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Merge pull request #1332 from erwincoumans/master

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create a C/C++ plugin system for pybullet / C-API.
This commit is contained in:
erwincoumans
2017-09-24 10:28:14 -07:00
committed by GitHub
parent 17709ae690 70364445b8
commit fcc093ecae
33 changed files with 1511 additions and 578 deletions
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3
Extras/BulletRobotics/CMakeLists.txt
View File

@@ -32,6 +32,9 @@ SET(BulletRobotics_SRCS
../../examples/SharedMemory/PhysicsDirectC_API.h
../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
../../examples/SharedMemory/PhysicsServerCommandProcessor.h
../../examples/SharedMemory/b3PluginManager.cpp
../../examples/SharedMemory/b3PluginManager.h
../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
../../examples/SharedMemory/PhysicsClientSharedMemory.h
../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp

1
examples/ExampleBrowser/CMakeLists.txt
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@@ -171,6 +171,7 @@ SET(BulletExampleBrowser_SRCS
../SharedMemory/PhysicsServerCommandProcessor.h
../SharedMemory/SharedMemoryCommands.h
../SharedMemory/SharedMemoryPublic.h
../SharedMemory/b3PluginManager.cpp
../RobotSimulator/b3RobotSimulatorClientAPI.cpp
../RobotSimulator/b3RobotSimulatorClientAPI.h
../BasicDemo/BasicExample.cpp

1
examples/ExampleBrowser/premake4.lua
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@@ -109,6 +109,7 @@ project "App_BulletExampleBrowser"
"../SharedMemory/PhysicsLoopBackC_API.h",
"../SharedMemory/PhysicsServerCommandProcessor.cpp",
"../SharedMemory/PhysicsServerCommandProcessor.h",
"../SharedMemory/b3PluginManager.cpp",
"../SharedMemory/TinyRendererVisualShapeConverter.cpp",
"../SharedMemory/TinyRendererVisualShapeConverter.h",
"../SharedMemory/SharedMemoryCommands.h",

2
examples/RobotSimulator/CMakeLists.txt
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@@ -42,6 +42,8 @@ SET(RobotSimulator_SRCS
../../examples/SharedMemory/PhysicsDirectC_API.h
../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
../../examples/SharedMemory/PhysicsServerCommandProcessor.h
../../examples/SharedMemory/b3PluginManager.cpp
../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
../../examples/SharedMemory/PhysicsClientSharedMemory.h
../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp

2
examples/RobotSimulator/premake4.lua
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@@ -20,6 +20,8 @@ myfiles =
"../../examples/SharedMemory/PhysicsDirectC_API.h",
"../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp",
"../../examples/SharedMemory/PhysicsServerCommandProcessor.h",
"../../examples/SharedMemory/b3PluginManager.cpp",
"../../examples/SharedMemory/PhysicsClientSharedMemory.cpp",
"../../examples/SharedMemory/PhysicsClientSharedMemory.h",
"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp",

2
examples/SharedMemory/CMakeLists.txt
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@@ -1,5 +1,4 @@
SET(SharedMemory_SRCS
IKTrajectoryHelper.cpp
IKTrajectoryHelper.h
@@ -41,6 +40,7 @@ SET(SharedMemory_SRCS
TinyRendererVisualShapeConverter.h
SharedMemoryCommands.h
SharedMemoryPublic.h
b3PluginManager.cpp
../TinyRenderer/geometry.cpp
../TinyRenderer/model.cpp
../TinyRenderer/tgaimage.cpp

132
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1631,6 +1631,7 @@ B3_SHARED_API int b3SubmitClientCommand(b3PhysicsClientHandle physClient, const
#include "../Utils/b3Clock.h"
B3_SHARED_API b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHandle physClient, const b3SharedMemoryCommandHandle commandHandle)
{
B3_PROFILE("b3SubmitClientCommandAndWaitStatus");
@@ -1733,6 +1734,137 @@ B3_SHARED_API int b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex
return cl->getJointInfo(bodyIndex, jointIndex, *info);
}
B3_SHARED_API b3SharedMemoryCommandHandle b3CreateCustomCommand(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_CUSTOM_COMMAND;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API void b3CustomCommandLoadPlugin(b3SharedMemoryCommandHandle commandHandle, const char* pluginPath)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_CUSTOM_COMMAND);
if (command->m_type == CMD_CUSTOM_COMMAND)
{
command->m_updateFlags |= CMD_CUSTOM_COMMAND_LOAD_PLUGIN;
command->m_customCommandArgs.m_pluginPath[0] = 0;
int len = strlen(pluginPath);
if (len<MAX_FILENAME_LENGTH)
{
strcpy(command->m_customCommandArgs.m_pluginPath, pluginPath);
}
}
}
B3_SHARED_API int b3GetStatusPluginCommandResult(b3SharedMemoryStatusHandle statusHandle)
{
int statusUniqueId = -1;
const SharedMemoryStatus* status = (const SharedMemoryStatus*)statusHandle;
b3Assert(status);
b3Assert(status->m_type == CMD_CUSTOM_COMMAND_COMPLETED);
if (status->m_type == CMD_CUSTOM_COMMAND_COMPLETED)
{
statusUniqueId = status->m_customCommandResultArgs.m_executeCommandResult;
}
return statusUniqueId;
}
B3_SHARED_API int b3GetStatusPluginUniqueId(b3SharedMemoryStatusHandle statusHandle)
{
int statusUniqueId = -1;
const SharedMemoryStatus* status = (const SharedMemoryStatus*)statusHandle;
b3Assert(status);
b3Assert(status->m_type == CMD_CUSTOM_COMMAND_COMPLETED);
if (status->m_type == CMD_CUSTOM_COMMAND_COMPLETED)
{
statusUniqueId = status->m_customCommandResultArgs.m_pluginUniqueId;
}
return statusUniqueId;
}
B3_SHARED_API void b3CustomCommandUnloadPlugin(b3SharedMemoryCommandHandle commandHandle, int pluginUniqueId)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_CUSTOM_COMMAND);
if (command->m_type == CMD_CUSTOM_COMMAND)
{
command->m_updateFlags |= CMD_CUSTOM_COMMAND_UNLOAD_PLUGIN;
command->m_customCommandArgs.m_pluginUniqueId = pluginUniqueId;
}
}
B3_SHARED_API void b3CustomCommandExecutePluginCommand(b3SharedMemoryCommandHandle commandHandle, int pluginUniqueId, const char* textArguments)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_CUSTOM_COMMAND);
if (command->m_type == CMD_CUSTOM_COMMAND)
{
command->m_updateFlags |= CMD_CUSTOM_COMMAND_EXECUTE_PLUGIN_COMMAND;
command->m_customCommandArgs.m_pluginUniqueId = pluginUniqueId;
command->m_customCommandArgs.m_arguments.m_numInts = 0;
command->m_customCommandArgs.m_arguments.m_numFloats = 0;
command->m_customCommandArgs.m_arguments.m_text[0] = 0;
int len = strlen(textArguments);
if (len<MAX_FILENAME_LENGTH)
{
strcpy(command->m_customCommandArgs.m_arguments.m_text, textArguments);
}
}
}
B3_SHARED_API void b3CustomCommandExecuteAddIntArgument(b3SharedMemoryCommandHandle commandHandle, int intVal)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_CUSTOM_COMMAND);
b3Assert(command->m_updateFlags & CMD_CUSTOM_COMMAND_EXECUTE_PLUGIN_COMMAND);
if (command->m_type == CMD_CUSTOM_COMMAND && (command->m_updateFlags & CMD_CUSTOM_COMMAND_EXECUTE_PLUGIN_COMMAND))
{
int numInts = command->m_customCommandArgs.m_arguments.m_numInts;
if (numInts<B3_MAX_PLUGIN_ARG_SIZE)
{
command->m_customCommandArgs.m_arguments.m_ints[numInts]=intVal;
command->m_customCommandArgs.m_arguments.m_numInts++;
}
}
}
B3_SHARED_API void b3CustomCommandExecuteAddFloatArgument(b3SharedMemoryCommandHandle commandHandle, float floatVal)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_CUSTOM_COMMAND);
b3Assert(command->m_updateFlags & CMD_CUSTOM_COMMAND_EXECUTE_PLUGIN_COMMAND);
if (command->m_type == CMD_CUSTOM_COMMAND && (command->m_updateFlags & CMD_CUSTOM_COMMAND_EXECUTE_PLUGIN_COMMAND))
{
int numFloats = command->m_customCommandArgs.m_arguments.m_numFloats;
if (numFloats<B3_MAX_PLUGIN_ARG_SIZE)
{
command->m_customCommandArgs.m_arguments.m_floats[numFloats]=floatVal;
command->m_customCommandArgs.m_arguments.m_numFloats++;
}
}
}
B3_SHARED_API b3SharedMemoryCommandHandle b3GetDynamicsInfoCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;

12
examples/SharedMemory/PhysicsClientC_API.h
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@@ -60,6 +60,18 @@ B3_SHARED_API b3SharedMemoryStatusHandle b3ProcessServerStatus(b3PhysicsClientHa
/// Get the physics server return status type. See EnumSharedMemoryServerStatus in SharedMemoryPublic.h for error codes.
B3_SHARED_API int b3GetStatusType(b3SharedMemoryStatusHandle statusHandle);
///Plugin system, load and unload a plugin, execute a command
B3_SHARED_API b3SharedMemoryCommandHandle b3CreateCustomCommand(b3PhysicsClientHandle physClient);
B3_SHARED_API void b3CustomCommandLoadPlugin(b3SharedMemoryCommandHandle commandHandle, const char* pluginPath);
B3_SHARED_API int b3GetStatusPluginUniqueId(b3SharedMemoryStatusHandle statusHandle);
B3_SHARED_API int b3GetStatusPluginCommandResult(b3SharedMemoryStatusHandle statusHandle);
B3_SHARED_API void b3CustomCommandUnloadPlugin(b3SharedMemoryCommandHandle commandHandle, int pluginUniqueId);
B3_SHARED_API void b3CustomCommandExecutePluginCommand(b3SharedMemoryCommandHandle commandHandle, int pluginUniqueId, const char* textArguments);
B3_SHARED_API void b3CustomCommandExecuteAddIntArgument(b3SharedMemoryCommandHandle commandHandle, int intVal);
B3_SHARED_API void b3CustomCommandExecuteAddFloatArgument(b3SharedMemoryCommandHandle commandHandle, float floatVal);
B3_SHARED_API int b3GetStatusBodyIndices(b3SharedMemoryStatusHandle statusHandle, int* bodyIndicesOut, int bodyIndicesCapacity);
B3_SHARED_API int b3GetStatusBodyIndex(b3SharedMemoryStatusHandle statusHandle);

11
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -78,7 +78,7 @@ struct PhysicsClientSharedMemoryInternalData {
m_hasLastServerStatus(false),
m_sharedMemoryKey(SHARED_MEMORY_KEY),
m_verboseOutput(false),
m_timeOutInSeconds(5)
m_timeOutInSeconds(30)
{}
void processServerStatus();
@@ -1200,6 +1200,15 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
b3Warning("Request getCollisionInfo failed");
break;
}
case CMD_CUSTOM_COMMAND_COMPLETED:
{
break;
}
case CMD_CUSTOM_COMMAND_FAILED:
{
b3Warning("custom plugin command failed");
break;
}
default: {
b3Error("Unknown server status %d\n", serverCmd.m_type);

10
examples/SharedMemory/PhysicsDirect.cpp
View File

@@ -940,6 +940,16 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
break;
}
case CMD_CUSTOM_COMMAND_COMPLETED:
{
break;
}
case CMD_CUSTOM_COMMAND_FAILED:
{
b3Warning("custom plugin command failed");
break;
}
default:
{
//b3Warning("Unknown server status type");

136
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1,5 +1,6 @@
#include "PhysicsServerCommandProcessor.h"
#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
@@ -37,6 +38,8 @@
#include "LinearMath/btRandom.h"
#include "Bullet3Common/b3ResizablePool.h"
#include "../Utils/b3Clock.h"
#include "b3PluginManager.h"
#ifdef B3_ENABLE_TINY_AUDIO
#include "../TinyAudio/b3SoundEngine.h"
#endif
@@ -1053,13 +1056,13 @@ struct GenericRobotStateLogger : public InternalStateLogger
std::string m_fileName;
FILE* m_logFileHandle;
std::string m_structTypes;
btMultiBodyDynamicsWorld* m_dynamicsWorld;
const btMultiBodyDynamicsWorld* m_dynamicsWorld;
btAlignedObjectArray<int> m_bodyIdList;
bool m_filterObjectUniqueId;
int m_maxLogDof;
int m_logFlags;
GenericRobotStateLogger(int loggingUniqueId, const std::string& fileName, btMultiBodyDynamicsWorld* dynamicsWorld, int maxLogDof, int logFlags)
GenericRobotStateLogger(int loggingUniqueId, const std::string& fileName, const btMultiBodyDynamicsWorld* dynamicsWorld, int maxLogDof, int logFlags)
:m_loggingTimeStamp(0),
m_logFileHandle(0),
m_dynamicsWorld(dynamicsWorld),
@@ -1137,7 +1140,7 @@ struct GenericRobotStateLogger : public InternalStateLogger
{
for (int i=0;i<m_dynamicsWorld->getNumMultibodies();i++)
{
btMultiBody* mb = m_dynamicsWorld->getMultiBody(i);
const btMultiBody* mb = m_dynamicsWorld->getMultiBody(i);
int objectUniqueId = mb->getUserIndex2();
if (m_filterObjectUniqueId && m_bodyIdList.findLinearSearch2(objectUniqueId) < 0)
{
@@ -1430,6 +1433,8 @@ struct PhysicsServerCommandProcessorInternalData
b3ResizablePool< InternalBodyHandle > m_bodyHandles;
b3ResizablePool<InternalCollisionShapeHandle> m_userCollisionShapeHandles;
b3PluginManager m_pluginManager;
bool m_allowRealTimeSimulation;
@@ -1484,7 +1489,7 @@ struct PhysicsServerCommandProcessorInternalData
btAlignedObjectArray<int> m_sdfRecentLoadedBodies;
btAlignedObjectArray<InternalStateLogger*> m_stateLoggers;
int m_stateLoggersUniqueId;
int m_profileTimingLoggingUid;
@@ -1512,8 +1517,8 @@ struct PhysicsServerCommandProcessorInternalData
b3HashMap<b3HashString, char*> m_profileEvents;
PhysicsServerCommandProcessorInternalData()
:
PhysicsServerCommandProcessorInternalData(PhysicsCommandProcessorInterface* proc)
:m_pluginManager(proc),
m_allowRealTimeSimulation(false),
m_commandLogger(0),
m_logPlayback(0),
@@ -1537,6 +1542,16 @@ struct PhysicsServerCommandProcessorInternalData
m_pickedConstraint(0),
m_pickingMultiBodyPoint2Point(0)
{
{
//test to statically link a plugin
//#include "plugins/testPlugin/testplugin.h"
//register static plugins:
//m_pluginManager.registerStaticLinkedPlugin("path", initPlugin, exitPlugin, executePluginCommand);
}
m_vrControllerEvents.init();
m_bodyHandles.exitHandles();
@@ -1643,8 +1658,9 @@ void PhysicsServerCommandProcessor::setGuiHelper(struct GUIHelperInterface* guiH
PhysicsServerCommandProcessor::PhysicsServerCommandProcessor()
:m_data(0)
{
m_data = new PhysicsServerCommandProcessorInternalData();
m_data = new PhysicsServerCommandProcessorInternalData(this);
createEmptyDynamicsWorld();
@@ -1666,13 +1682,23 @@ PhysicsServerCommandProcessor::~PhysicsServerCommandProcessor()
delete m_data;
}
void preTickCallback(btDynamicsWorld *world, btScalar timeStep)
{
PhysicsServerCommandProcessor* proc = (PhysicsServerCommandProcessor*) world->getWorldUserInfo();
bool isPreTick = true;
proc->tickPlugins(timeStep, isPreTick);
}
void logCallback(btDynamicsWorld *world, btScalar timeStep)
{
//handle the logging and playing sounds
PhysicsServerCommandProcessor* proc = (PhysicsServerCommandProcessor*) world->getWorldUserInfo();
proc->processCollisionForces(timeStep);
proc->logObjectStates(timeStep);
bool isPreTick = false;
proc->tickPlugins(timeStep, isPreTick);
}
@@ -1781,6 +1807,12 @@ void PhysicsServerCommandProcessor::processCollisionForces(btScalar timeStep)
#endif//B3_ENABLE_TINY_AUDIO
}
void PhysicsServerCommandProcessor::tickPlugins(btScalar timeStep, bool isPreTick)
{
m_data->m_pluginManager.tickPlugins(timeStep, isPreTick);
}
void PhysicsServerCommandProcessor::logObjectStates(btScalar timeStep)
{
for (int i=0;i<m_data->m_stateLoggers.size();i++)
@@ -2144,7 +2176,11 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
{
m_data->m_guiHelper->createPhysicsDebugDrawer(m_data->m_dynamicsWorld);
}
m_data->m_dynamicsWorld->setInternalTickCallback(logCallback,this);
bool isPreTick=false;
m_data->m_dynamicsWorld->setInternalTickCallback(logCallback,this,isPreTick);
isPreTick = true;
m_data->m_dynamicsWorld->setInternalTickCallback(preTickCallback,this,isPreTick);
#ifdef B3_ENABLE_TINY_AUDIO
m_data->m_soundEngine.init(16,true);
@@ -2961,27 +2997,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
bool hasStatus = false;
{
///we ignore overflow of integer for now
{
//until we implement a proper ring buffer, we assume always maximum of 1 outstanding commands
//const SharedMemoryCommand& clientCmd =m_data->m_testBlock1->m_clientCommands[0];
#if 1
if (m_data->m_commandLogger)
{
m_data->m_commandLogger->logCommand(clientCmd);
}
#endif
//m_data->m_testBlock1->m_numProcessedClientCommands++;
//no timestamp yet
//int timeStamp = 0;
//catch uninitialized cases
serverStatusOut.m_type = CMD_INVALID_STATUS;
serverStatusOut.m_numDataStreamBytes = 0;
serverStatusOut.m_dataStream = 0;
@@ -2989,32 +3009,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
//consume the command
switch (clientCmd.m_type)
{
#if 0
case CMD_SEND_BULLET_DATA_STREAM:
{
if (m_data->m_verboseOutput)
{
b3Printf("Processed CMD_SEND_BULLET_DATA_STREAM length %d",clientCmd.m_dataStreamArguments.m_streamChunkLength);
}
btBulletWorldImporter* worldImporter = new btBulletWorldImporter(m_data->m_dynamicsWorld);
m_data->m_worldImporters.push_back(worldImporter);
bool completedOk = worldImporter->loadFileFromMemory(m_data->m_testBlock1->m_bulletStreamDataClientToServer,clientCmd.m_dataStreamArguments.m_streamChunkLength);
if (completedOk)
{
SharedMemoryStatus& status = m_data->createServerStatus(CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED,clientCmd.m_sequenceNumber,timeStamp);
m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld);
m_data->submitServerStatus(status);
} else
{
SharedMemoryStatus& status = m_data->createServerStatus(CMD_BULLET_DATA_STREAM_RECEIVED_FAILED,clientCmd.m_sequenceNumber,timeStamp);
m_data->submitServerStatus(status);
}
break;
}
#endif
case CMD_STATE_LOGGING:
{
BT_PROFILE("CMD_STATE_LOGGING");
@@ -7975,6 +7970,39 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
break;
}
case CMD_CUSTOM_COMMAND:
{
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_CUSTOM_COMMAND_FAILED;
serverCmd.m_customCommandResultArgs.m_pluginUniqueId = -1;
if (clientCmd.m_updateFlags & CMD_CUSTOM_COMMAND_LOAD_PLUGIN)
{
//pluginPath could be registered or load from disk
int pluginUniqueId = m_data->m_pluginManager.loadPlugin(clientCmd.m_customCommandArgs.m_pluginPath);
if (pluginUniqueId>=0)
{
serverCmd.m_customCommandResultArgs.m_pluginUniqueId = pluginUniqueId;
serverCmd.m_type = CMD_CUSTOM_COMMAND_COMPLETED;
}
}
if (clientCmd.m_updateFlags & CMD_CUSTOM_COMMAND_UNLOAD_PLUGIN)
{
m_data->m_pluginManager.unloadPlugin(clientCmd.m_customCommandArgs.m_pluginUniqueId);
serverCmd.m_type = CMD_CUSTOM_COMMAND_COMPLETED;
}
if (clientCmd.m_updateFlags & CMD_CUSTOM_COMMAND_EXECUTE_PLUGIN_COMMAND)
{
int result = m_data->m_pluginManager.executePluginCommand(clientCmd.m_customCommandArgs.m_pluginUniqueId, &clientCmd.m_customCommandArgs.m_arguments);
serverCmd.m_customCommandResultArgs.m_executeCommandResult = result;
serverCmd.m_type = CMD_CUSTOM_COMMAND_COMPLETED;
}
hasStatus = true;
break;
}
default:
{
BT_PROFILE("CMD_UNKNOWN");
@@ -8193,12 +8221,6 @@ void PhysicsServerCommandProcessor::replayFromLogFile(const char* fileName)
}
btVector3 gVRGripperPos(0.7, 0.3, 0.7);
btQuaternion gVRGripperOrn(0,0,0,1);
btVector3 gVRController2Pos(0,0,0.2);
btQuaternion gVRController2Orn(0,0,0,1);
btScalar gVRGripper2Analog = 0;
btScalar gVRGripperAnalog = 0;
@@ -8221,6 +8243,8 @@ bool PhysicsServerCommandProcessor::isRealTimeSimulationEnabled() const
void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec,const struct b3VRControllerEvent* vrControllerEvents, int numVRControllerEvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents, const struct b3MouseEvent* mouseEvents, int numMouseEvents)
{
m_data->m_vrControllerEvents.addNewVREvents(vrControllerEvents,numVRControllerEvents);
for (int i=0;i<m_data->m_stateLoggers.size();i++)
{
if (m_data->m_stateLoggers[i]->m_loggingType==STATE_LOGGING_VR_CONTROLLERS)

1
examples/SharedMemory/PhysicsServerCommandProcessor.h
View File

@@ -91,6 +91,7 @@ public:
virtual void replayLogCommand(char* bufferServerToClient, int bufferSizeInBytes );
//logging of object states (position etc)
void tickPlugins(btScalar timeStep, bool isPreTick);
void logObjectStates(btScalar timeStep);
void processCollisionForces(btScalar timeStep);

22
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -109,6 +109,26 @@ struct b3SearchPathfArgs
char m_path[MAX_FILENAME_LENGTH];
};
enum CustomCommandEnum
{
CMD_CUSTOM_COMMAND_LOAD_PLUGIN=1,
CMD_CUSTOM_COMMAND_UNLOAD_PLUGIN=2,
CMD_CUSTOM_COMMAND_EXECUTE_PLUGIN_COMMAND=4,
};
struct b3CustomCommand
{
int m_pluginUniqueId;
b3PluginArguments m_arguments;
char m_pluginPath[MAX_FILENAME_LENGTH];
};
struct b3CustomCommandResultArgs
{
int m_pluginUniqueId;
int m_executeCommandResult;
};
struct BulletDataStreamArgs
{
@@ -968,6 +988,7 @@ struct SharedMemoryCommand
struct b3RequestCollisionInfoArgs m_requestCollisionInfoArgs;
struct b3ChangeTextureArgs m_changeTextureArgs;
struct b3SearchPathfArgs m_searchPathArgs;
struct b3CustomCommand m_customCommandArgs;
};
};
@@ -1039,6 +1060,7 @@ struct SharedMemoryStatus
struct b3SendCollisionInfoArgs m_sendCollisionInfoArgs;
struct SendMouseEvents m_sendMouseEvents;
struct b3LoadTextureResultArgs m_loadTextureResultArguments;
struct b3CustomCommandResultArgs m_customCommandResultArgs;
};
};

17
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -72,6 +72,7 @@ enum EnumSharedMemoryClientCommand
CMD_REQUEST_MOUSE_EVENTS_DATA,
CMD_CHANGE_TEXTURE,
CMD_SET_ADDITIONAL_SEARCH_PATH,
CMD_CUSTOM_COMMAND,
//don't go beyond this command!
CMD_MAX_CLIENT_COMMANDS,
@@ -167,6 +168,9 @@ enum EnumSharedMemoryServerStatus
CMD_REQUEST_COLLISION_INFO_FAILED,
CMD_REQUEST_MOUSE_EVENTS_DATA_COMPLETED,
CMD_CHANGE_TEXTURE_COMMAND_FAILED,
CMD_CUSTOM_COMMAND_COMPLETED,
CMD_CUSTOM_COMMAND_FAILED,
//don't go beyond 'CMD_MAX_SERVER_COMMANDS!
CMD_MAX_SERVER_COMMANDS
};
@@ -616,6 +620,19 @@ enum eStateLoggingFlags
STATE_LOG_JOINT_TORQUES = STATE_LOG_JOINT_MOTOR_TORQUES+STATE_LOG_JOINT_USER_TORQUES,
};
#define B3_MAX_PLUGIN_ARG_SIZE 128
#define B3_MAX_PLUGIN_ARG_TEXT_LEN 1024
struct b3PluginArguments
{
char m_text[B3_MAX_PLUGIN_ARG_TEXT_LEN];
int m_numInts;
int m_ints[B3_MAX_PLUGIN_ARG_SIZE];
int m_numFloats;
int m_floats[B3_MAX_PLUGIN_ARG_SIZE];
};
#endif//SHARED_MEMORY_PUBLIC_H

255
examples/SharedMemory/b3PluginManager.cpp Normal file
View File

@@ -0,0 +1,255 @@
#include "b3PluginManager.h"
#include "Bullet3Common/b3HashMap.h"
#include "Bullet3Common/b3ResizablePool.h"
#include "SharedMemoryPublic.h"
#include "PhysicsDirect.h"
#include "plugins/b3PluginContext.h"
#ifdef _WIN32
#define WIN32_LEAN_AND_MEAN
#define VC_EXTRALEAN
#include <windows.h>
typedef HMODULE B3_DYNLIB_HANDLE;
#define B3_DYNLIB_OPEN LoadLibrary
#define B3_DYNLIB_CLOSE FreeLibrary
#define B3_DYNLIB_IMPORT GetProcAddress
#else
#include <dlfcn.h>
typedef void* B3_DYNLIB_HANDLE;
#define B3_DYNLIB_OPEN(path) dlopen(path, RTLD_NOW | RTLD_GLOBAL)
#define B3_DYNLIB_CLOSE dlclose
#define B3_DYNLIB_IMPORT dlsym
#endif
struct b3Plugin
{
B3_DYNLIB_HANDLE m_pluginHandle;
bool m_ownsPluginHandle;
std::string m_pluginPath;
int m_pluginUniqueId;
PFN_INIT m_initFunc;
PFN_EXIT m_exitFunc;
PFN_EXECUTE m_executeCommandFunc;
PFN_TICK m_preTickFunc;
PFN_TICK m_postTickFunc;
void* m_userPointer;
b3Plugin()
:m_pluginHandle(0),
m_ownsPluginHandle(false),
m_pluginUniqueId(-1),
m_initFunc(0),
m_exitFunc(0),
m_executeCommandFunc(0),
m_postTickFunc(0),
m_preTickFunc(0),
m_userPointer(0)
{
}
void clear()
{
if (m_ownsPluginHandle)
{
B3_DYNLIB_CLOSE(m_pluginHandle);
}
m_pluginHandle = 0;
m_initFunc = 0;
m_exitFunc = 0;
m_executeCommandFunc = 0;
m_preTickFunc = 0;
m_postTickFunc = 0;
m_userPointer = 0;
}
};
typedef b3PoolBodyHandle<b3Plugin> b3PluginHandle;
struct b3PluginManagerInternalData
{
b3ResizablePool<b3PluginHandle> m_plugins;
b3HashMap<b3HashString, b3PluginHandle> m_pluginMap;
PhysicsDirect* m_physicsDirect;
};
b3PluginManager::b3PluginManager(class PhysicsCommandProcessorInterface* physSdk)
{
m_data = new b3PluginManagerInternalData;
m_data->m_physicsDirect = new PhysicsDirect(physSdk,false);
}
b3PluginManager::~b3PluginManager()
{
while (m_data->m_pluginMap.size())
{
b3PluginHandle* plugin = m_data->m_pluginMap.getAtIndex(0);
unloadPlugin(plugin->m_pluginUniqueId);
}
delete m_data->m_physicsDirect;
m_data->m_pluginMap.clear();
m_data->m_plugins.exitHandles();
delete m_data;
}
int b3PluginManager::loadPlugin(const char* pluginPath)
{
int pluginUniqueId = -1;
b3Plugin* pluginOrg = m_data->m_pluginMap.find(pluginPath);
if (pluginOrg)
{
//already loaded
pluginUniqueId = pluginOrg->m_pluginUniqueId;
}
else
{
pluginUniqueId = m_data->m_plugins.allocHandle();
b3PluginHandle* plugin = m_data->m_plugins.getHandle(pluginUniqueId);
plugin->m_pluginUniqueId = pluginUniqueId;
B3_DYNLIB_HANDLE pluginHandle = B3_DYNLIB_OPEN(pluginPath);
bool ok = false;
if (pluginHandle)
{
plugin->m_initFunc = (PFN_INIT)B3_DYNLIB_IMPORT(pluginHandle, "initPlugin");
plugin->m_exitFunc = (PFN_EXIT)B3_DYNLIB_IMPORT(pluginHandle, "exitPlugin");
plugin->m_executeCommandFunc = (PFN_EXECUTE)B3_DYNLIB_IMPORT(pluginHandle, "executePluginCommand");
plugin->m_preTickFunc = (PFN_TICK)B3_DYNLIB_IMPORT(pluginHandle, "preTickPluginCallback");
plugin->m_postTickFunc = (PFN_TICK)B3_DYNLIB_IMPORT(pluginHandle, "postTickPluginCallback");
if (plugin->m_initFunc && plugin->m_exitFunc && plugin->m_executeCommandFunc)
{
b3PluginContext context;
context.m_userPointer = plugin->m_userPointer;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
int version = plugin->m_initFunc(&context);
//keep the user pointer persistent
plugin->m_userPointer = context.m_userPointer;
if (version == SHARED_MEMORY_MAGIC_NUMBER)
{
ok = true;
plugin->m_ownsPluginHandle = true;
plugin->m_pluginHandle = pluginHandle;
plugin->m_pluginPath = pluginPath;
m_data->m_pluginMap.insert(pluginPath, *plugin);
}
else
{
int expect = SHARED_MEMORY_MAGIC_NUMBER;
b3Warning("Warning: plugin is wrong version: expected %d, got %d\n", expect, version);
}
}
else
{
b3Warning("Loaded plugin but couldn't bind functions");
}
if (!ok)
{
B3_DYNLIB_CLOSE(pluginHandle);
}
}
else
{
b3Warning("Warning: couldn't load plugin %s\n", pluginPath);
}
if (!ok)
{
m_data->m_plugins.freeHandle(pluginUniqueId);
pluginUniqueId = -1;
}
}
return pluginUniqueId;
}
void b3PluginManager::unloadPlugin(int pluginUniqueId)
{
b3PluginHandle* plugin = m_data->m_plugins.getHandle(pluginUniqueId);
if (plugin)
{
b3PluginContext context;
context.m_userPointer = plugin->m_userPointer;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
plugin->m_exitFunc(&context);
m_data->m_pluginMap.remove(plugin->m_pluginPath.c_str());
m_data->m_plugins.freeHandle(pluginUniqueId);
}
}
void b3PluginManager::tickPlugins(double timeStep, bool isPreTick)
{
for (int i=0;i<m_data->m_pluginMap.size();i++)
{
b3PluginHandle* plugin = m_data->m_pluginMap.getAtIndex(i);
PFN_TICK tick = isPreTick? plugin->m_preTickFunc : plugin->m_postTickFunc;
if (tick)
{
b3PluginContext context;
context.m_userPointer = plugin->m_userPointer;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
int result = tick(&context);
plugin->m_userPointer = context.m_userPointer;
}
}
}
int b3PluginManager::executePluginCommand(int pluginUniqueId, const b3PluginArguments* arguments)
{
int result = -1;
b3PluginHandle* plugin = m_data->m_plugins.getHandle(pluginUniqueId);
if (plugin)
{
b3PluginContext context;
context.m_userPointer = plugin->m_userPointer;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
result = plugin->m_executeCommandFunc(&context, arguments);
plugin->m_userPointer = context.m_userPointer;
}
return result;
}
int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc,PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc)
{
b3Plugin orgPlugin;
int pluginUniqueId = m_data->m_plugins.allocHandle();
b3PluginHandle* pluginHandle = m_data->m_plugins.getHandle(pluginUniqueId);
pluginHandle->m_pluginHandle = 0;
pluginHandle->m_ownsPluginHandle =false;
pluginHandle->m_pluginUniqueId = pluginUniqueId;
pluginHandle->m_executeCommandFunc = executeCommandFunc;
pluginHandle->m_exitFunc = exitFunc;
pluginHandle->m_initFunc = initFunc;
pluginHandle->m_preTickFunc = preTickFunc;
pluginHandle->m_postTickFunc = postTickFunc;
pluginHandle->m_pluginHandle = 0;
pluginHandle->m_pluginPath = pluginPath;
pluginHandle->m_userPointer = 0;
m_data->m_pluginMap.insert(pluginPath, *pluginHandle);
{
b3PluginContext context;
context.m_userPointer = 0;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
int result = pluginHandle->m_initFunc(&context);
pluginHandle->m_userPointer = context.m_userPointer;
}
return pluginUniqueId;
}

23
examples/SharedMemory/b3PluginManager.h Normal file
View File

@@ -0,0 +1,23 @@
#ifndef B3_PLUGIN_MANAGER_H
#define B3_PLUGIN_MANAGER_H
#include "plugins/b3PluginAPI.h"
class b3PluginManager
{
struct b3PluginManagerInternalData* m_data;
public:
b3PluginManager(class PhysicsCommandProcessorInterface* physSdk);
virtual ~b3PluginManager();
int loadPlugin(const char* pluginPath);
void unloadPlugin(int pluginUniqueId);
int executePluginCommand(int pluginUniqueId, const struct b3PluginArguments* arguments);
void tickPlugins(double timeStep, bool isPreTick);
int registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc,PFN_EXIT exitFunc, PFN_EXECUTE m_executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc);
};
#endif //B3_PLUGIN_MANAGER_H

37
examples/SharedMemory/plugins/b3PluginAPI.h Normal file
View File

@@ -0,0 +1,37 @@
#ifndef B3_PLUGIN_API_H
#define B3_PLUGIN_API_H
#ifdef _WIN32
#define B3_SHARED_API __declspec(dllexport)
#elif defined (__GNUC__)
#define B3_SHARED_API __attribute__((visibility("default")))
#else
#define B3_SHARED_API
#endif
#if defined(_WIN32)
#define B3_API_ENTRY
#define B3_API_CALL __cdecl
#define B3_CALLBACK __cdecl
#else
#define B3_API_ENTRY
#define B3_API_CALL
#define B3_CALLBACK
#endif
#ifdef __cplusplus
extern "C" {
#endif
/* Plugin API */
typedef B3_API_ENTRY int (B3_API_CALL * PFN_INIT)(struct b3PluginContext* context);
typedef B3_API_ENTRY void (B3_API_CALL * PFN_EXIT)(struct b3PluginContext* context);
typedef B3_API_ENTRY int (B3_API_CALL * PFN_EXECUTE)(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
typedef B3_API_ENTRY int (B3_API_CALL * PFN_TICK)(struct b3PluginContext* context);
#ifdef __cplusplus
}
#endif
#endif //B3_PLUGIN_API_H

21
examples/SharedMemory/plugins/b3PluginContext.h Normal file
View File

@@ -0,0 +1,21 @@
#ifndef B3_PLUGIN_CONTEXT_H
#define B3_PLUGIN_CONTEXT_H
#include "../PhysicsClientC_API.h"
struct b3PluginContext
{
b3PhysicsClientHandle m_physClient;
//plugin can modify the m_userPointer to store persistent object pointer (class or struct instance etc)
void* m_userPointer;
};
#endif //B3_PLUGIN_CONTEXT_H

42
examples/SharedMemory/plugins/testPlugin/premake4.lua Normal file
View File

@@ -0,0 +1,42 @@
project ("pybullet_testplugin")
language "C++"
kind "SharedLib"
includedirs {".","../../../../src", "../../../../examples",
"../../../ThirdPartyLibs"}
defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
hasCL = findOpenCL("clew")
links{"BulletFileLoader", "Bullet3Common", "LinearMath"}
if os.is("MacOSX") then
-- targetextension {"so"}
links{"Cocoa.framework","Python"}
end
files {
"testplugin.cpp",
"../../PhysicsClient.cpp",
"../../PhysicsClient.h",
"../../PhysicsClientSharedMemory.cpp",
"../../PhysicsClientSharedMemory.h",
"../../PhysicsClientSharedMemory_C_API.cpp",
"../../PhysicsClientSharedMemory_C_API.h",
"../../PhysicsClientC_API.cpp",
"../../PhysicsClientC_API.h",
"../../Win32SharedMemory.cpp",
"../../Win32SharedMemory.h",
"../../PosixSharedMemory.cpp",
"../../PosixSharedMemory.h",
"../../../Utils/b3Clock.cpp",
"../../../Utils/b3Clock.h",
"../../../Utils/b3ResourcePath.cpp",
"../../../Utils/b3ResourcePath.h",
}

150
examples/SharedMemory/plugins/testPlugin/testplugin.cpp Normal file
View File

@@ -0,0 +1,150 @@
//test plugin, can load a URDF file, example usage on a Windows machine:
/*
import pybullet as p
p.connect(p.GUI)
pluginUid = p.loadPlugin("E:/develop/bullet3/bin/pybullet_testplugin_vs2010_x64_debug.dll")
commandUid = 0
argument = "plane.urdf"
p.executePluginCommand(pluginUid,commandUid,argument)
p.unloadPlugin(pluginUid)
*/
#include "testplugin.h"
#include "../../SharedMemoryPublic.h"
#include "../b3PluginContext.h"
#include <stdio.h>
struct MyClass
{
int m_testData;
MyClass()
:m_testData(42)
{
}
virtual ~MyClass()
{
}
};
B3_SHARED_API int initPlugin(struct b3PluginContext* context)
{
MyClass* obj = new MyClass();
context->m_userPointer = obj;
printf("hi!\n");
return SHARED_MEMORY_MAGIC_NUMBER;
}
B3_SHARED_API int preTickPluginCallback(struct b3PluginContext* context)
{
MyClass* obj = (MyClass* )context->m_userPointer;
{
b3SharedMemoryCommandHandle commandHandle = b3RequestVREventsCommandInit(context->m_physClient);
int deviceTypeFilter = VR_DEVICE_CONTROLLER;
b3VREventsSetDeviceTypeFilter(commandHandle, deviceTypeFilter);
b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(context->m_physClient, commandHandle);
int statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_REQUEST_VR_EVENTS_DATA_COMPLETED)
{
struct b3VREventsData vrEvents;
int i = 0;
b3GetVREventsData(context->m_physClient, &vrEvents);
if (vrEvents.m_numControllerEvents)
{
//this is only for a test, normally you wouldn't print to the console at each simulation substep!
printf("got %d VR controller events!\n", vrEvents.m_numControllerEvents);
}
}
}
{
b3KeyboardEventsData keyboardEventsData;
b3SharedMemoryCommandHandle commandHandle = b3RequestKeyboardEventsCommandInit(context->m_physClient);
b3SubmitClientCommandAndWaitStatus(context->m_physClient, commandHandle);
b3GetKeyboardEventsData(context->m_physClient, &keyboardEventsData);
if (keyboardEventsData.m_numKeyboardEvents)
{
//this is only for a test, normally you wouldn't print to the console at each simulation substep!
printf("got %d keyboard events\n", keyboardEventsData.m_numKeyboardEvents);
}
}
{
b3MouseEventsData mouseEventsData;
b3SharedMemoryCommandHandle commandHandle = b3RequestMouseEventsCommandInit(context->m_physClient);
b3SubmitClientCommandAndWaitStatus(context->m_physClient, commandHandle);
b3GetMouseEventsData(context->m_physClient, &mouseEventsData);
if (mouseEventsData.m_numMouseEvents)
{
//this is only for a test, normally you wouldn't print to the console at each simulation substep!
printf("got %d mouse events\n", mouseEventsData.m_numMouseEvents);
}
}
return 0;
}
B3_SHARED_API int postTickPluginCallback(struct b3PluginContext* context)
{
MyClass* obj = (MyClass* )context->m_userPointer;
obj->m_testData++;
return 0;
}
B3_SHARED_API int executePluginCommand(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
{
printf("text argument:%s\n",arguments->m_text);
printf("int args: [");
for (int i=0;i<arguments->m_numInts;i++)
{
printf("%d", arguments->m_ints[i]);
if ((i+1)<arguments->m_numInts)
{
printf(",");
}
}
printf("]\nfloat args: [");
for (int i=0;i<arguments->m_numFloats;i++)
{
printf("%f", arguments->m_floats[i]);
if ((i+1)<arguments->m_numFloats)
{
printf(",");
}
}
printf("]\n");
MyClass* obj = (MyClass*) context->m_userPointer;
b3SharedMemoryStatusHandle statusHandle;
int statusType = -1;
int bodyUniqueId = -1;
b3SharedMemoryCommandHandle command =
b3LoadUrdfCommandInit(context->m_physClient, arguments->m_text);
statusHandle = b3SubmitClientCommandAndWaitStatus(context->m_physClient, command);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_URDF_LOADING_COMPLETED)
{
bodyUniqueId = b3GetStatusBodyIndex(statusHandle);
}
return bodyUniqueId;
}
B3_SHARED_API void exitPlugin(struct b3PluginContext* context)
{
MyClass* obj = (MyClass*) context->m_userPointer;
delete obj;
context->m_userPointer = 0;
printf("bye!\n");
}

26
examples/SharedMemory/plugins/testPlugin/testplugin.h Normal file
View File

@@ -0,0 +1,26 @@
#ifndef TEST_PLUGIN_H
#define TEST_PLUGIN_H
#include "../b3PluginAPI.h"
#ifdef __cplusplus
extern "C"
{
#endif
//initPlugin, exitPlugin and executePluginCommand are required, otherwise plugin won't load
B3_SHARED_API int initPlugin(struct b3PluginContext* context);
B3_SHARED_API void exitPlugin(struct b3PluginContext* context);
B3_SHARED_API int executePluginCommand(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
//preTickPluginCallback and postTickPluginCallback are optional.
B3_SHARED_API int preTickPluginCallback(struct b3PluginContext* context);
B3_SHARED_API int postTickPluginCallback(struct b3PluginContext* context);
#ifdef __cplusplus
};
#endif
#endif//#define TEST_PLUGIN_H

7
examples/SharedMemory/premake4.lua
View File

@@ -7,7 +7,7 @@ else
kind "ConsoleApp"
end
includedirs {".","../../src", "../ThirdPartyLibs",}
includedirs {".","../../src", "../ThirdPartyLibs"}
links {
"Bullet3Common","BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision", "LinearMath", "BussIK"
@@ -53,6 +53,8 @@ myfiles =
"SharedMemoryCommandProcessor.h",
"PhysicsServerCommandProcessor.cpp",
"PhysicsServerCommandProcessor.h",
"b3PluginManager.cpp",
"b3PluginManager.h",
"TinyRendererVisualShapeConverter.cpp",
"TinyRendererVisualShapeConverter.h",
"../TinyRenderer/geometry.cpp",
@@ -99,6 +101,7 @@ myfiles =
"../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
"../ThirdPartyLibs/stb_image/stb_image.cpp",
}
files {
@@ -405,4 +408,4 @@ end
include "udp"
include "tcp"
include "plugins/testPlugin"

1
examples/SharedMemory/tcp/premake4.lua
View File

@@ -88,6 +88,7 @@ myfiles =
"../SharedMemoryPublic.h",
"../PhysicsServerCommandProcessor.cpp",
"../PhysicsServerCommandProcessor.h",
"../b3PluginManager.cpp",
"../TinyRendererVisualShapeConverter.cpp",
"../TinyRendererVisualShapeConverter.h",
"../../TinyRenderer/geometry.cpp",

1
examples/SharedMemory/udp/premake4.lua
View File

@@ -79,6 +79,7 @@ myfiles =
"../SharedMemoryPublic.h",
"../PhysicsServerCommandProcessor.cpp",
"../PhysicsServerCommandProcessor.h",
"../b3PluginManager.cpp",
"../TinyRendererVisualShapeConverter.cpp",
"../TinyRendererVisualShapeConverter.h",
"../../TinyRenderer/geometry.cpp",

3
examples/pybullet/CMakeLists.txt
View File

@@ -43,6 +43,9 @@ SET(pybullet_SRCS
../../examples/SharedMemory/PhysicsDirectC_API.h
../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
../../examples/SharedMemory/PhysicsServerCommandProcessor.h
../../examples/SharedMemory/b3PluginManager.cpp
../../examples/SharedMemory/b3PluginManager.h
../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
../../examples/SharedMemory/PhysicsClientSharedMemory.h
../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp

2
examples/pybullet/premake4.lua
View File

@@ -116,6 +116,8 @@ if not _OPTIONS["no-enet"] then
"../../examples/SharedMemory/PhysicsDirectC_API.h",
"../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp",
"../../examples/SharedMemory/PhysicsServerCommandProcessor.h",
"../../examples/SharedMemory/b3PluginManager.cpp",
"../../examples/SharedMemory/b3PluginManager.h",
"../../examples/SharedMemory/PhysicsClientSharedMemory.cpp",
"../../examples/SharedMemory/PhysicsClientSharedMemory.h",
"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp",

138
examples/pybullet/pybullet.c
View File

@@ -6653,6 +6653,131 @@ static PyObject* pybullet_getEulerFromQuaternion(PyObject* self,
return Py_None;
}
static PyObject* pybullet_loadPlugin(PyObject* self,
PyObject* args, PyObject* keywds)
{
int physicsClientId = 0;
char* pluginPath = 0;
b3SharedMemoryCommandHandle command = 0;
b3SharedMemoryStatusHandle statusHandle = 0;
int statusType = -1;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = { "pluginPath", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|i", kwlist, &pluginPath, &physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
command = b3CreateCustomCommand(sm);
b3CustomCommandLoadPlugin(command, pluginPath);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusPluginUniqueId(statusHandle);
return PyInt_FromLong(statusType);
}
static PyObject* pybullet_unloadPlugin(PyObject* self,
PyObject* args, PyObject* keywds)
{
int physicsClientId = 0;
int pluginUniqueId = -1;
b3SharedMemoryCommandHandle command = 0;
b3SharedMemoryStatusHandle statusHandle = 0;
int statusType = -1;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = { "pluginUniqueId", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|i", kwlist, &pluginUniqueId,&physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
command = b3CreateCustomCommand(sm);
b3CustomCommandUnloadPlugin(command, pluginUniqueId);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
Py_INCREF(Py_None);
return Py_None;;
}
//createCustomCommand for executing commands implemented in a plugin system
static PyObject* pybullet_executePluginCommand(PyObject* self,
PyObject* args, PyObject* keywds)
{
int physicsClientId = 0;
int pluginUniqueId = -1;
char* textArgument = 0;
b3SharedMemoryCommandHandle command=0;
b3SharedMemoryStatusHandle statusHandle=0;
int statusType = -1;
PyObject* intArgs=0;
PyObject* floatArgs=0;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = { "pluginUniqueId", "textArgument", "intArgs", "floatArgs", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|sOOi", kwlist, &pluginUniqueId, &textArgument, &intArgs, &floatArgs, &physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
command = b3CreateCustomCommand(sm);
b3CustomCommandExecutePluginCommand(command, pluginUniqueId, textArgument);
{
PyObject* seqIntArgs = intArgs?PySequence_Fast(intArgs, "expected a sequence"):0;
PyObject* seqFloatArgs = floatArgs?PySequence_Fast(floatArgs, "expected a sequence"):0;
int numIntArgs = seqIntArgs?PySequence_Size(intArgs):0;
int numFloatArgs = seqIntArgs?PySequence_Size(floatArgs):0;
int i;
for (i=0;i<numIntArgs;i++)
{
int val = pybullet_internalGetIntFromSequence(seqIntArgs,i);
b3CustomCommandExecuteAddIntArgument(command, val);
}
for (i=0;i<numFloatArgs;i++)
{
float val = pybullet_internalGetFloatFromSequence(seqFloatArgs,i);
b3CustomCommandExecuteAddFloatArgument(command, val);
}
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusPluginCommandResult(statusHandle);
return PyInt_FromLong(statusType);
}
///Inverse Kinematics binding
static PyObject* pybullet_calculateInverseKinematics(PyObject* self,
PyObject* args, PyObject* keywds)
@@ -6954,8 +7079,7 @@ static PyObject* pybullet_calculateInverseDynamics(PyObject* self, PyObject* arg
}
/// Given an object id, joint positions, joint velocities and joint
/// accelerations,
/// compute the joint forces using Inverse Dynamics
/// accelerations, compute the Jacobian
static PyObject* pybullet_calculateJacobian(PyObject* self, PyObject* args, PyObject* keywds)
{
{
@@ -7431,6 +7555,16 @@ static PyMethodDef SpamMethods[] = {
"Cast a batch of rays and return the result for each of the rays (first object hit, if any. or -1) "
"Takes two arguments (list of from_positions [x,y,z] and a list of to_positions [x,y,z] in Cartesian world coordinates"},
{ "loadPlugin", (PyCFunction)pybullet_loadPlugin, METH_VARARGS | METH_KEYWORDS,
"Load a plugin, could implement custom commands etc." },
{ "unloadPlugin", (PyCFunction)pybullet_unloadPlugin, METH_VARARGS | METH_KEYWORDS,
"Unload a plugin, given the pluginUniqueId." },
{ "executePluginCommand", (PyCFunction)pybullet_executePluginCommand, METH_VARARGS | METH_KEYWORDS,
"Execute a command, implemented in a plugin." },
{"submitProfileTiming", (PyCFunction)pybullet_submitProfileTiming, METH_VARARGS | METH_KEYWORDS,
"Add a custom profile timing that will be visible in performance profile recordings on the physics server."
"On the physics server (in GUI and VR mode) you can press 'p' to start and/or stop profile recordings" },

1013
examples/pybullet/unity3d/autogen/NativeMethods.cs
View File

File diff suppressed because it is too large Load Diff

1
setup.py
View File

@@ -70,6 +70,7 @@ sources = ["examples/pybullet/pybullet.c"]\
+["examples/SharedMemory/PhysicsClientUDP_C_API.cpp"]\
+["examples/SharedMemory/PhysicsClientTCP.cpp"]\
+["examples/SharedMemory/PhysicsClientTCP_C_API.cpp"]\
+["examples/SharedMemory/b3PluginManager.cpp"]\
+["examples/Utils/b3ResourcePath.cpp"]\
+["examples/Utils/RobotLoggingUtil.cpp"]\
+["examples/Utils/ChromeTraceUtil.cpp"]\

5
src/BulletDynamics/Dynamics/btDynamicsWorld.h
View File

@@ -135,6 +135,11 @@ public:
return m_solverInfo;
}
const btContactSolverInfo& getSolverInfo() const
{
return m_solverInfo;
}
///obsolete, use addAction instead.
virtual void addVehicle(btActionInterface* vehicle) {(void)vehicle;}

5
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
View File

@@ -72,6 +72,11 @@ public:
return m_multiBodies[mbIndex];
}
const btMultiBody* getMultiBody(int mbIndex) const
{
return m_multiBodies[mbIndex];
}
virtual void addMultiBodyConstraint( btMultiBodyConstraint* constraint);
virtual int getNumMultiBodyConstraints() const

4
test/SharedMemory/CMakeLists.txt
View File

@@ -21,6 +21,9 @@ ENDIF()
IF (NOT WIN32)
LINK_LIBRARIES( pthread )
IF (NOT APPLE)
LINK_LIBRARIES(${DL})
ENDIF()
ENDIF()
ADD_EXECUTABLE(Test_PhysicsClientServer
@@ -39,6 +42,7 @@ ENDIF()
../../examples/SharedMemory/PhysicsDirectC_API.h
../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
../../examples/SharedMemory/PhysicsServerCommandProcessor.h
../../examples/SharedMemory/b3PluginManager.cpp
../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
../../examples/SharedMemory/PhysicsClientSharedMemory.h
../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp

3
test/SharedMemory/premake4.lua
View File

@@ -177,6 +177,7 @@ project ("Test_PhysicsServerLoopBack")
"../../examples/SharedMemory/PhysicsServerSharedMemory.h",
"../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp",
"../../examples/SharedMemory/PhysicsServerCommandProcessor.h",
"../../examples/SharedMemory/b3PluginManager.cpp",
"../../examples/SharedMemory/PhysicsLoopBack.cpp",
"../../examples/SharedMemory/PhysicsLoopBack.h",
"../../examples/SharedMemory/PhysicsLoopBackC_API.cpp",
@@ -261,6 +262,7 @@ project ("Test_PhysicsServerLoopBack")
"../../examples/SharedMemory/PhysicsDirectC_API.h",
"../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp",
"../../examples/SharedMemory/PhysicsServerCommandProcessor.h",
"../../examples/SharedMemory/b3PluginManager.cpp",
"../../examples/SharedMemory/PhysicsClientSharedMemory.cpp",
"../../examples/SharedMemory/PhysicsClientSharedMemory.h",
"../../examples/SharedMemory/PhysicsClientC_API.cpp",
@@ -370,6 +372,7 @@ project ("Test_PhysicsServerInProcessExampleBrowser")
"../../examples/SharedMemory/PhysicsDirectC_API.h",
"../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp",
"../../examples/SharedMemory/PhysicsServerCommandProcessor.h",
"../../examples/SharedMemory/b3PluginManager.cpp",
"../../examples/SharedMemory/PhysicsClientSharedMemory.cpp",
"../../examples/SharedMemory/PhysicsClientSharedMemory.h",
"../../examples/SharedMemory/PhysicsClientC_API.cpp",