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first version of 'getVisualShapeData' to get visual shape information to allow external renderer with pybullet and shared memory robotics API

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b3InitRequestVisualShapeInformation/b3GetVisualShapeInformation in shared memory API
This commit is contained in:
erwin coumans
2016-10-18 22:05:28 -07:00
parent d1ab6c144b
commit f97cb7002d
22 changed files with 490 additions and 27 deletions
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45
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -40,6 +40,8 @@ struct PhysicsClientSharedMemoryInternalData {
btAlignedObjectArray<int> m_cachedSegmentationMaskBuffer;
btAlignedObjectArray<b3ContactPointData> m_cachedContactPoints;
btAlignedObjectArray<b3VisualShapeData> m_cachedVisualShapes;
btAlignedObjectArray<int> m_bodyIdsRequestInfo;
SharedMemoryStatus m_tempBackupServerStatus;
@@ -633,7 +635,28 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
b3Warning("Calculate Inverse Kinematics Request failed");
break;
}
case CMD_VISUAL_SHAPE_INFO_COMPLETED:
{
if (m_data->m_verboseOutput)
{
b3Printf("Visual Shape Information Request OK\n");
}
int startVisualShapeIndex = serverCmd.m_sendVisualShapeArgs.m_startingVisualShapeIndex;
int numVisualShapesCopied = serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied;
m_data->m_cachedVisualShapes.resize(startVisualShapeIndex + numVisualShapesCopied);
b3VisualShapeData* shapeData = (b3VisualShapeData*)m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor;
for (int i = 0; i < numVisualShapesCopied; i++)
{
m_data->m_cachedVisualShapes[startVisualShapeIndex + i] = shapeData[i];
}
break;
}
case CMD_VISUAL_SHAPE_INFO_FAILED:
{
b3Warning("Visual Shape Info Request failed");
break;
}
default: {
b3Error("Unknown server status %d\n", serverCmd.m_type);
btAssert(0);
@@ -710,6 +733,21 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
}
}
if (serverCmd.m_type == CMD_VISUAL_SHAPE_INFO_COMPLETED)
{
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
if (serverCmd.m_sendVisualShapeArgs.m_numRemainingVisualShapes >0 && serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied)
{
command.m_type = CMD_REQUEST_VISUAL_SHAPE_INFO;
command.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex = serverCmd.m_sendVisualShapeArgs.m_startingVisualShapeIndex + serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied;
command.m_requestVisualShapeDataArguments.m_bodyUniqueId = serverCmd.m_sendVisualShapeArgs.m_bodyUniqueId;
submitClientCommand(command);
return 0;
}
}
if (serverCmd.m_type == CMD_CAMERA_IMAGE_COMPLETED)
{
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
@@ -813,6 +851,13 @@ void PhysicsClientSharedMemory::getCachedContactPointInformation(struct b3Contac
}
void PhysicsClientSharedMemory::getCachedVisualShapeInformation(struct b3VisualShapeInformation* visualShapesInfo)
{
visualShapesInfo->m_numVisualShapes = m_data->m_cachedVisualShapes.size();
visualShapesInfo->m_visualShapeData = visualShapesInfo->m_numVisualShapes ? &m_data->m_cachedVisualShapes[0] : 0;
}
const float* PhysicsClientSharedMemory::getDebugLinesFrom() const {
if (m_data->m_debugLinesFrom.size()) {
return &m_data->m_debugLinesFrom[0].m_x;