a9b1544a9f
Expose inverse dynamics to Bullet shared memory API, through b3CalculateInverseDynamicsCommandInit and b3GetStatusInverseDynamicsJointForces command/status. See PhysicsClientExeample or pybullet for usage. Add option for Windows and Linux to set python_lib_dir and python_include_dir for premake and --enable_pybullet option Expose inverse dynamics to pybullet: [force] = p.calculateInverseDynamics(objectIndex,[q],[qdot],[acc]) Thanks to Jeff Bingham for the suggestion.
730 lines
26 KiB
C++
730 lines
26 KiB
C++
#include "PhysicsClientSharedMemory.h"
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#include "PosixSharedMemory.h"
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#include "Win32SharedMemory.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include "LinearMath/btVector3.h"
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#include <string.h>
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#include "Bullet3Common/b3Logging.h"
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#include "../Utils/b3ResourcePath.h"
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#include "../../Extras/Serialize/BulletFileLoader/btBulletFile.h"
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#include "../../Extras/Serialize/BulletFileLoader/autogenerated/bullet.h"
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#include "SharedMemoryBlock.h"
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#include "BodyJointInfoUtility.h"
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struct BodyJointInfoCache
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{
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btAlignedObjectArray<b3JointInfo> m_jointInfo;
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};
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struct PhysicsClientSharedMemoryInternalData {
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SharedMemoryInterface* m_sharedMemory;
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bool m_ownsSharedMemory;
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SharedMemoryBlock* m_testBlock1;
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btHashMap<btHashInt,BodyJointInfoCache*> m_bodyJointMap;
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btAlignedObjectArray<TmpFloat3> m_debugLinesFrom;
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btAlignedObjectArray<TmpFloat3> m_debugLinesTo;
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btAlignedObjectArray<TmpFloat3> m_debugLinesColor;
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int m_cachedCameraPixelsWidth;
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int m_cachedCameraPixelsHeight;
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btAlignedObjectArray<unsigned char> m_cachedCameraPixelsRGBA;
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btAlignedObjectArray<float> m_cachedCameraDepthBuffer;
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btAlignedObjectArray<int> m_bodyIdsRequestInfo;
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SharedMemoryStatus m_tempBackupServerStatus;
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SharedMemoryStatus m_lastServerStatus;
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int m_counter;
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bool m_isConnected;
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bool m_waitingForServer;
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bool m_hasLastServerStatus;
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int m_sharedMemoryKey;
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bool m_verboseOutput;
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PhysicsClientSharedMemoryInternalData()
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: m_sharedMemory(0),
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m_ownsSharedMemory(false),
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m_testBlock1(0),
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m_counter(0),
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m_cachedCameraPixelsWidth(0),
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m_cachedCameraPixelsHeight(0),
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m_isConnected(false),
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m_waitingForServer(false),
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m_hasLastServerStatus(false),
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m_sharedMemoryKey(SHARED_MEMORY_KEY),
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m_verboseOutput(false) {}
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void processServerStatus();
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bool canSubmitCommand() const;
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};
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int PhysicsClientSharedMemory::getNumJoints(int bodyIndex) const
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{
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BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[bodyIndex];
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if (bodyJointsPtr && *bodyJointsPtr)
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{
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BodyJointInfoCache* bodyJoints = *bodyJointsPtr;
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return bodyJoints->m_jointInfo.size();
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}
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btAssert(0);
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return 0;
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}
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bool PhysicsClientSharedMemory::getJointInfo(int bodyIndex, int jointIndex, b3JointInfo& info) const
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{
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BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[bodyIndex];
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if (bodyJointsPtr && *bodyJointsPtr)
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{
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BodyJointInfoCache* bodyJoints = *bodyJointsPtr;
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info = bodyJoints->m_jointInfo[jointIndex];
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return true;
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}
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return false;
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}
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PhysicsClientSharedMemory::PhysicsClientSharedMemory()
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{
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m_data = new PhysicsClientSharedMemoryInternalData;
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#ifdef _WIN32
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m_data->m_sharedMemory = new Win32SharedMemoryClient();
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#else
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m_data->m_sharedMemory = new PosixSharedMemory();
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#endif
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m_data->m_ownsSharedMemory = true;
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}
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PhysicsClientSharedMemory::~PhysicsClientSharedMemory() {
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if (m_data->m_isConnected) {
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disconnectSharedMemory();
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}
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if (m_data->m_ownsSharedMemory)
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{
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delete m_data->m_sharedMemory;
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}
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delete m_data;
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}
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void PhysicsClientSharedMemory::setSharedMemoryKey(int key) { m_data->m_sharedMemoryKey = key; }
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void PhysicsClientSharedMemory::setSharedMemoryInterface(class SharedMemoryInterface* sharedMem)
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{
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if (m_data->m_sharedMemory && m_data->m_ownsSharedMemory)
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{
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delete m_data->m_sharedMemory;
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}
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m_data->m_ownsSharedMemory = false;
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m_data->m_sharedMemory = sharedMem;
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}
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void PhysicsClientSharedMemory::disconnectSharedMemory() {
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if (m_data->m_isConnected && m_data->m_sharedMemory) {
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m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE);
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}
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m_data->m_isConnected = false;
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}
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bool PhysicsClientSharedMemory::isConnected() const { return m_data->m_isConnected; }
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bool PhysicsClientSharedMemory::connect() {
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/// server always has to create and initialize shared memory
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bool allowCreation = false;
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m_data->m_testBlock1 = (SharedMemoryBlock*)m_data->m_sharedMemory->allocateSharedMemory(
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m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE, allowCreation);
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if (m_data->m_testBlock1) {
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if (m_data->m_testBlock1->m_magicId != SHARED_MEMORY_MAGIC_NUMBER) {
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b3Error("Error: please start server before client\n");
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m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey,
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SHARED_MEMORY_SIZE);
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m_data->m_testBlock1 = 0;
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return false;
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} else {
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if (m_data->m_verboseOutput) {
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b3Printf("Connected to existing shared memory, status OK.\n");
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}
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m_data->m_isConnected = true;
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}
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} else {
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b3Error("Cannot connect to shared memory");
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return false;
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}
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return true;
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}
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///todo(erwincoumans) refactor this: merge with PhysicsDirect::processBodyJointInfo
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void PhysicsClientSharedMemory::processBodyJointInfo(int bodyUniqueId, const SharedMemoryStatus& serverCmd)
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{
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bParse::btBulletFile bf(
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&this->m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0],
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serverCmd.m_dataStreamArguments.m_streamChunkLength);
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bf.setFileDNAisMemoryDNA();
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bf.parse(false);
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BodyJointInfoCache* bodyJoints = new BodyJointInfoCache;
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m_data->m_bodyJointMap.insert(bodyUniqueId,bodyJoints);
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for (int i = 0; i < bf.m_multiBodies.size(); i++)
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{
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int flag = bf.getFlags();
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if ((flag & bParse::FD_DOUBLE_PRECISION) != 0)
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{
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Bullet::btMultiBodyDoubleData* mb =
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(Bullet::btMultiBodyDoubleData*)bf.m_multiBodies[i];
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addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
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} else
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{
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Bullet::btMultiBodyFloatData* mb =
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(Bullet::btMultiBodyFloatData*)bf.m_multiBodies[i];
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addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
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}
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}
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if (bf.ok()) {
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if (m_data->m_verboseOutput)
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{
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b3Printf("Received robot description ok!\n");
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}
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} else
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{
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b3Warning("Robot description not received");
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}
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}
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const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
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SharedMemoryStatus* stat = 0;
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if (!m_data->m_testBlock1) {
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m_data->m_lastServerStatus.m_type = CMD_SHARED_MEMORY_NOT_INITIALIZED;
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return &m_data->m_lastServerStatus;
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}
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if (!m_data->m_waitingForServer) {
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return 0;
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}
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if (m_data->m_testBlock1->m_magicId != SHARED_MEMORY_MAGIC_NUMBER)
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{
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m_data->m_lastServerStatus.m_type = CMD_SHARED_MEMORY_NOT_INITIALIZED;
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return &m_data->m_lastServerStatus;
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}
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if (m_data->m_testBlock1->m_numServerCommands >
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m_data->m_testBlock1->m_numProcessedServerCommands) {
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btAssert(m_data->m_testBlock1->m_numServerCommands ==
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m_data->m_testBlock1->m_numProcessedServerCommands + 1);
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const SharedMemoryStatus& serverCmd = m_data->m_testBlock1->m_serverCommands[0];
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m_data->m_lastServerStatus = serverCmd;
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EnumSharedMemoryServerStatus s = (EnumSharedMemoryServerStatus)serverCmd.m_type;
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// consume the command
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switch (serverCmd.m_type) {
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case CMD_CLIENT_COMMAND_COMPLETED: {
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if (m_data->m_verboseOutput) {
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b3Printf("Server completed command");
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}
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break;
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}
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case CMD_SDF_LOADING_COMPLETED: {
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if (m_data->m_verboseOutput) {
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b3Printf("Server loading the SDF OK\n");
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}
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break;
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}
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case CMD_URDF_LOADING_COMPLETED: {
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if (m_data->m_verboseOutput) {
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b3Printf("Server loading the URDF OK\n");
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}
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if (serverCmd.m_dataStreamArguments.m_streamChunkLength > 0) {
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bParse::btBulletFile bf(
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this->m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor,
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serverCmd.m_dataStreamArguments.m_streamChunkLength);
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bf.setFileDNAisMemoryDNA();
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bf.parse(false);
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int bodyIndex = serverCmd.m_dataStreamArguments.m_bodyUniqueId;
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BodyJointInfoCache* bodyJoints = new BodyJointInfoCache;
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m_data->m_bodyJointMap.insert(bodyIndex,bodyJoints);
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for (int i = 0; i < bf.m_multiBodies.size(); i++) {
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int flag = bf.getFlags();
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if ((flag & bParse::FD_DOUBLE_PRECISION) != 0) {
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Bullet::btMultiBodyDoubleData* mb =
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(Bullet::btMultiBodyDoubleData*)bf.m_multiBodies[i];
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addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
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} else
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{
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Bullet::btMultiBodyFloatData* mb =
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(Bullet::btMultiBodyFloatData*)bf.m_multiBodies[i];
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addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
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}
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}
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if (bf.ok()) {
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if (m_data->m_verboseOutput) {
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b3Printf("Received robot description ok!\n");
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}
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} else {
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b3Warning("Robot description not received");
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}
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}
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break;
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}
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case CMD_DESIRED_STATE_RECEIVED_COMPLETED: {
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if (m_data->m_verboseOutput) {
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b3Printf("Server received desired state");
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}
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break;
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}
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case CMD_STEP_FORWARD_SIMULATION_COMPLETED: {
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if (m_data->m_verboseOutput) {
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b3Printf("Server completed step simulation");
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}
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break;
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}
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case CMD_URDF_LOADING_FAILED: {
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if (m_data->m_verboseOutput) {
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b3Printf("Server failed loading the URDF...\n");
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}
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break;
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}
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case CMD_BODY_INFO_COMPLETED:
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{
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if (m_data->m_verboseOutput) {
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b3Printf("Received body info\n");
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}
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int bodyUniqueId = serverCmd.m_dataStreamArguments.m_bodyUniqueId;
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processBodyJointInfo(bodyUniqueId, serverCmd);
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break;
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}
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case CMD_SDF_LOADING_FAILED: {
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if (m_data->m_verboseOutput) {
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b3Printf("Server failed loading the SDF...\n");
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}
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break;
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}
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case CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED: {
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if (m_data->m_verboseOutput) {
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b3Printf("Server received bullet data stream OK\n");
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}
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break;
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}
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case CMD_BULLET_DATA_STREAM_RECEIVED_FAILED: {
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if (m_data->m_verboseOutput) {
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b3Printf("Server failed receiving bullet data stream\n");
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}
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break;
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}
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case CMD_ACTUAL_STATE_UPDATE_COMPLETED: {
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if (m_data->m_verboseOutput) {
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b3Printf("Received actual state\n");
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}
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SharedMemoryStatus& command = m_data->m_testBlock1->m_serverCommands[0];
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int numQ = command.m_sendActualStateArgs.m_numDegreeOfFreedomQ;
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int numU = command.m_sendActualStateArgs.m_numDegreeOfFreedomU;
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if (m_data->m_verboseOutput) {
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b3Printf("size Q = %d, size U = %d\n", numQ, numU);
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}
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char msg[1024];
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{
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sprintf(msg, "Q=[");
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for (int i = 0; i < numQ; i++) {
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if (i < numQ - 1) {
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sprintf(msg, "%s%f,", msg,
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command.m_sendActualStateArgs.m_actualStateQ[i]);
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} else {
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sprintf(msg, "%s%f", msg,
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command.m_sendActualStateArgs.m_actualStateQ[i]);
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}
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}
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sprintf(msg, "%s]", msg);
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}
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if (m_data->m_verboseOutput) {
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b3Printf(msg);
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}
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{
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sprintf(msg, "U=[");
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for (int i = 0; i < numU; i++) {
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if (i < numU - 1) {
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sprintf(msg, "%s%f,", msg,
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command.m_sendActualStateArgs.m_actualStateQdot[i]);
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} else {
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sprintf(msg, "%s%f", msg,
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command.m_sendActualStateArgs.m_actualStateQdot[i]);
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}
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}
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sprintf(msg, "%s]", msg);
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}
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if (m_data->m_verboseOutput) {
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b3Printf(msg);
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}
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if (m_data->m_verboseOutput) {
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b3Printf("\n");
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}
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break;
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}
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case CMD_RESET_SIMULATION_COMPLETED: {
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if (m_data->m_verboseOutput) {
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b3Printf("CMD_RESET_SIMULATION_COMPLETED clean data\n");
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}
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m_data->m_debugLinesFrom.clear();
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m_data->m_debugLinesTo.clear();
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m_data->m_debugLinesColor.clear();
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for (int i=0;i<m_data->m_bodyJointMap.size();i++)
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{
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BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap.getAtIndex(i);
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if (bodyJointsPtr && *bodyJointsPtr)
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{
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BodyJointInfoCache* bodyJoints = *bodyJointsPtr;
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for (int j=0;j<bodyJoints->m_jointInfo.size();j++) {
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if (bodyJoints->m_jointInfo[j].m_jointName)
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{
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free(bodyJoints->m_jointInfo[j].m_jointName);
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}
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if (bodyJoints->m_jointInfo[j].m_linkName)
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{
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free(bodyJoints->m_jointInfo[j].m_linkName);
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}
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}
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delete (*bodyJointsPtr);
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}
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}
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m_data->m_bodyJointMap.clear();
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break;
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}
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case CMD_DEBUG_LINES_COMPLETED: {
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if (m_data->m_verboseOutput) {
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b3Printf("Success receiving %d debug lines",
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serverCmd.m_sendDebugLinesArgs.m_numDebugLines);
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}
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int numLines = serverCmd.m_sendDebugLinesArgs.m_numDebugLines;
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float* linesFrom =
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(float*)&m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0];
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float* linesTo =
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(float*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0] +
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numLines * 3 * sizeof(float));
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float* linesColor =
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(float*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0] +
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2 * numLines * 3 * sizeof(float));
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m_data->m_debugLinesFrom.resize(serverCmd.m_sendDebugLinesArgs.m_startingLineIndex +
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numLines);
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m_data->m_debugLinesTo.resize(serverCmd.m_sendDebugLinesArgs.m_startingLineIndex +
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numLines);
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m_data->m_debugLinesColor.resize(
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serverCmd.m_sendDebugLinesArgs.m_startingLineIndex + numLines);
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for (int i = 0; i < numLines; i++) {
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TmpFloat3 from = CreateTmpFloat3(linesFrom[i * 3], linesFrom[i * 3 + 1],
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linesFrom[i * 3 + 2]);
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TmpFloat3 to =
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CreateTmpFloat3(linesTo[i * 3], linesTo[i * 3 + 1], linesTo[i * 3 + 2]);
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TmpFloat3 color = CreateTmpFloat3(linesColor[i * 3], linesColor[i * 3 + 1],
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linesColor[i * 3 + 2]);
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m_data
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->m_debugLinesFrom[serverCmd.m_sendDebugLinesArgs.m_startingLineIndex + i] =
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from;
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m_data->m_debugLinesTo[serverCmd.m_sendDebugLinesArgs.m_startingLineIndex + i] =
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to;
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m_data->m_debugLinesColor[serverCmd.m_sendDebugLinesArgs.m_startingLineIndex +
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i] = color;
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}
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break;
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}
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case CMD_RIGID_BODY_CREATION_COMPLETED:
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{
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break;
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}
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case CMD_DEBUG_LINES_OVERFLOW_FAILED: {
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b3Warning("Error receiving debug lines");
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m_data->m_debugLinesFrom.resize(0);
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m_data->m_debugLinesTo.resize(0);
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m_data->m_debugLinesColor.resize(0);
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break;
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}
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case CMD_CAMERA_IMAGE_COMPLETED:
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{
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if (m_data->m_verboseOutput)
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{
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|
b3Printf("Camera image OK\n");
|
|
}
|
|
|
|
int numBytesPerPixel = 4;//RGBA
|
|
int numTotalPixels = serverCmd.m_sendPixelDataArguments.m_startingPixelIndex+
|
|
serverCmd.m_sendPixelDataArguments.m_numPixelsCopied+
|
|
serverCmd.m_sendPixelDataArguments.m_numRemainingPixels;
|
|
|
|
m_data->m_cachedCameraPixelsWidth = 0;
|
|
m_data->m_cachedCameraPixelsHeight = 0;
|
|
|
|
int numPixels = serverCmd.m_sendPixelDataArguments.m_imageWidth*serverCmd.m_sendPixelDataArguments.m_imageHeight;
|
|
|
|
m_data->m_cachedCameraPixelsRGBA.reserve(numPixels*numBytesPerPixel);
|
|
m_data->m_cachedCameraDepthBuffer.resize(numTotalPixels);
|
|
m_data->m_cachedCameraPixelsRGBA.resize(numTotalPixels*numBytesPerPixel);
|
|
|
|
|
|
unsigned char* rgbaPixelsReceived =
|
|
(unsigned char*)&m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0];
|
|
// printf("pixel = %d\n", rgbaPixelsReceived[0]);
|
|
|
|
float* depthBuffer = (float*)&(m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[serverCmd.m_sendPixelDataArguments.m_numPixelsCopied*4]);
|
|
|
|
for (int i=0;i<serverCmd.m_sendPixelDataArguments.m_numPixelsCopied;i++)
|
|
{
|
|
m_data->m_cachedCameraDepthBuffer[i + serverCmd.m_sendPixelDataArguments.m_startingPixelIndex] = depthBuffer[i];
|
|
}
|
|
|
|
for (int i=0;i<serverCmd.m_sendPixelDataArguments.m_numPixelsCopied*numBytesPerPixel;i++)
|
|
{
|
|
m_data->m_cachedCameraPixelsRGBA[i + serverCmd.m_sendPixelDataArguments.m_startingPixelIndex*numBytesPerPixel]
|
|
= rgbaPixelsReceived[i];
|
|
}
|
|
|
|
break;
|
|
}
|
|
|
|
case CMD_CAMERA_IMAGE_FAILED:
|
|
{
|
|
b3Warning("Camera image FAILED\n");
|
|
break;
|
|
}
|
|
case CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED:
|
|
{
|
|
break;
|
|
}
|
|
case CMD_CALCULATED_INVERSE_DYNAMICS_FAILED:
|
|
{
|
|
b3Warning("Inverse Dynamics computations failed");
|
|
break;
|
|
}
|
|
default: {
|
|
b3Error("Unknown server status\n");
|
|
btAssert(0);
|
|
}
|
|
};
|
|
|
|
m_data->m_testBlock1->m_numProcessedServerCommands++;
|
|
// we don't have more than 1 command outstanding (in total, either server or client)
|
|
btAssert(m_data->m_testBlock1->m_numProcessedServerCommands ==
|
|
m_data->m_testBlock1->m_numServerCommands);
|
|
|
|
if (m_data->m_testBlock1->m_numServerCommands ==
|
|
m_data->m_testBlock1->m_numProcessedServerCommands) {
|
|
m_data->m_waitingForServer = false;
|
|
} else {
|
|
m_data->m_waitingForServer = true;
|
|
}
|
|
|
|
if (serverCmd.m_type == CMD_SDF_LOADING_COMPLETED)
|
|
{
|
|
int numBodies = serverCmd.m_sdfLoadedArgs.m_numBodies;
|
|
if (numBodies>0)
|
|
{
|
|
m_data->m_tempBackupServerStatus = m_data->m_lastServerStatus;
|
|
|
|
for (int i=0;i<numBodies;i++)
|
|
{
|
|
m_data->m_bodyIdsRequestInfo.push_back(serverCmd.m_sdfLoadedArgs.m_bodyUniqueIds[i]);
|
|
}
|
|
|
|
int bodyId = m_data->m_bodyIdsRequestInfo[m_data->m_bodyIdsRequestInfo.size()-1];
|
|
m_data->m_bodyIdsRequestInfo.pop_back();
|
|
|
|
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
|
|
//now transfer the information of the individual objects etc.
|
|
command.m_type = CMD_REQUEST_BODY_INFO;
|
|
command.m_sdfRequestInfoArgs.m_bodyUniqueId = bodyId;
|
|
submitClientCommand(command);
|
|
return 0;
|
|
}
|
|
}
|
|
|
|
if (serverCmd.m_type == CMD_BODY_INFO_COMPLETED)
|
|
{
|
|
//are there any bodies left to be processed?
|
|
if (m_data->m_bodyIdsRequestInfo.size())
|
|
{
|
|
int bodyId = m_data->m_bodyIdsRequestInfo[m_data->m_bodyIdsRequestInfo.size()-1];
|
|
m_data->m_bodyIdsRequestInfo.pop_back();
|
|
|
|
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
|
|
//now transfer the information of the individual objects etc.
|
|
command.m_type = CMD_REQUEST_BODY_INFO;
|
|
command.m_sdfRequestInfoArgs.m_bodyUniqueId = bodyId;
|
|
submitClientCommand(command);
|
|
return 0;
|
|
} else
|
|
{
|
|
m_data->m_lastServerStatus = m_data->m_tempBackupServerStatus;
|
|
}
|
|
}
|
|
|
|
if (serverCmd.m_type == CMD_CAMERA_IMAGE_COMPLETED)
|
|
{
|
|
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
|
|
|
|
if (serverCmd.m_sendPixelDataArguments.m_numRemainingPixels > 0 && serverCmd.m_sendPixelDataArguments.m_numPixelsCopied)
|
|
{
|
|
|
|
|
|
// continue requesting remaining pixels
|
|
command.m_type = CMD_REQUEST_CAMERA_IMAGE_DATA;
|
|
command.m_requestPixelDataArguments.m_startPixelIndex =
|
|
serverCmd.m_sendPixelDataArguments.m_startingPixelIndex +
|
|
serverCmd.m_sendPixelDataArguments.m_numPixelsCopied;
|
|
submitClientCommand(command);
|
|
return 0;
|
|
} else
|
|
{
|
|
m_data->m_cachedCameraPixelsWidth = serverCmd.m_sendPixelDataArguments.m_imageWidth;
|
|
m_data->m_cachedCameraPixelsHeight = serverCmd.m_sendPixelDataArguments.m_imageHeight;
|
|
}
|
|
|
|
|
|
}
|
|
|
|
if ((serverCmd.m_type == CMD_DEBUG_LINES_COMPLETED) &&
|
|
(serverCmd.m_sendDebugLinesArgs.m_numRemainingDebugLines > 0)) {
|
|
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
|
|
|
|
// continue requesting debug lines for drawing
|
|
command.m_type = CMD_REQUEST_DEBUG_LINES;
|
|
command.m_requestDebugLinesArguments.m_startingLineIndex =
|
|
serverCmd.m_sendDebugLinesArgs.m_numDebugLines +
|
|
serverCmd.m_sendDebugLinesArgs.m_startingLineIndex;
|
|
submitClientCommand(command);
|
|
return 0;
|
|
}
|
|
|
|
return &m_data->m_lastServerStatus;
|
|
|
|
} else {
|
|
if (m_data->m_verboseOutput) {
|
|
b3Printf("m_numServerStatus = %d, processed = %d\n",
|
|
m_data->m_testBlock1->m_numServerCommands,
|
|
m_data->m_testBlock1->m_numProcessedServerCommands);
|
|
}
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
bool PhysicsClientSharedMemory::canSubmitCommand() const {
|
|
return (m_data->m_isConnected && !m_data->m_waitingForServer);
|
|
}
|
|
|
|
struct SharedMemoryCommand* PhysicsClientSharedMemory::getAvailableSharedMemoryCommand() {
|
|
static int sequence = 0;
|
|
m_data->m_testBlock1->m_clientCommands[0].m_sequenceNumber = sequence++;
|
|
return &m_data->m_testBlock1->m_clientCommands[0];
|
|
}
|
|
|
|
bool PhysicsClientSharedMemory::submitClientCommand(const SharedMemoryCommand& command) {
|
|
/// at the moment we allow a maximum of 1 outstanding command, so we check for this
|
|
// once the server processed the command and returns a status, we clear the flag
|
|
// "m_data->m_waitingForServer" and allow submitting the next command
|
|
|
|
if (!m_data->m_waitingForServer) {
|
|
if (&m_data->m_testBlock1->m_clientCommands[0] != &command) {
|
|
m_data->m_testBlock1->m_clientCommands[0] = command;
|
|
}
|
|
m_data->m_testBlock1->m_numClientCommands++;
|
|
m_data->m_waitingForServer = true;
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
void PhysicsClientSharedMemory::uploadBulletFileToSharedMemory(const char* data, int len) {
|
|
btAssert(len < SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
|
|
if (len >= SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE) {
|
|
b3Warning("uploadBulletFileToSharedMemory %d exceeds max size %d\n", len,
|
|
SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
|
|
} else {
|
|
for (int i = 0; i < len; i++) {
|
|
m_data->m_testBlock1->m_bulletStreamDataClientToServer[i] = data[i];
|
|
}
|
|
}
|
|
}
|
|
|
|
void PhysicsClientSharedMemory::getCachedCameraImage(struct b3CameraImageData* cameraData)
|
|
{
|
|
cameraData->m_pixelWidth = m_data->m_cachedCameraPixelsWidth;
|
|
cameraData->m_pixelHeight = m_data->m_cachedCameraPixelsHeight;
|
|
cameraData->m_depthValues = m_data->m_cachedCameraDepthBuffer.size() ? &m_data->m_cachedCameraDepthBuffer[0] : 0;
|
|
cameraData->m_rgbColorData = m_data->m_cachedCameraPixelsRGBA.size() ? &m_data->m_cachedCameraPixelsRGBA[0] : 0;
|
|
}
|
|
|
|
const float* PhysicsClientSharedMemory::getDebugLinesFrom() const {
|
|
if (m_data->m_debugLinesFrom.size()) {
|
|
return &m_data->m_debugLinesFrom[0].m_x;
|
|
}
|
|
return 0;
|
|
}
|
|
const float* PhysicsClientSharedMemory::getDebugLinesTo() const {
|
|
if (m_data->m_debugLinesTo.size()) {
|
|
return &m_data->m_debugLinesTo[0].m_x;
|
|
}
|
|
return 0;
|
|
}
|
|
const float* PhysicsClientSharedMemory::getDebugLinesColor() const {
|
|
if (m_data->m_debugLinesColor.size()) {
|
|
return &m_data->m_debugLinesColor[0].m_x;
|
|
}
|
|
return 0;
|
|
}
|
|
int PhysicsClientSharedMemory::getNumDebugLines() const { return m_data->m_debugLinesFrom.size(); }
|