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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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52
examples/SharedMemory/PhysicsDirect.cpp
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@@ -41,9 +41,9 @@ struct PhysicsDirectInternalData
btAlignedObjectArray<int> m_cachedSegmentationMask;
btAlignedObjectArray<b3ContactPointData> m_cachedContactPoints;
btAlignedObjectArray<b3VisualShapeData> m_cachedVisualShapes;
PhysicsServerCommandProcessor* m_commandProcessor;
PhysicsDirectInternalData()
@@ -196,6 +196,44 @@ bool PhysicsDirect::processDebugLines(const struct SharedMemoryCommand& orgComma
return m_data->m_hasStatus;
}
bool PhysicsDirect::processVisualShapeData(const struct SharedMemoryCommand& orgCommand)
{
SharedMemoryCommand command = orgCommand;
const SharedMemoryStatus& serverCmd = m_data->m_serverStatus;
do
{
bool hasStatus = m_data->m_commandProcessor->processCommand(command, m_data->m_serverStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
m_data->m_hasStatus = hasStatus;
if (hasStatus)
{
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_bulletStreamDataServerToClient[0];
for (int i = 0; i < numVisualShapesCopied; i++)
{
m_data->m_cachedVisualShapes[startVisualShapeIndex + i] = shapeData[i];
}
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;
}
}
} while (serverCmd.m_sendVisualShapeArgs.m_numRemainingVisualShapes > 0 && serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied);
return m_data->m_hasStatus;
}
bool PhysicsDirect::processContactPointData(const struct SharedMemoryCommand& orgCommand)
{
SharedMemoryCommand command = orgCommand;
@@ -380,6 +418,11 @@ bool PhysicsDirect::submitClientCommand(const struct SharedMemoryCommand& comman
return processContactPointData(command);
}
if (command.m_type == CMD_REQUEST_VISUAL_SHAPE_INFO)
{
return processVisualShapeData(command);
}
bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
m_data->m_hasStatus = hasStatus;
if (hasStatus)
@@ -576,3 +619,8 @@ void PhysicsDirect::getCachedContactPointInformation(struct b3ContactInformation
}
void PhysicsDirect::getCachedVisualShapeInformation(struct b3VisualShapeInformation* visualShapesInfo)
{
visualShapesInfo->m_numVisualShapes = m_data->m_cachedVisualShapes.size();
visualShapesInfo->m_visualShapeData = visualShapesInfo->m_numVisualShapes ? &m_data->m_cachedVisualShapes[0] : 0;
}