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Add an option for a plugin to report return data after calling executePluginCommand. Also add python binding.

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Currently the return data has to fit in shared memory, 8MB (Linux, Windows) or 1MB (Apple)
Preparation for streaming is added (to allow unlimited return data, see CMD_CUSTOM_COMMAND_STREAM_RETURN_DATA)

New C-API: b3GetStatusPluginCommandReturnData
PyBullet reports return data if available, in pybullet_executePluginCommand

For the plugin developer:
plugin can provide additional return data for executePluginCommand in the b3PluginContext, during executePluginCommand.
Lifetime of this m_returnData pointer is minimum of next call to the next executePluginCommand or plugin termination.
This commit is contained in:
Erwin Coumans
2020-10-06 20:19:39 -07:00
parent 7a6c90409f
commit 954ceff2ec
14 changed files with 182 additions and 9 deletions
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26
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -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;
@@ -1350,8 +1353,21 @@ 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] = m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[i];
}
}
break;
}
case CMD_CALCULATED_JACOBIAN_COMPLETED:
@@ -2006,6 +2022,16 @@ 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();