#ifdef BT_ENABLE_PHYSX #include "PhysXServerCommandProcessor.h" #include "../../Utils/ChromeTraceUtil.h" #include #include "../SharedMemoryCommands.h" #include "LinearMath/btQuickprof.h" #include "Bullet3Common/b3AlignedObjectArray.h" #include "LinearMath/btMinMax.h" #include "Bullet3Common/b3FileUtils.h" #include "../../Utils/b3ResourcePath.h" #include "Bullet3Common/b3ResizablePool.h" #include "PxPhysicsAPI.h" #include "../Utils/b3BulletDefaultFileIO.h" #include "PhysXUrdfImporter.h" #include "PxTolerancesScale.h" #include "PxDefaultCpuDispatcher.h" #include "PxDefaultSimulationFilterShader.h" #include "URDF2PhysX.h" #include "../b3PluginManager.h" #define STATIC_EGLRENDERER_PLUGIN #ifdef STATIC_EGLRENDERER_PLUGIN #include "../plugins/eglPlugin/eglRendererPlugin.h" #endif //STATIC_EGLRENDERER_PLUGIN //for serialization of data to client #include "BulletDynamics/Featherstone/btMultiBody.h" #include "../Extras/Serialize/BulletFileLoader/btBulletFile.h" #include "LinearMath/btSerializer.h" #include "PhysXUserData.h" class MyPhysXErrorCallback : public physx::PxErrorCallback { public: MyPhysXErrorCallback() { } ~MyPhysXErrorCallback() { } virtual void reportError(physx::PxErrorCode::Enum code, const char* message, const char* file, int line) { b3Printf("%s in file:%s line:%d\n", message, file, line); } }; struct InternalPhysXBodyData { physx::PxArticulationReducedCoordinate* mArticulation; std::string m_bodyName; //physx::PxArticulationJointReducedCoordinate* gDriveJoint; void clear() { m_bodyName = ""; } }; typedef b3PoolBodyHandle InternalPhysXBodyHandle; struct PhysXServerCommandProcessorInternalData { bool m_isConnected; bool m_verboseOutput; double m_physicsDeltaTime; int m_numSimulationSubSteps; b3PluginManager m_pluginManager; physx::PxDefaultAllocator m_allocator; MyPhysXErrorCallback m_errorCallback; physx::PxFoundation* m_foundation; physx::PxPhysics* m_physics; physx::PxCooking* m_cooking; physx::PxDefaultCpuDispatcher* m_dispatcher; physx::PxScene* m_scene; physx::PxMaterial* m_material; //physx::PxPvd* m_pvd; b3ResizablePool m_bodyHandles; b3AlignedObjectArray m_mjcfRecentLoadedBodies; int m_profileTimingLoggingUid; int m_stateLoggersUniqueId; std::string m_profileTimingFileName; PhysXServerCommandProcessorInternalData(PhysXServerCommandProcessor* sdk) : m_isConnected(false), m_verboseOutput(false), m_physicsDeltaTime(1. / 240.), m_numSimulationSubSteps(0), m_pluginManager(sdk), m_profileTimingLoggingUid(-1), m_stateLoggersUniqueId(1) { m_foundation = NULL; m_physics = NULL; m_cooking = NULL; m_dispatcher = NULL; m_scene = NULL; m_material = NULL; //m_pvd = NULL; #ifdef STATIC_EGLRENDERER_PLUGIN { bool initPlugin = false; b3PluginFunctions funcs(initPlugin_eglRendererPlugin, exitPlugin_eglRendererPlugin, executePluginCommand_eglRendererPlugin); funcs.m_getRendererFunc = getRenderInterface_eglRendererPlugin; int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("eglRendererPlugin", funcs, initPlugin); m_pluginManager.selectPluginRenderer(renderPluginId); } #endif //STATIC_EGLRENDERER_PLUGIN } }; PhysXServerCommandProcessor::PhysXServerCommandProcessor() { m_data = new PhysXServerCommandProcessorInternalData(this); } PhysXServerCommandProcessor::~PhysXServerCommandProcessor() { delete m_data; } physx::PxFilterFlags MyPhysXFilter(physx::PxFilterObjectAttributes attributes0, physx::PxFilterData filterData0, physx::PxFilterObjectAttributes attributes1, physx::PxFilterData filterData1, physx::PxPairFlags& pairFlags, const void* constantBlock, physx::PxU32 constantBlockSize) { PX_UNUSED(attributes0); PX_UNUSED(attributes1); PX_UNUSED(constantBlock); PX_UNUSED(constantBlockSize); if (filterData0.word2 != 0 && filterData0.word2 == filterData1.word2) return physx::PxFilterFlag::eKILL; pairFlags |= physx::PxPairFlag::eCONTACT_DEFAULT; return physx::PxFilterFlag::eDEFAULT; } bool PhysXServerCommandProcessor::connect() { if (m_data->m_isConnected) { printf("already connected\n"); return true; } int result = 0; { m_data->m_foundation = PxCreateFoundation(PX_PHYSICS_VERSION, m_data->m_allocator, m_data->m_errorCallback); m_data->m_physics = PxCreatePhysics(PX_PHYSICS_VERSION, *m_data->m_foundation, physx::PxTolerancesScale(), true, 0); m_data->m_cooking = PxCreateCooking(PX_PHYSICS_VERSION, *m_data->m_foundation, physx::PxCookingParams(physx::PxTolerancesScale())); physx::PxU32 numCores = 1;// m_data->m_dispatcher = physx::PxDefaultCpuDispatcherCreate(numCores == 0 ? 0 : numCores - 1); physx::PxSceneDesc sceneDesc(m_data->m_physics->getTolerancesScale()); sceneDesc.gravity = physx::PxVec3(0.0f, -9.81f, 0.0f); sceneDesc.solverType = physx::PxSolverType::eTGS; //sceneDesc.solverType = physx::PxSolverType::ePGS; sceneDesc.cpuDispatcher = m_data->m_dispatcher; //sceneDesc.filterShader = MyPhysXFilter; sceneDesc.filterShader = physx::PxDefaultSimulationFilterShader; m_data->m_scene = m_data->m_physics->createScene(sceneDesc); m_data->m_material = m_data->m_physics->createMaterial(0.5f, 0.5f, 0.f); PxInitExtensions(*m_data->m_physics, 0); //PxRigidStatic* groundPlane = PxCreatePlane(*gPhysics, PxPlane(0, 1, 0, 0), *gMaterial); //gScene->addActor(*groundPlane); result = 1; } if (result == 1) { m_data->m_isConnected = true; return true; } return false; } void PhysXServerCommandProcessor::resetSimulation() { //gArticulation->release(); m_data->m_scene->release(); m_data->m_dispatcher->release(); m_data->m_cooking->release(); m_data->m_physics->release(); //PxPvdTransport* transport = gPvd->getTransport(); //gPvd->release(); //transport->release(); PxCloseExtensions(); m_data->m_foundation->release(); } void PhysXServerCommandProcessor::disconnect() { resetSimulation(); m_data->m_isConnected = false; } bool PhysXServerCommandProcessor::isConnected() const { return m_data->m_isConnected; } bool PhysXServerCommandProcessor::processCustomCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) { bool hasStatus = true; 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 const char* postFix = ""; if (clientCmd.m_updateFlags & CMD_CUSTOM_COMMAND_LOAD_PLUGIN_POSTFIX) { postFix = clientCmd.m_customCommandArgs.m_postFix; } int pluginUniqueId = m_data->m_pluginManager.loadPlugin(clientCmd.m_customCommandArgs.m_pluginPath, postFix); 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; } return hasStatus; } bool PhysXServerCommandProcessor::processStateLoggingCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) { BT_PROFILE("CMD_STATE_LOGGING"); serverStatusOut.m_type = CMD_STATE_LOGGING_FAILED; bool hasStatus = true; if (clientCmd.m_stateLoggingArguments.m_logType == STATE_LOGGING_PROFILE_TIMINGS) { if (m_data->m_profileTimingLoggingUid < 0) { b3ChromeUtilsStartTimings(); m_data->m_profileTimingFileName = clientCmd.m_stateLoggingArguments.m_fileName; int loggerUid = m_data->m_stateLoggersUniqueId++; serverStatusOut.m_type = CMD_STATE_LOGGING_START_COMPLETED; serverStatusOut.m_stateLoggingResultArgs.m_loggingUniqueId = loggerUid; m_data->m_profileTimingLoggingUid = loggerUid; } } if ((clientCmd.m_updateFlags & STATE_LOGGING_STOP_LOG) && clientCmd.m_stateLoggingArguments.m_loggingUniqueId >= 0) { if (clientCmd.m_stateLoggingArguments.m_loggingUniqueId == m_data->m_profileTimingLoggingUid) { serverStatusOut.m_type = CMD_STATE_LOGGING_COMPLETED; b3ChromeUtilsStopTimingsAndWriteJsonFile(m_data->m_profileTimingFileName.c_str()); m_data->m_profileTimingLoggingUid = -1; } } #if 0 if (clientCmd.m_updateFlags & STATE_LOGGING_START_LOG) { if (clientCmd.m_stateLoggingArguments.m_logType == STATE_LOGGING_ALL_COMMANDS) { if (m_data->m_commandLogger == 0) { enableCommandLogging(true, clientCmd.m_stateLoggingArguments.m_fileName); serverStatusOut.m_type = CMD_STATE_LOGGING_START_COMPLETED; int loggerUid = m_data->m_stateLoggersUniqueId++; m_data->m_commandLoggingUid = loggerUid; serverStatusOut.m_stateLoggingResultArgs.m_loggingUniqueId = loggerUid; } } if (clientCmd.m_stateLoggingArguments.m_logType == STATE_REPLAY_ALL_COMMANDS) { if (m_data->m_logPlayback == 0) { replayFromLogFile(clientCmd.m_stateLoggingArguments.m_fileName); serverStatusOut.m_type = CMD_STATE_LOGGING_START_COMPLETED; int loggerUid = m_data->m_stateLoggersUniqueId++; m_data->m_logPlaybackUid = loggerUid; serverStatusOut.m_stateLoggingResultArgs.m_loggingUniqueId = loggerUid; } } if (clientCmd.m_stateLoggingArguments.m_logType == STATE_LOGGING_VIDEO_MP4) { //if (clientCmd.m_stateLoggingArguments.m_fileName) { int loggerUid = m_data->m_stateLoggersUniqueId++; VideoMP4Loggger* logger = new VideoMP4Loggger(loggerUid, clientCmd.m_stateLoggingArguments.m_fileName, this->m_data->m_guiHelper); m_data->m_stateLoggers.push_back(logger); serverStatusOut.m_type = CMD_STATE_LOGGING_START_COMPLETED; serverStatusOut.m_stateLoggingResultArgs.m_loggingUniqueId = loggerUid; } } if (clientCmd.m_stateLoggingArguments.m_logType == STATE_LOGGING_MINITAUR) { std::string fileName = clientCmd.m_stateLoggingArguments.m_fileName; //either provide the minitaur by object unique Id, or search for first multibody with 8 motors... if ((clientCmd.m_updateFlags & STATE_LOGGING_FILTER_OBJECT_UNIQUE_ID) && (clientCmd.m_stateLoggingArguments.m_numBodyUniqueIds > 0)) { int bodyUniqueId = clientCmd.m_stateLoggingArguments.m_bodyUniqueIds[0]; InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); if (body) { if (body->m_multiBody) { btAlignedObjectArray motorNames; motorNames.push_back("motor_front_leftR_joint"); motorNames.push_back("motor_front_leftL_joint"); motorNames.push_back("motor_back_leftR_joint"); motorNames.push_back("motor_back_leftL_joint"); motorNames.push_back("motor_front_rightL_joint"); motorNames.push_back("motor_front_rightR_joint"); motorNames.push_back("motor_back_rightL_joint"); motorNames.push_back("motor_back_rightR_joint"); btAlignedObjectArray motorIdList; for (int m = 0; m < motorNames.size(); m++) { for (int i = 0; i < body->m_multiBody->getNumLinks(); i++) { std::string jointName; if (body->m_multiBody->getLink(i).m_jointName) { jointName = body->m_multiBody->getLink(i).m_jointName; } if (motorNames[m] == jointName) { motorIdList.push_back(i); } } } if (motorIdList.size() == 8) { int loggerUid = m_data->m_stateLoggersUniqueId++; MinitaurStateLogger* logger = new MinitaurStateLogger(loggerUid, fileName, body->m_multiBody, motorIdList); m_data->m_stateLoggers.push_back(logger); serverStatusOut.m_type = CMD_STATE_LOGGING_START_COMPLETED; serverStatusOut.m_stateLoggingResultArgs.m_loggingUniqueId = loggerUid; } } } } } if (clientCmd.m_stateLoggingArguments.m_logType == STATE_LOGGING_GENERIC_ROBOT) { std::string fileName = clientCmd.m_stateLoggingArguments.m_fileName; int loggerUid = m_data->m_stateLoggersUniqueId++; int maxLogDof = 12; if ((clientCmd.m_updateFlags & STATE_LOGGING_MAX_LOG_DOF)) { maxLogDof = clientCmd.m_stateLoggingArguments.m_maxLogDof; } int logFlags = 0; if (clientCmd.m_updateFlags & STATE_LOGGING_LOG_FLAGS) { logFlags = clientCmd.m_stateLoggingArguments.m_logFlags; } GenericRobotStateLogger* logger = new GenericRobotStateLogger(loggerUid, fileName, m_data->m_dynamicsWorld, maxLogDof, logFlags); if ((clientCmd.m_updateFlags & STATE_LOGGING_FILTER_OBJECT_UNIQUE_ID) && (clientCmd.m_stateLoggingArguments.m_numBodyUniqueIds > 0)) { logger->m_filterObjectUniqueId = true; for (int i = 0; i < clientCmd.m_stateLoggingArguments.m_numBodyUniqueIds; ++i) { int objectUniqueId = clientCmd.m_stateLoggingArguments.m_bodyUniqueIds[i]; logger->m_bodyIdList.push_back(objectUniqueId); } } m_data->m_stateLoggers.push_back(logger); serverStatusOut.m_type = CMD_STATE_LOGGING_START_COMPLETED; serverStatusOut.m_stateLoggingResultArgs.m_loggingUniqueId = loggerUid; } if (clientCmd.m_stateLoggingArguments.m_logType == STATE_LOGGING_CONTACT_POINTS) { std::string fileName = clientCmd.m_stateLoggingArguments.m_fileName; int loggerUid = m_data->m_stateLoggersUniqueId++; ContactPointsStateLogger* logger = new ContactPointsStateLogger(loggerUid, fileName, m_data->m_dynamicsWorld); if ((clientCmd.m_updateFlags & STATE_LOGGING_FILTER_LINK_INDEX_A) && clientCmd.m_stateLoggingArguments.m_linkIndexA >= -1) { logger->m_filterLinkA = true; logger->m_linkIndexA = clientCmd.m_stateLoggingArguments.m_linkIndexA; } if ((clientCmd.m_updateFlags & STATE_LOGGING_FILTER_LINK_INDEX_B) && clientCmd.m_stateLoggingArguments.m_linkIndexB >= -1) { logger->m_filterLinkB = true; logger->m_linkIndexB = clientCmd.m_stateLoggingArguments.m_linkIndexB; } if ((clientCmd.m_updateFlags & STATE_LOGGING_FILTER_BODY_UNIQUE_ID_A) && clientCmd.m_stateLoggingArguments.m_bodyUniqueIdA > -1) { logger->m_bodyUniqueIdA = clientCmd.m_stateLoggingArguments.m_bodyUniqueIdA; } if ((clientCmd.m_updateFlags & STATE_LOGGING_FILTER_BODY_UNIQUE_ID_B) && clientCmd.m_stateLoggingArguments.m_bodyUniqueIdB > -1) { logger->m_bodyUniqueIdB = clientCmd.m_stateLoggingArguments.m_bodyUniqueIdB; } m_data->m_stateLoggers.push_back(logger); serverStatusOut.m_type = CMD_STATE_LOGGING_START_COMPLETED; serverStatusOut.m_stateLoggingResultArgs.m_loggingUniqueId = loggerUid; } if (clientCmd.m_stateLoggingArguments.m_logType == STATE_LOGGING_VR_CONTROLLERS) { std::string fileName = clientCmd.m_stateLoggingArguments.m_fileName; int loggerUid = m_data->m_stateLoggersUniqueId++; int deviceFilterType = VR_DEVICE_CONTROLLER; if (clientCmd.m_updateFlags & STATE_LOGGING_FILTER_DEVICE_TYPE) { deviceFilterType = clientCmd.m_stateLoggingArguments.m_deviceFilterType; } VRControllerStateLogger* logger = new VRControllerStateLogger(loggerUid, deviceFilterType, fileName); m_data->m_stateLoggers.push_back(logger); serverStatusOut.m_type = CMD_STATE_LOGGING_START_COMPLETED; serverStatusOut.m_stateLoggingResultArgs.m_loggingUniqueId = loggerUid; } } if ((clientCmd.m_updateFlags & STATE_LOGGING_STOP_LOG) && clientCmd.m_stateLoggingArguments.m_loggingUniqueId >= 0) { if (clientCmd.m_stateLoggingArguments.m_loggingUniqueId == m_data->m_logPlaybackUid) { if (m_data->m_logPlayback) { delete m_data->m_logPlayback; m_data->m_logPlayback = 0; m_data->m_logPlaybackUid = -1; } } if (clientCmd.m_stateLoggingArguments.m_loggingUniqueId == m_data->m_commandLoggingUid) { if (m_data->m_commandLogger) { enableCommandLogging(false, 0); serverStatusOut.m_type = CMD_STATE_LOGGING_COMPLETED; m_data->m_commandLoggingUid = -1; } } if (clientCmd.m_stateLoggingArguments.m_loggingUniqueId == m_data->m_profileTimingLoggingUid) { serverStatusOut.m_type = CMD_STATE_LOGGING_COMPLETED; b3ChromeUtilsStopTimingsAndWriteJsonFile(m_data->m_profileTimingFileName.c_str()); m_data->m_profileTimingLoggingUid = -1; } else { serverStatusOut.m_type = CMD_STATE_LOGGING_COMPLETED; for (int i = 0; i < m_data->m_stateLoggers.size(); i++) { if (m_data->m_stateLoggers[i]->m_loggingUniqueId == clientCmd.m_stateLoggingArguments.m_loggingUniqueId) { m_data->m_stateLoggers[i]->stop(); delete m_data->m_stateLoggers[i]; m_data->m_stateLoggers.removeAtIndex(i); } } } } #endif return hasStatus; } bool PhysXServerCommandProcessor::processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) { // BT_PROFILE("processCommand"); int sz = sizeof(SharedMemoryStatus); int sz2 = sizeof(SharedMemoryCommand); bool hasStatus = false; serverStatusOut.m_type = CMD_INVALID_STATUS; serverStatusOut.m_numDataStreamBytes = 0; serverStatusOut.m_dataStream = 0; //consume the command switch (clientCmd.m_type) { case CMD_REQUEST_INTERNAL_DATA: { hasStatus = processRequestInternalDataCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes); break; }; case CMD_SYNC_BODY_INFO: { hasStatus = processSyncBodyInfoCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes); break; } case CMD_SYNC_USER_DATA: { hasStatus = processSyncUserDataCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes); break; } case CMD_REQUEST_BODY_INFO: { hasStatus = processRequestBodyInfoCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes); break; } case CMD_STEP_FORWARD_SIMULATION: { hasStatus = processForwardDynamicsCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes); break; } case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS: { hasStatus = processSendPhysicsParametersCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes); break; }; case CMD_REQUEST_ACTUAL_STATE: { hasStatus = processRequestActualStateCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes); break; } case CMD_RESET_SIMULATION: { hasStatus = processResetSimulationCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes); break; } default: { BT_PROFILE("CMD_UNKNOWN"); printf("Unknown command encountered: %d", clientCmd.m_type); SharedMemoryStatus& serverCmd = serverStatusOut; serverCmd.m_type = CMD_UNKNOWN_COMMAND_FLUSHED; hasStatus = true; } case CMD_LOAD_URDF: { hasStatus = processLoadURDFCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes); break; } case CMD_CUSTOM_COMMAND: { hasStatus = processCustomCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes); break; } case CMD_STATE_LOGGING: { hasStatus = processStateLoggingCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes); break; } #if 0 case CMD_SET_VR_CAMERA_STATE: { hasStatus = processSetVRCameraStateCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_REQUEST_VR_EVENTS_DATA: { hasStatus = processRequestVREventsCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; }; case CMD_REQUEST_MOUSE_EVENTS_DATA: { hasStatus = processRequestMouseEventsCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; }; case CMD_REQUEST_KEYBOARD_EVENTS_DATA: { hasStatus = processRequestKeyboardEventsCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; }; case CMD_REQUEST_RAY_CAST_INTERSECTIONS: { hasStatus = processRequestRaycastIntersectionsCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; }; case CMD_REQUEST_DEBUG_LINES: { hasStatus = processRequestDebugLinesCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_REQUEST_CAMERA_IMAGE_DATA: { hasStatus = processRequestCameraImageCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_REQUEST_BODY_INFO: { hasStatus = processRequestBodyInfoCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_SAVE_WORLD: { hasStatus = processSaveWorldCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_LOAD_SDF: { hasStatus = processLoadSDFCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_CREATE_COLLISION_SHAPE: { hasStatus = processCreateCollisionShapeCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_CREATE_VISUAL_SHAPE: { hasStatus = processCreateVisualShapeCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_CREATE_MULTI_BODY: { hasStatus = processCreateMultiBodyCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_SET_ADDITIONAL_SEARCH_PATH: { hasStatus = processSetAdditionalSearchPathCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_LOAD_MJCF: { hasStatus = processLoadMJCFCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes); break; } case CMD_LOAD_SOFT_BODY: { hasStatus = processLoadSoftBodyCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_CREATE_SENSOR: { hasStatus = processCreateSensorCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_PROFILE_TIMING: { hasStatus = processProfileTimingCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_SEND_DESIRED_STATE: { hasStatus = processSendDesiredStateCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_REQUEST_COLLISION_INFO: { hasStatus = processRequestCollisionInfoCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_CHANGE_DYNAMICS_INFO: { hasStatus = processChangeDynamicsInfoCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; }; case CMD_GET_DYNAMICS_INFO: { hasStatus = processGetDynamicsInfoCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS: { hasStatus = processRequestPhysicsSimulationParametersCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_INIT_POSE: { hasStatus = processInitPoseCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_CREATE_RIGID_BODY: { hasStatus = processCreateRigidBodyCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_CREATE_BOX_COLLISION_SHAPE: { //for backward compatibility, CMD_CREATE_BOX_COLLISION_SHAPE is the same as CMD_CREATE_RIGID_BODY hasStatus = processCreateRigidBodyCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_PICK_BODY: { hasStatus = processPickBodyCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_MOVE_PICKED_BODY: { hasStatus = processMovePickedBodyCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_REMOVE_PICKING_CONSTRAINT_BODY: { hasStatus = processRemovePickingConstraintCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_REQUEST_AABB_OVERLAP: { hasStatus = processRequestAabbOverlapCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_REQUEST_OPENGL_VISUALIZER_CAMERA: { hasStatus = processRequestOpenGLVisualizeCameraCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_CONFIGURE_OPENGL_VISUALIZER: { hasStatus = processConfigureOpenGLVisualizerCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_REQUEST_CONTACT_POINT_INFORMATION: { hasStatus = processRequestContactpointInformationCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_CALCULATE_INVERSE_DYNAMICS: { hasStatus = processInverseDynamicsCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_CALCULATE_JACOBIAN: { hasStatus = processCalculateJacobianCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_CALCULATE_MASS_MATRIX: { hasStatus = processCalculateMassMatrixCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_APPLY_EXTERNAL_FORCE: { hasStatus = processApplyExternalForceCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_REMOVE_BODY: { hasStatus = processRemoveBodyCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_USER_CONSTRAINT: { hasStatus = processCreateUserConstraintCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_CALCULATE_INVERSE_KINEMATICS: { hasStatus = processCalculateInverseKinematicsCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_REQUEST_VISUAL_SHAPE_INFO: { hasStatus = processRequestVisualShapeInfoCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_REQUEST_COLLISION_SHAPE_INFO: { hasStatus = processRequestCollisionShapeInfoCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes); break; } case CMD_UPDATE_VISUAL_SHAPE: { hasStatus = processUpdateVisualShapeCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_CHANGE_TEXTURE: { hasStatus = processChangeTextureCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_LOAD_TEXTURE: { hasStatus = processLoadTextureCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_RESTORE_STATE: { hasStatus = processRestoreStateCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes); break; } case CMD_SAVE_STATE: { hasStatus = processSaveStateCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes); break; } case CMD_LOAD_BULLET: { hasStatus = processLoadBulletCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_SAVE_BULLET: { hasStatus = processSaveBulletCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_LOAD_MJCF: { hasStatus = processLoadMJCFCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_USER_DEBUG_DRAW: { hasStatus = processUserDebugDrawCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_REQUEST_USER_DATA: { hasStatus = processRequestUserDataCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_ADD_USER_DATA: { hasStatus = processAddUserDataCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } case CMD_REMOVE_USER_DATA: { hasStatus = processRemoveUserDataCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes); break; } #endif }; return hasStatus; } bool PhysXServerCommandProcessor::processRequestInternalDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) { bool hasStatus = true; BT_PROFILE("CMD_REQUEST_INTERNAL_DATA"); SharedMemoryStatus& serverCmd = serverStatusOut; serverCmd.m_type = CMD_REQUEST_INTERNAL_DATA_COMPLETED; serverCmd.m_numDataStreamBytes = 0; return hasStatus; } bool PhysXServerCommandProcessor::processSyncBodyInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) { bool hasStatus = true; BT_PROFILE("CMD_SYNC_BODY_INFO"); int actualNumBodies = 0; serverStatusOut.m_sdfLoadedArgs.m_numBodies = 0; serverStatusOut.m_sdfLoadedArgs.m_numUserConstraints = 0; serverStatusOut.m_type = CMD_SYNC_BODY_INFO_COMPLETED; return hasStatus; } bool PhysXServerCommandProcessor::processSyncUserDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) { bool hasStatus = true; BT_PROFILE("CMD_SYNC_USER_DATA"); int numIdentifiers = 0; serverStatusOut.m_syncUserDataArgs.m_numUserDataIdentifiers = numIdentifiers; serverStatusOut.m_type = CMD_SYNC_USER_DATA_COMPLETED; return hasStatus; } struct MyPhysXURDFImporter : public PhysXURDFImporter { b3PluginManager& m_pluginManager; MyPhysXURDFImporter(struct CommonFileIOInterface* fileIO, double globalScaling, int flags, b3PluginManager& pluginManager) :PhysXURDFImporter(fileIO, globalScaling, flags), m_pluginManager(pluginManager) { } int convertLinkVisualShapes3( int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int collisionObjectUniqueId, int bodyUniqueId, struct CommonFileIOInterface* fileIO) const { if (m_pluginManager.getRenderInterface()) { int graphicsUniqueId = m_pluginManager.getRenderInterface()->convertVisualShapes(linkIndex, pathPrefix, localInertiaFrame, linkPtr, model, collisionObjectUniqueId, bodyUniqueId, fileIO); return graphicsUniqueId; } return 0; } }; bool PhysXServerCommandProcessor::processLoadURDFCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) { BT_PROFILE("CMD_LOAD_URDF"); serverStatusOut.m_type = CMD_URDF_LOADING_FAILED; serverStatusOut.m_numDataStreamBytes = 0; const UrdfArgs& urdfArgs = clientCmd.m_urdfArguments; btAssert(m_data->m_foundation); if (!m_data->m_foundation) { b3Error("loadUrdf: No valid m_dynamicsWorld"); return false; } bool useMultiBody = (clientCmd.m_updateFlags & URDF_ARGS_USE_MULTIBODY) ? (urdfArgs.m_useMultiBody != 0) : true; bool useFixedBase = (clientCmd.m_updateFlags & URDF_ARGS_USE_FIXED_BASE) ? (urdfArgs.m_useFixedBase != 0) : false; btScalar globalScaling = 1.f; if (clientCmd.m_updateFlags & URDF_ARGS_USE_GLOBAL_SCALING) { globalScaling = urdfArgs.m_globalScaling; } b3BulletDefaultFileIO fileIO; btVector3 initialPos(0, 0, 0); btQuaternion initialOrn(0, 0, 0, 1); if (clientCmd.m_updateFlags & URDF_ARGS_INITIAL_POSITION) { initialPos[0] = urdfArgs.m_initialPosition[0]; initialPos[1] = urdfArgs.m_initialPosition[1]; initialPos[2] = urdfArgs.m_initialPosition[2]; } int urdfFlags = 0; if (clientCmd.m_updateFlags & URDF_ARGS_HAS_CUSTOM_URDF_FLAGS) { urdfFlags = urdfArgs.m_urdfFlags; } if (clientCmd.m_updateFlags & URDF_ARGS_INITIAL_ORIENTATION) { initialOrn[0] = urdfArgs.m_initialOrientation[0]; initialOrn[1] = urdfArgs.m_initialOrientation[1]; initialOrn[2] = urdfArgs.m_initialOrientation[2]; initialOrn[3] = urdfArgs.m_initialOrientation[3]; } MyPhysXURDFImporter u2p(&fileIO, globalScaling, urdfArgs.m_urdfFlags, m_data->m_pluginManager); bool loadOk = u2p.loadURDF(urdfArgs.m_urdfFileName, useFixedBase); if (loadOk) { for (int m = 0; m < u2p.getNumModels(); m++) { u2p.activateModel(m); btTransform rootTrans; rootTrans.setOrigin(initialPos); rootTrans.setRotation(initialOrn); u2p.setRootTransformInWorld(rootTrans); //get a body index int bodyUniqueId = m_data->m_bodyHandles.allocHandle(); InternalPhysXBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId); //sd.m_bodyUniqueIds.push_back(bodyUniqueId); u2p.setBodyUniqueId(bodyUniqueId); { btScalar mass = 0; //bodyHandle->m_rootLocalInertialFrame.setIdentity(); bodyHandle->m_bodyName = u2p.getBodyName(); btVector3 localInertiaDiagonal(0, 0, 0); int urdfLinkIndex = u2p.getRootLinkIndex(); //u2p.getMassAndInertia2((urdfLinkIndex, mass, localInertiaDiagonal, bodyHandle->m_rootLocalInertialFrame, flags); } physx::PxArticulationReducedCoordinate* articulation = URDF2PhysX(m_data->m_foundation,m_data->m_physics, m_data->m_cooking, m_data->m_scene, u2p, urdfArgs.m_urdfFlags, u2p.getPathPrefix(), rootTrans, &fileIO); if (articulation) { bodyHandle->mArticulation = articulation; serverStatusOut.m_type = CMD_URDF_LOADING_COMPLETED; serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId; sprintf(serverStatusOut.m_dataStreamArguments.m_bodyName, "%s", bodyHandle->m_bodyName.c_str()); btDefaultSerializer ser(bufferSizeInBytes, (unsigned char*)bufferServerToClient); ser.startSerialization(); int len = sizeof(btMultiBodyData); btChunk* chunk = ser.allocate(len, 1); btMultiBodyData *mbd = (btMultiBodyData *)chunk->m_oldPtr; btTransform rootTrans; u2p.getRootTransformInWorld(rootTrans); rootTrans.getOrigin().serialize(mbd->m_baseWorldPosition); rootTrans.getRotation().serialize(mbd->m_baseWorldOrientation); btVector3 zero(0, 0, 0); zero.serialize(mbd->m_baseLinearVelocity); zero.serialize(mbd->m_baseAngularVelocity); ser.registerNameForPointer(bodyHandle->m_bodyName.c_str(), bodyHandle->m_bodyName.c_str()); { char *name = (char *)ser.findNameForPointer(bodyHandle->m_bodyName.c_str()); mbd->m_baseName = (char *)ser.getUniquePointer(name); if (mbd->m_baseName) { ser.serializeName(name); } } mbd->m_numLinks = articulation->getNbLinks()-1; if (mbd->m_numLinks) { int sz = sizeof(btMultiBodyLinkData); int numElem = mbd->m_numLinks; btChunk *chunk = ser.allocate(sz, numElem); physx::PxArticulationLink* physxLinks[64]; physx::PxU32 bufferSize = 64; physx::PxU32 startIndex = 0; int numLinks2 = articulation->getLinks(physxLinks, bufferSize, startIndex); btMultiBodyLinkData *memPtr = (btMultiBodyLinkData *)chunk->m_oldPtr; for (int j = 0; j < numElem; j++, memPtr++) { int i = j + 1; memPtr->m_jointType = 0;//todo memPtr->m_dofCount = physxLinks[i]->getInboundJointDof(); memPtr->m_posVarCount = physxLinks[i]->getInboundJointDof(); //?? physx::PxVec3 li = physxLinks[i]->getMassSpaceInertiaTensor(); btVector3 localInertia(li[0], li[1], li[2]); localInertia.serialize(memPtr->m_linkInertia); memPtr->m_linkMass = physxLinks[i]->getMass(); memPtr->m_parentIndex = i>0? physxLinks[i]->getInboundJoint()->getParentArticulationLink().getLinkIndex(): -1; memPtr->m_jointDamping = 0;//todophysxLinks[i]->getLinearDamping();//?? memPtr->m_jointFriction = 0;//todo memPtr->m_jointLowerLimit = 0;//todogetLink(i).m_jointLowerLimit; memPtr->m_jointUpperLimit = 0;//todogetLink(i).m_jointUpperLimit; memPtr->m_jointMaxForce = 0;//todogetLink(i).m_jointMaxForce; memPtr->m_jointMaxVelocity = 0;//todogetLink(i).m_jointMaxVelocity; //getLink(i).m_eVector.serialize(memPtr->m_parentComToThisPivotOffset); //getLink(i).m_dVector.serialize(memPtr->m_thisPivotToThisComOffset); //getLink(i).m_zeroRotParentToThis.serialize(memPtr->m_zeroRotParentToThis); { char *name = (char *)ser.findNameForPointer(physxLinks[i]->getName()); memPtr->m_linkName = (char *)ser.getUniquePointer(name); if (memPtr->m_linkName) { ser.serializeName(name); } } { char *name = (char *)ser.findNameForPointer(physxLinks[i]->getName()); memPtr->m_jointName = (char *)ser.getUniquePointer(name); if (memPtr->m_jointName) { ser.serializeName(name); } } memPtr->m_linkCollider = (btCollisionObjectData *)ser.getUniquePointer(0); } ser.finalizeChunk(chunk, btMultiBodyLinkDataName, BT_ARRAY_CODE, (void *)articulation); } mbd->m_links = mbd->m_numLinks ? (btMultiBodyLinkData *)ser.getUniquePointer((void *)articulation) : 0; // Fill padding with zeros to appease msan. #ifdef BT_USE_DOUBLE_PRECISION memset(mbd->m_padding, 0, sizeof(mbd->m_padding)); #endif const char* structType = btMultiBodyDataName; ser.finalizeChunk(chunk, structType, BT_MULTIBODY_CODE,0); int streamSizeInBytes = ser.getCurrentBufferSize(); serverStatusOut.m_numDataStreamBytes = streamSizeInBytes; } } #if 0 btTransform rootTrans; rootTrans.setOrigin(pos); rootTrans.setRotation(orn); u2b.setRootTransformInWorld(rootTrans); bool ok = processImportedObjects(fileName, bufferServerToClient, bufferSizeInBytes, useMultiBody, flags, u2b); if (ok) { if (m_data->m_sdfRecentLoadedBodies.size() == 1) { *bodyUniqueIdPtr = m_data->m_sdfRecentLoadedBodies[0]; } m_data->m_sdfRecentLoadedBodies.clear(); } #endif return true; } return false; } bool PhysXServerCommandProcessor::processRequestBodyInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) { bool hasStatus = true; BT_PROFILE("CMD_REQUEST_BODY_INFO"); const SdfRequestInfoArgs& sdfInfoArgs = clientCmd.m_sdfRequestInfoArgs; //stream info into memory int streamSizeInBytes = 0; //createBodyInfoStream(sdfInfoArgs.m_bodyUniqueId, bufferServerToClient, bufferSizeInBytes); serverStatusOut.m_type = CMD_BODY_INFO_COMPLETED; serverStatusOut.m_numDataStreamBytes = streamSizeInBytes; return hasStatus; } bool PhysXServerCommandProcessor::processForwardDynamicsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) { bool hasStatus = true; BT_PROFILE("CMD_STEP_FORWARD_SIMULATION"); int numArt = m_data->m_scene->getNbArticulations(); { B3_PROFILE("PhysX_simulate_fetchResults"); m_data->m_scene->simulate(m_data->m_physicsDeltaTime); m_data->m_scene->fetchResults(true); } { B3_PROFILE("syncTransform"); if (m_data->m_pluginManager.getRenderInterface()) { //sync transforms... b3AlignedObjectArray usedHandles; m_data->m_bodyHandles.getUsedHandles(usedHandles); for (int i = 0; i < usedHandles.size(); i++) { InternalPhysXBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(usedHandles[i]); physx::PxArticulationLink* physxLinks[64]; physx::PxU32 bufferSize = 64; physx::PxU32 startIndex = 0; int numLinks2 = bodyHandle->mArticulation->getLinks(physxLinks, bufferSize, startIndex); for (int l = 0; l < numLinks2; l++) { MyPhysXUserData* ud = (MyPhysXUserData*)physxLinks[l]->userData; if (ud) { btTransform tr; tr.setIdentity(); physx::PxTransform pt = physxLinks[l]->getGlobalPose(); tr.setOrigin(btVector3(pt.p[0], pt.p[1], pt.p[2])); tr.setRotation(btQuaternion(pt.q.x, pt.q.y, pt.q.z, pt.q.w)); btVector3 localScaling(1, 1, 1);//?? m_data->m_pluginManager.getRenderInterface()->syncTransform(ud->m_graphicsUniqueId, tr, localScaling); } } } } { B3_PROFILE("render"); //m_data->m_pluginManager.getRenderInterface()->render(); unsigned char* pixelRGBA = 0; int numRequestedPixels = 0; float* depthBuffer = 0; int* segmentationMaskBuffer = 0; int startPixelIndex = 0; int width = 1024; int height = 768; int numPixelsCopied = 0; m_data->m_pluginManager.getRenderInterface()->copyCameraImageData(pixelRGBA, numRequestedPixels, depthBuffer, numRequestedPixels, segmentationMaskBuffer, numRequestedPixels, startPixelIndex, &width, &height, &numPixelsCopied); } } SharedMemoryStatus& serverCmd = serverStatusOut; serverCmd.m_type = CMD_STEP_FORWARD_SIMULATION_COMPLETED; return hasStatus; } bool PhysXServerCommandProcessor::processSendPhysicsParametersCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) { bool hasStatus = true; BT_PROFILE("CMD_SEND_PHYSICS_SIMULATION_PARAMETERS"); if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_DELTA_TIME) { m_data->m_physicsDeltaTime = clientCmd.m_physSimParamArgs.m_deltaTime; } if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_GRAVITY) { btVector3 grav(clientCmd.m_physSimParamArgs.m_gravityAcceleration[0], clientCmd.m_physSimParamArgs.m_gravityAcceleration[1], clientCmd.m_physSimParamArgs.m_gravityAcceleration[2]); m_data->m_scene->setGravity(physx::PxVec3(grav[0], grav[1], grav[2])); if (m_data->m_verboseOutput) { b3Printf("Updated Gravity: %f,%f,%f", grav[0], grav[1], grav[2]); } } #if 0 if (clientCmd.m_updateFlags & SIM_PARAM_ENABLE_CONE_FRICTION) { if (clientCmd.m_physSimParamArgs.m_enableConeFriction) { m_data->m_dynamicsWorld->getSolverInfo().m_solverMode &=~SOLVER_DISABLE_IMPLICIT_CONE_FRICTION; } else { m_data->m_dynamicsWorld->getSolverInfo().m_solverMode |=SOLVER_DISABLE_IMPLICIT_CONE_FRICTION; } } if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DETERMINISTIC_OVERLAPPING_PAIRS) { m_data->m_dynamicsWorld->getDispatchInfo().m_deterministicOverlappingPairs = (clientCmd.m_physSimParamArgs.m_deterministicOverlappingPairs!=0); } if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_CCD_ALLOWED_PENETRATION) { m_data->m_dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration = clientCmd.m_physSimParamArgs.m_allowedCcdPenetration; } if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_JOINT_FEEDBACK_MODE) { gJointFeedbackInWorldSpace = (clientCmd.m_physSimParamArgs.m_jointFeedbackMode&JOINT_FEEDBACK_IN_WORLD_SPACE)!=0; gJointFeedbackInJointFrame = (clientCmd.m_physSimParamArgs.m_jointFeedbackMode&JOINT_FEEDBACK_IN_JOINT_FRAME)!=0; } if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_REAL_TIME_SIMULATION) { m_data->m_useRealTimeSimulation = (clientCmd.m_physSimParamArgs.m_useRealTimeSimulation!=0); } //see if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_INTERNAL_SIMULATION_FLAGS) { //these flags are for internal/temporary/easter-egg/experimental demo purposes, use at own risk gInternalSimFlags = clientCmd.m_physSimParamArgs.m_internalSimFlags; } if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS) { m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = clientCmd.m_physSimParamArgs.m_numSolverIterations; } if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_SOLVER_RESIDULAL_THRESHOLD) { m_data->m_dynamicsWorld->getSolverInfo().m_leastSquaresResidualThreshold = clientCmd.m_physSimParamArgs.m_solverResidualThreshold; } if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_CONTACT_BREAKING_THRESHOLD) { gContactBreakingThreshold = clientCmd.m_physSimParamArgs.m_contactBreakingThreshold; } if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_CONTACT_SLOP) { m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = clientCmd.m_physSimParamArgs.m_contactSlop; } if (clientCmd.m_updateFlags&SIM_PARAM_ENABLE_SAT) { m_data->m_dynamicsWorld->getDispatchInfo().m_enableSatConvex = clientCmd.m_physSimParamArgs.m_enableSAT!=0; } if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_COLLISION_FILTER_MODE) { m_data->m_broadphaseCollisionFilterCallback->m_filterMode = clientCmd.m_physSimParamArgs.m_collisionFilterMode; } if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_USE_SPLIT_IMPULSE) { m_data->m_dynamicsWorld->getSolverInfo().m_splitImpulse = clientCmd.m_physSimParamArgs.m_useSplitImpulse; } if (clientCmd.m_updateFlags &SIM_PARAM_UPDATE_SPLIT_IMPULSE_PENETRATION_THRESHOLD) { m_data->m_dynamicsWorld->getSolverInfo().m_splitImpulsePenetrationThreshold = clientCmd.m_physSimParamArgs.m_splitImpulsePenetrationThreshold; } if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_NUM_SIMULATION_SUB_STEPS) { m_data->m_numSimulationSubSteps = clientCmd.m_physSimParamArgs.m_numSimulationSubSteps; } if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DEFAULT_CONTACT_ERP) { m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = clientCmd.m_physSimParamArgs.m_defaultContactERP; } if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DEFAULT_NON_CONTACT_ERP) { m_data->m_dynamicsWorld->getSolverInfo().m_erp = clientCmd.m_physSimParamArgs.m_defaultNonContactERP; } if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DEFAULT_FRICTION_ERP) { m_data->m_dynamicsWorld->getSolverInfo().m_frictionERP = clientCmd.m_physSimParamArgs.m_frictionERP; } if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DEFAULT_GLOBAL_CFM) { m_data->m_dynamicsWorld->getSolverInfo().m_globalCfm = clientCmd.m_physSimParamArgs.m_defaultGlobalCFM; } if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DEFAULT_FRICTION_CFM) { m_data->m_dynamicsWorld->getSolverInfo().m_frictionCFM = clientCmd.m_physSimParamArgs.m_frictionCFM; } if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_RESTITUTION_VELOCITY_THRESHOLD) { m_data->m_dynamicsWorld->getSolverInfo().m_restitutionVelocityThreshold = clientCmd.m_physSimParamArgs.m_restitutionVelocityThreshold; } if (clientCmd.m_updateFlags&SIM_PARAM_ENABLE_FILE_CACHING) { b3EnableFileCaching(clientCmd.m_physSimParamArgs.m_enableFileCaching); } #endif SharedMemoryStatus& serverCmd = serverStatusOut; serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED; return hasStatus; } bool PhysXServerCommandProcessor::processRequestActualStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) { bool hasStatus = true; serverStatusOut.m_type = CMD_ACTUAL_STATE_UPDATE_FAILED; int bodyUniqueId = clientCmd.m_requestActualStateInformationCommandArgument.m_bodyUniqueId; InternalPhysXBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId); if (bodyHandle->mArticulation) { BT_PROFILE("CMD_REQUEST_ACTUAL_STATE"); if (m_data->m_verboseOutput) { b3Printf("Sending the actual state (Q,U)"); } { SharedMemoryStatus& serverCmd = serverStatusOut; serverStatusOut.m_type = CMD_ACTUAL_STATE_UPDATE_COMPLETED; serverCmd.m_sendActualStateArgs.m_bodyUniqueId = bodyUniqueId; serverCmd.m_sendActualStateArgs.m_numLinks = bodyHandle->mArticulation->getNbLinks()-1; //skip base! int totalDegreeOfFreedomQ = 0; int totalDegreeOfFreedomU = 0; if (serverCmd.m_sendActualStateArgs.m_numLinks >= MAX_DEGREE_OF_FREEDOM) { serverStatusOut.m_type = CMD_ACTUAL_STATE_UPDATE_FAILED; hasStatus = true; return hasStatus; } bool computeForwardKinematics = ((clientCmd.m_updateFlags & ACTUAL_STATE_COMPUTE_FORWARD_KINEMATICS) != 0); bool computeLinkVelocities = ((clientCmd.m_updateFlags & ACTUAL_STATE_COMPUTE_LINKVELOCITY) != 0); if (computeForwardKinematics || computeLinkVelocities) { //todo:check this } physx::PxArticulationLink* physxLinks[64]; physx::PxU32 bufferSize = 64; physx::PxU32 startIndex = 0; int numLinks2 = bodyHandle->mArticulation->getLinks(physxLinks, bufferSize, startIndex); //always add the base, even for static (non-moving objects) //so that we can easily move the 'fixed' base when needed //do we don't use this conditional "if (!mb->hasFixedBase())" { int rootLink = 0; //todo check serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[0] = 0; serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[1] = 0; serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[2] = 0; serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[3] = 0; serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[4] = 0; serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[5] = 0; serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[6] = 1; physx::PxArticulationLink* l = physxLinks[0]; physx::PxVec3 pos = l->getGlobalPose().p; physx::PxQuat orn = l->getGlobalPose().q; //base position in world space, carthesian serverCmd.m_sendActualStateArgs.m_actualStateQ[0] = pos[0]; serverCmd.m_sendActualStateArgs.m_actualStateQ[1] = pos[1]; serverCmd.m_sendActualStateArgs.m_actualStateQ[2] = pos[2]; //base orientation, quaternion x,y,z,w, in world space, carthesian serverCmd.m_sendActualStateArgs.m_actualStateQ[3] = orn.x; serverCmd.m_sendActualStateArgs.m_actualStateQ[4] = orn.y; serverCmd.m_sendActualStateArgs.m_actualStateQ[5] = orn.z; serverCmd.m_sendActualStateArgs.m_actualStateQ[6] = orn.w; totalDegreeOfFreedomQ += 7; //pos + quaternion //base linear velocity (in world space, carthesian) serverCmd.m_sendActualStateArgs.m_actualStateQdot[0] = 0;//cvel[3]; //mb->getBaseVel()[0]; serverCmd.m_sendActualStateArgs.m_actualStateQdot[1] = 0;//cvel[4]; //mb->getBaseVel()[1]; serverCmd.m_sendActualStateArgs.m_actualStateQdot[2] = 0;//cvel[5]; //mb->getBaseVel()[2]; //base angular velocity (in world space, carthesian) serverCmd.m_sendActualStateArgs.m_actualStateQdot[3] = 0;//cvel[0]; //mb->getBaseOmega()[0]; serverCmd.m_sendActualStateArgs.m_actualStateQdot[4] = 0;//cvel[1]; //mb->getBaseOmega()[1]; serverCmd.m_sendActualStateArgs.m_actualStateQdot[5] = 0;//cvel[2]; //mb->getBaseOmega()[2]; totalDegreeOfFreedomU += 6; //3 linear and 3 angular DOF } //btAlignedObjectArray omega; //btAlignedObjectArray linVel; int numLinks = 0;// m_data->m_mujocoModel->body_jntnum[bodyUniqueId]; for (int l = 0; l < numLinks; l++) { //int type = (m_data->m_mujocoModel->jnt_type + m_data->m_mujocoModel->body_jntnum[bodyUniqueId])[l]; //int type=(m_data->m_mujocoModel->jnt_type+m_data->m_mujocoModel->body_jntnum[bodyUniqueId])[l]; #if 0 physx::PxArticulationCache* c = bodyHandle->mArticulation->createCache(); if (c) { c->jointVelocity[0] = 1; bodyHandle->mArticulation->applyCache(*c, physx::PxArticulationCache::eVELOCITY); bodyHandle->mArticulation->releaseCache(*c); } #endif #if 0 mjtNum* xpos = for (int d=0;dgetLink(l).m_posVarCount;d++) { serverCmd.m_sendActualStateArgs.m_actualStateQ[totalDegreeOfFreedomQ++] = 0; } for (int d=0;dgetLink(l).m_dofCount;d++) { serverCmd.m_sendActualStateArgs.m_actualStateQdot[totalDegreeOfFreedomU++] = 0; } if (0 == mb->getLink(l).m_jointFeedback) { for (int d=0;d<6;d++) { serverCmd.m_sendActualStateArgs.m_jointReactionForces[l*6+d]=0; } } else { serverCmd.m_sendActualStateArgs.m_jointReactionForces[l*6+0] = 0; serverCmd.m_sendActualStateArgs.m_jointReactionForces[l*6+1] = 0; serverCmd.m_sendActualStateArgs.m_jointReactionForces[l*6+2] = 0; serverCmd.m_sendActualStateArgs.m_jointReactionForces[l*6+3] = 0; serverCmd.m_sendActualStateArgs.m_jointReactionForces[l*6+4] = 0; serverCmd.m_sendActualStateArgs.m_jointReactionForces[l*6+5] = 0; } serverCmd.m_sendActualStateArgs.m_jointMotorForce[l] = 0; #if 0 if (supportsJointMotor(mb,l)) { if (motor && m_data->m_physicsDeltaTime>btScalar(0)) { serverCmd.m_sendActualStateArgs.m_jointMotorForce[l] = 0; } } #endif //btVector3 linkLocalInertialOrigin = body->m_linkLocalInertialFrames[l].getOrigin(); //btQuaternion linkLocalInertialRotation = body->m_linkLocalInertialFrames[l].getRotation(); //btVector3 linkCOMOrigin = mb->getLink(l).m_cachedWorldTransform.getOrigin(); //btQuaternion linkCOMRotation = mb->getLink(l).m_cachedWorldTransform.getRotation(); serverCmd.m_sendActualStateArgs.m_linkState[l*7+0] = 0;//linkCOMOrigin.getX(); serverCmd.m_sendActualStateArgs.m_linkState[l*7+1] = 0;//linkCOMOrigin.getY(); serverCmd.m_sendActualStateArgs.m_linkState[l*7+2] = 0;//linkCOMOrigin.getZ(); serverCmd.m_sendActualStateArgs.m_linkState[l*7+3] = 0;//linkCOMRotation.x(); serverCmd.m_sendActualStateArgs.m_linkState[l*7+4] = 0;//linkCOMRotation.y(); serverCmd.m_sendActualStateArgs.m_linkState[l*7+5] = 0;//linkCOMRotation.z(); serverCmd.m_sendActualStateArgs.m_linkState[l*7+6] = 1;//linkCOMRotation.w(); #if 0 btVector3 worldLinVel(0,0,0); btVector3 worldAngVel(0,0,0); if (computeLinkVelocities) { const btMatrix3x3& linkRotMat = mb->getLink(l).m_cachedWorldTransform.getBasis(); worldLinVel = linkRotMat * linVel[l+1]; worldAngVel = linkRotMat * omega[l+1]; } #endif serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+0] = 0;//worldLinVel[0]; serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+1] = 0;//worldLinVel[1]; serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+2] = 0;//worldLinVel[2]; serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+3] = 0;//worldAngVel[0]; serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+4] = 0;//worldAngVel[1]; serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+5] = 0;//worldAngVel[2]; serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+0] = 0;//linkLocalInertialOrigin.getX(); serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+1] = 0;//linkLocalInertialOrigin.getY(); serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+2] = 0;//linkLocalInertialOrigin.getZ(); serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+3] = 0;//linkLocalInertialRotation.x(); serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+4] = 0;//linkLocalInertialRotation.y(); serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+5] = 0;//linkLocalInertialRotation.z(); serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+6] = 1;//linkLocalInertialRotation.w(); #endif } serverCmd.m_sendActualStateArgs.m_numDegreeOfFreedomQ = totalDegreeOfFreedomQ; serverCmd.m_sendActualStateArgs.m_numDegreeOfFreedomU = totalDegreeOfFreedomU; hasStatus = true; } } return hasStatus; } bool PhysXServerCommandProcessor::processResetSimulationCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) { bool hasStatus = true; BT_PROFILE("CMD_RESET_SIMULATION"); resetSimulation(); SharedMemoryStatus& serverCmd = serverStatusOut; serverCmd.m_type = CMD_RESET_SIMULATION_COMPLETED; return hasStatus; } bool PhysXServerCommandProcessor::receiveStatus(struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) { return false; } #endif //BT_ENABLE_PHYSX