Scarfski/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3.git synced 2026-09-21 17:54:29 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

36
examples/SharedMemory/PhysicsDirect.cpp
View File

@@ -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;
@@ -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");
@@ -1309,10 +1310,27 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
{
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_bulletStreamDataServerToClient[i];
}
}
break;
}
default:
{
//b3Warning("Unknown server status type");
}
};
}
bool PhysicsDirect::submitClientCommand(const struct SharedMemoryCommand& command)
@@ -1651,6 +1669,16 @@ 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;