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allow to set changeDynamics(body, link, contactProcessingThreshold) f… #3096

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merged 6 commits into from
Oct 7, 2020
Merged

allow to set changeDynamics(body, link, contactProcessingThreshold) f… #3096

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6b91ecc
allow to set changeDynamics(body, link, contactProcessingThreshold) f…
erwincoumans Oct 5, 2020
7a6c904
Merge remote-tracking branch 'bp/master' into master
erwincoumans Oct 6, 2020
954ceff
Add an option for a plugin to report return data after calling execut…
erwincoumans Oct 7, 2020
bc51ac3
Support getCachedReturnData for PhysicsLoopBack
erwincoumans Oct 7, 2020
9b81709
premake: don't compile standalone-examples, they are not up-to-date
erwincoumans Oct 7, 2020
ad09940
allow streaming of data
erwincoumans Oct 7, 2020
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2 changes: 1 addition & 1 deletion build_visual_studio_vr_pybullet_double.bat
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Expand Up @@ -18,7 +18,7 @@ rem SET myvar=c:\python-3.5.2
cd build3


premake4 --double --standalone-examples --enable_stable_pd --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../bin" vs2010
premake4 --double --enable_stable_pd --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../bin" vs2010

rem premake4 --double --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../binserver" vs2010
rem premake4 --double --enable_grpc --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../binserver" vs2010
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2 changes: 2 additions & 0 deletions examples/SharedMemory/PhysicsClient.h
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Expand Up @@ -77,6 +77,8 @@ class PhysicsClient

virtual void getCachedMassMatrix(int dofCountCheck, double* massMatrix) = 0;

virtual bool getCachedReturnData(struct b3UserDataValue* returnData) = 0;

virtual void setTimeOut(double timeOutInSeconds) = 0;
virtual double getTimeOut() const = 0;

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12 changes: 11 additions & 1 deletion examples/SharedMemory/PhysicsClientC_API.cpp
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Expand Up @@ -3024,6 +3024,16 @@ B3_SHARED_API int b3GetStatusPluginCommandResult(b3SharedMemoryStatusHandle stat
return statusUniqueId;
}

B3_SHARED_API int b3GetStatusPluginCommandReturnData(b3PhysicsClientHandle physClient, struct b3UserDataValue* valueOut)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
if (cl)
{
return cl->getCachedReturnData(valueOut);
}
return false;
}

B3_SHARED_API int b3GetStatusPluginUniqueId(b3SharedMemoryStatusHandle statusHandle)
{
int statusUniqueId = -1;
Expand Down Expand Up @@ -3059,7 +3069,7 @@ B3_SHARED_API void b3CustomCommandExecutePluginCommand(b3SharedMemoryCommandHand
{
command->m_updateFlags |= CMD_CUSTOM_COMMAND_EXECUTE_PLUGIN_COMMAND;
command->m_customCommandArgs.m_pluginUniqueId = pluginUniqueId;

command->m_customCommandArgs.m_startingReturnBytes = 0;
command->m_customCommandArgs.m_arguments.m_numInts = 0;
command->m_customCommandArgs.m_arguments.m_numFloats = 0;
command->m_customCommandArgs.m_arguments.m_text[0] = 0;
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3 changes: 2 additions & 1 deletion examples/SharedMemory/PhysicsClientC_API.h
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Expand Up @@ -66,7 +66,8 @@ extern "C"
B3_SHARED_API void b3CustomCommandLoadPluginSetPostFix(b3SharedMemoryCommandHandle commandHandle, const char* postFix);
B3_SHARED_API int b3GetStatusPluginUniqueId(b3SharedMemoryStatusHandle statusHandle);
B3_SHARED_API int b3GetStatusPluginCommandResult(b3SharedMemoryStatusHandle statusHandle);

B3_SHARED_API int b3GetStatusPluginCommandReturnData(b3PhysicsClientHandle physClient, struct b3UserDataValue* valueOut);

B3_SHARED_API void b3CustomCommandUnloadPlugin(b3SharedMemoryCommandHandle commandHandle, int pluginUniqueId);
B3_SHARED_API void b3CustomCommandExecutePluginCommand(b3SharedMemoryCommandHandle commandHandle, int pluginUniqueId, const char* textArguments);
B3_SHARED_API void b3CustomCommandExecuteAddIntArgument(b3SharedMemoryCommandHandle commandHandle, int intVal);
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45 changes: 45 additions & 0 deletions examples/SharedMemory/PhysicsClientSharedMemory.cpp
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Expand Up @@ -69,6 +69,9 @@ struct PhysicsClientSharedMemoryInternalData
btHashMap<btHashInt, SharedMemoryUserData> m_userDataMap;
btHashMap<SharedMemoryUserDataHashKey, int> m_userDataHandleLookup;

btAlignedObjectArray<char> m_cachedReturnData;
b3UserDataValue m_cachedReturnDataValue;

SharedMemoryStatus m_tempBackupServerStatus;

SharedMemoryStatus m_lastServerStatus;
Expand Down Expand Up @@ -1350,8 +1353,22 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus()
b3Warning("Request getCollisionInfo failed");
break;
}

case CMD_CUSTOM_COMMAND_COMPLETED:
{

m_data->m_cachedReturnData.resize(serverCmd.m_customCommandResultArgs.m_returnDataSizeInBytes);
m_data->m_cachedReturnDataValue.m_length = serverCmd.m_customCommandResultArgs.m_returnDataSizeInBytes;

if (serverCmd.m_customCommandResultArgs.m_returnDataSizeInBytes)
{
m_data->m_cachedReturnDataValue.m_type = serverCmd.m_customCommandResultArgs.m_returnDataType;
m_data->m_cachedReturnDataValue.m_data1 = &m_data->m_cachedReturnData[0];
for (int i = 0; i < serverCmd.m_numDataStreamBytes; i++)
{
m_data->m_cachedReturnData[i + serverCmd.m_customCommandResultArgs.m_returnDataStart] = m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[i];
}
}
break;
}
case CMD_CALCULATED_JACOBIAN_COMPLETED:
Expand Down Expand Up @@ -1664,6 +1681,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus()
m_data->m_lastServerStatus = m_data->m_tempBackupServerStatus;
}


if (serverCmd.m_type == CMD_REMOVE_USER_DATA_COMPLETED)
{
B3_PROFILE("CMD_REMOVE_USER_DATA_COMPLETED");
Expand Down Expand Up @@ -1851,6 +1869,23 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus()
return 0;
}

if (serverCmd.m_type == CMD_CUSTOM_COMMAND_COMPLETED)
{
int totalReceived = (serverCmd.m_numDataStreamBytes + serverCmd.m_customCommandResultArgs.m_returnDataStart);
int remaining = serverCmd.m_customCommandResultArgs.m_returnDataSizeInBytes - totalReceived;

if (remaining > 0)
{
// continue requesting return data
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
command.m_type = CMD_CUSTOM_COMMAND;
command.m_customCommandArgs.m_startingReturnBytes =
totalReceived;
submitClientCommand(command);
return 0;
}
}

return &m_data->m_lastServerStatus;
}
else
Expand Down Expand Up @@ -2006,6 +2041,16 @@ void PhysicsClientSharedMemory::getCachedMassMatrix(int dofCountCheck, double* m
}
}

bool PhysicsClientSharedMemory::getCachedReturnData(b3UserDataValue* returnData)
{
if (m_data->m_cachedReturnDataValue.m_length)
{
*returnData = m_data->m_cachedReturnDataValue;
return true;
}
return false;

}
void PhysicsClientSharedMemory::getCachedVisualShapeInformation(struct b3VisualShapeInformation* visualShapesInfo)
{
visualShapesInfo->m_numVisualShapes = m_data->m_cachedVisualShapes.size();
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2 changes: 2 additions & 0 deletions examples/SharedMemory/PhysicsClientSharedMemory.h
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Expand Up @@ -90,6 +90,8 @@ class PhysicsClientSharedMemory : public PhysicsClient

virtual void getCachedMassMatrix(int dofCountCheck, double* massMatrix);

virtual bool getCachedReturnData(b3UserDataValue* returnData);

virtual void setTimeOut(double timeOutInSeconds);
virtual double getTimeOut() const;

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100 changes: 96 additions & 4 deletions examples/SharedMemory/PhysicsDirect.cpp
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Expand Up @@ -79,6 +79,10 @@ struct PhysicsDirectInternalData
btHashMap<btHashInt, SharedMemoryUserData> m_userDataMap;
btHashMap<SharedMemoryUserDataHashKey, int> m_userDataHandleLookup;

btAlignedObjectArray<char> m_cachedReturnData;
b3UserDataValue m_cachedReturnDataValue;


PhysicsCommandProcessorInterface* m_commandProcessor;
bool m_ownsCommandProcessor;
double m_timeOutInSeconds;
Expand Down Expand Up @@ -1113,10 +1117,7 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
b3Warning("Request mesh data failed");
break;
}
case CMD_CUSTOM_COMMAND_COMPLETED:
{
break;
}

case CMD_CUSTOM_COMMAND_FAILED:
{
b3Warning("custom plugin command failed");
Expand Down Expand Up @@ -1309,14 +1310,95 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
{
break;
}
case CMD_CUSTOM_COMMAND_COMPLETED:
{
break;
}
default:
{
//b3Warning("Unknown server status type");
}

};
}


bool PhysicsDirect::processCustomCommand(const struct SharedMemoryCommand& orgCommand)
{
SharedMemoryCommand command = orgCommand;

const SharedMemoryStatus& serverCmd = m_data->m_serverStatus;

int remaining = 0;
do
{
bool hasStatus = m_data->m_commandProcessor->processCommand(command, m_data->m_serverStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);

b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = m_data->m_timeOutInSeconds;

while ((!hasStatus) && (clock.getTimeInSeconds() - startTime < timeOutInSeconds))
{
const SharedMemoryStatus* stat = processServerStatus();
if (stat)
{
hasStatus = true;
}
}

m_data->m_hasStatus = hasStatus;

if (hasStatus)
{

if (m_data->m_verboseOutput)
{
b3Printf("Success receiving %d return data\n",
serverCmd.m_numDataStreamBytes);
}


btAssert(m_data->m_serverStatus.m_type == CMD_CUSTOM_COMMAND_COMPLETED);

if (m_data->m_serverStatus.m_type == CMD_CUSTOM_COMMAND_COMPLETED)
{
m_data->m_cachedReturnData.resize(serverCmd.m_customCommandResultArgs.m_returnDataSizeInBytes);
m_data->m_cachedReturnDataValue.m_length = serverCmd.m_customCommandResultArgs.m_returnDataSizeInBytes;

if (serverCmd.m_customCommandResultArgs.m_returnDataSizeInBytes)
{
m_data->m_cachedReturnDataValue.m_type = serverCmd.m_customCommandResultArgs.m_returnDataType;
m_data->m_cachedReturnDataValue.m_data1 = &m_data->m_cachedReturnData[0];
for (int i = 0; i < serverCmd.m_numDataStreamBytes; i++)
{
m_data->m_cachedReturnData[i+ serverCmd.m_customCommandResultArgs.m_returnDataStart] = m_data->m_bulletStreamDataServerToClient[i];
}
}
int totalReceived = serverCmd.m_numDataStreamBytes + serverCmd.m_customCommandResultArgs.m_returnDataStart;
remaining = serverCmd.m_customCommandResultArgs.m_returnDataSizeInBytes - totalReceived;

if (remaining > 0)
{
m_data->m_hasStatus = false;
command.m_type = CMD_CUSTOM_COMMAND;
command.m_customCommandArgs.m_startingReturnBytes =
totalReceived;
}
}
}

} while (remaining > 0);

return m_data->m_hasStatus;
}

bool PhysicsDirect::submitClientCommand(const struct SharedMemoryCommand& command)
{
if (command.m_type == CMD_CUSTOM_COMMAND)
{
return processCustomCommand(command);
}
if (command.m_type == CMD_REQUEST_DEBUG_LINES)
{
return processDebugLines(command);
Expand Down Expand Up @@ -1651,6 +1733,16 @@ void PhysicsDirect::getCachedMassMatrix(int dofCountCheck, double* massMatrix)
}
}

bool PhysicsDirect::getCachedReturnData(b3UserDataValue* returnData)
{
if (m_data->m_cachedReturnDataValue.m_length)
{
*returnData = m_data->m_cachedReturnDataValue;
return true;
}
return false;
}

void PhysicsDirect::setTimeOut(double timeOutInSeconds)
{
m_data->m_timeOutInSeconds = timeOutInSeconds;
Expand Down
6 changes: 5 additions & 1 deletion examples/SharedMemory/PhysicsDirect.h
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Expand Up @@ -22,12 +22,14 @@ class PhysicsDirect : public PhysicsClient

bool processVisualShapeData(const struct SharedMemoryCommand& orgCommand);

bool processMeshData(const struct SharedMemoryCommand& orgCommand);
bool processMeshData(const struct SharedMemoryCommand& orgCommand);

void processBodyJointInfo(int bodyUniqueId, const struct SharedMemoryStatus& serverCmd);

void processAddUserData(const struct SharedMemoryStatus& serverCmd);

bool processCustomCommand(const struct SharedMemoryCommand& orgCommand);

void postProcessStatus(const struct SharedMemoryStatus& serverCmd);

void resetData();
Expand Down Expand Up @@ -112,6 +114,8 @@ class PhysicsDirect : public PhysicsClient

virtual void getCachedMassMatrix(int dofCountCheck, double* massMatrix);

virtual bool getCachedReturnData(b3UserDataValue* returnData);

//the following APIs are for internal use for visualization:
virtual bool connect(struct GUIHelperInterface* guiHelper);
virtual void renderScene();
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4 changes: 4 additions & 0 deletions examples/SharedMemory/PhysicsLoopBack.cpp
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Expand Up @@ -227,6 +227,10 @@ void PhysicsLoopBack::getCachedMassMatrix(int dofCountCheck, double* massMatrix)
{
m_data->m_physicsClient->getCachedMassMatrix(dofCountCheck, massMatrix);
}
bool PhysicsLoopBack::getCachedReturnData(struct b3UserDataValue* returnData)
{
return m_data->m_physicsClient->getCachedReturnData(returnData);
}

void PhysicsLoopBack::setTimeOut(double timeOutInSeconds)
{
Expand Down
2 changes: 2 additions & 0 deletions examples/SharedMemory/PhysicsLoopBack.h
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Expand Up @@ -88,6 +88,8 @@ class PhysicsLoopBack : public PhysicsClient

virtual void getCachedMassMatrix(int dofCountCheck, double* massMatrix);

virtual bool getCachedReturnData(struct b3UserDataValue* returnData);

virtual void setTimeOut(double timeOutInSeconds);
virtual double getTimeOut() const;

Expand Down
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