual void getCachedVREvents(struct b3VREventsData* vrEventsData);
virtual void getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData);
virtual void getCachedMouseEvents(struct b3MouseEventsData* mouseEventsData);
virtual void getCachedRaycastHits(struct b3RaycastInformation* raycastHits);
virtual void getCachedMassMatrix(int dofCountCheck, double* massMatrix);
//the following APIs are for internal use for visualization:
virtual bool connect(struct GUIHelperInterface* guiHelper);
virtual void renderScene();
virtual void debugDraw(int debugDrawMode);
virtual void setTimeOut(double timeOutInSeconds);
virtual double getTimeOut() const;
virtual bool getCachedUserData(int bodyUniqueId, int linkIndex, int userDataId, struct b3UserDataValue &valueOut) const;
virtual int getCachedUserDataId(int bodyUniqueId, int linkIndex, const char *key) const;
virtual int getNumUserData(int bodyUniqueId, int linkIndex) const;
virtual void getUserDataInfo(int bodyUniqueId, int linkIndex, int userDataIndex, const char **keyOut, int *userDataIdOut) const;
virtual void pushProfileTiming(const char* timingName);
virtual void popProfileTiming();
};
#endif //MUJOCO_PHYSICS_CLIENT_H

1032
examples/SharedMemory/mujoco/MuJoCoPhysicsServerCommandProcessor.cpp Normal file
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File diff suppressed because it is too large Load Diff

45
examples/SharedMemory/mujoco/MuJoCoPhysicsServerCommandProcessor.h Normal file
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@@ -0,0 +1,45 @@
#ifndef MUJOCO_PHYSICS_SERVER_COMMAND_PROCESSOR_H
#define MUJOCO_PHYSICS_SERVER_COMMAND_PROCESSOR_H
#include "../PhysicsCommandProcessorInterface.h"
class MuJoCoPhysicsServerCommandProcessor : public PhysicsCommandProcessorInterface
{
struct MuJoCoPhysicsServerCommandProcessorInternalData* m_data;
bool processSyncBodyInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestInternalDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processSyncUserDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processLoadMJCFCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestBodyInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processForwardDynamicsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processSendPhysicsParametersCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestActualStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processResetSimulationCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
void resetSimulation();
public:
MuJoCoPhysicsServerCommandProcessor();
virtual ~MuJoCoPhysicsServerCommandProcessor();
virtual bool connect();
virtual void disconnect();
virtual bool isConnected() const;
virtual bool processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
virtual bool receiveStatus(struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
virtual void renderScene(int renderFlags){}
virtual void physicsDebugDraw(int debugDrawFlags){}
virtual void setGuiHelper(struct GUIHelperInterface* guiHelper){}
virtual void setTimeOut(double timeOutInSeconds){}
};
#endif //MUJOCO_PHYSICS_COMMAND_PROCESSOR_H

24
examples/SharedMemory/tcp/main.cpp
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@@ -177,22 +177,30 @@ int main(int argc, char *argv[])
SharedMemoryCommand cmd;
SharedMemoryCommand* cmdPtr = 0;
int type = *(int*)&bytesReceived[0];
//performance test
if (numBytesRec == sizeof(int))
{
cmdPtr = &cmd;
cmd.m_type = *(int*)&bytesReceived[0];
}
if (numBytesRec == sizeof(SharedMemoryCommand))
{
cmdPtr = (SharedMemoryCommand*)&bytesReceived[0];
}
else
{
cmdPtr = (SharedMemoryCommand*)&bytesReceived[0];
if (numBytesRec == sizeof(SharedMemoryCommand))
{
cmdPtr = (SharedMemoryCommand*)&bytesReceived[0];
}
else
{
if (numBytesRec==36)
{
cmdPtr = &cmd;
memcpy(&cmd, &bytesReceived[0], numBytesRec);
}
}
}
if (cmdPtr)
{