///todo(erwincoumans) refactor this: merge with PhysicsDirect::processBodyJointInfo
void PhysicsClientSharedMemory::processBodyJointInfo(int bodyUniqueId, const SharedMemoryStatus& serverCmd)
{
bParse::btBulletFile bf(
&this->m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0],
serverCmd.m_dataStreamArguments.m_streamChunkLength);
bf.setFileDNAisMemoryDNA();
bf.parse(false);
BodyJointInfoCache* bodyJoints = new BodyJointInfoCache;
m_data->m_bodyJointMap.insert(bodyUniqueId,bodyJoints);
for (int i = 0; i < bf.m_multiBodies.size(); i++)
{
int flag = bf.getFlags();
if ((flag & bParse::FD_DOUBLE_PRECISION) != 0)
{
Bullet::btMultiBodyDoubleData* mb =
(Bullet::btMultiBodyDoubleData*)bf.m_multiBodies[i];
bodyJoints->m_baseName = mb->m_baseName;
addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
} else
{
Bullet::btMultiBodyFloatData* mb =
(Bullet::btMultiBodyFloatData*)bf.m_multiBodies[i];
bodyJoints->m_baseName = mb->m_baseName;
addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
}
}
if (bf.ok()) {
if (m_data->m_verboseOutput)
{
b3Printf("Received robot description ok!\n");
}
} else
{
b3Warning("Robot description not received");
}
}
void PhysicsDirect::processBodyJointInfo(int bodyUniqueId, const SharedMemoryStatus& serverCmd)
{
BodyJointInfoCache2** cachePtr = m_data->m_bodyJointMap[bodyUniqueId];
//don't process same bodyUniqueId multiple times
if (cachePtr)
{
return;
}
bParse::btBulletFile bf(
&m_data->m_bulletStreamDataServerToClient[0],
serverCmd.m_numDataStreamBytes);
if (m_data->m_serverDNA.size())
{
bf.setFileDNA(false, &m_data->m_serverDNA[0], m_data->m_serverDNA.size());
}
else
{
bf.setFileDNAisMemoryDNA();
}
bf.parse(false);
BodyJointInfoCache2* bodyJoints = new BodyJointInfoCache2;
m_data->m_bodyJointMap.insert(bodyUniqueId, bodyJoints);
bodyJoints->m_bodyName = serverCmd.m_dataStreamArguments.m_bodyName;
for (int i = 0; i < bf.m_multiBodies.size(); i++)
{
int flag = bf.getFlags();
if ((flag & bParse::FD_DOUBLE_PRECISION) != 0)
{
Bullet::btMultiBodyDoubleData* mb =
(Bullet::btMultiBodyDoubleData*)bf.m_multiBodies[i];
if (mb->m_baseName)
{
bodyJoints->m_baseName = mb->m_baseName;
}
addJointInfoFromMultiBodyData(mb, bodyJoints, m_data->m_verboseOutput);
}
else
{
Bullet::btMultiBodyFloatData* mb =
(Bullet::btMultiBodyFloatData*)bf.m_multiBodies[i];
if (mb->m_baseName)
{
bodyJoints->m_baseName = mb->m_baseName;
}
addJointInfoFromMultiBodyData(mb, bodyJoints, m_data->m_verboseOutput);
}
}
if (bf.ok())
{
if (m_data->m_verboseOutput)
{
b3Printf("Received robot description ok!\n");
}
}
else
{
b3Warning("Robot description not received");
}
}
const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
SharedMemoryStatus* stat = 0;
if (!m_data->m_testBlock1) {
m_data->m_lastServerStatus.m_type = CMD_SHARED_MEMORY_NOT_INITIALIZED;
return &m_data->m_lastServerStatus;
}
if (!m_data->m_waitingForServer) {
return 0;
}
if (m_data->m_testBlock1->m_magicId != SHARED_MEMORY_MAGIC_NUMBER)
{
m_data->m_lastServerStatus.m_type = CMD_SHARED_MEMORY_NOT_INITIALIZED;
return &m_data->m_lastServerStatus;
}
if (m_data->m_testBlock1->m_numServerCommands >
m_data->m_testBlock1->m_numProcessedServerCommands) {
btAssert(m_data->m_testBlock1->m_numServerCommands ==
m_data->m_testBlock1->m_numProcessedServerCommands + 1);
const SharedMemoryStatus& serverCmd = m_data->m_testBlock1->m_serverCommands[0];
m_data->m_lastServerStatus = serverCmd;
EnumSharedMemoryServerStatus s = (EnumSharedMemoryServerStatus)serverCmd.m_type;
// consume the command
switch (serverCmd.m_type) {
case CMD_CLIENT_COMMAND_COMPLETED: {
if (m_data->m_verboseOutput) {
b3Printf("Server completed command");
}
break;
}
case CMD_SDF_LOADING_COMPLETED: {
if (m_data->m_verboseOutput) {
b3Printf("Server loading the SDF OK\n");
}
break;
}
case CMD_URDF_LOADING_COMPLETED: {
if (m_data->m_verboseOutput) {
b3Printf("Server loading the URDF OK\n");
}
if (serverCmd.m_dataStreamArguments.m_streamChunkLength > 0) {
bParse::btBulletFile bf(
this->m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor,
serverCmd.m_dataStreamArguments.m_streamChunkLength);
bf.setFileDNAisMemoryDNA();
bf.parse(false);
int bodyUniqueId = serverCmd.m_dataStreamArguments.m_bodyUniqueId;
BodyJointInfoCache* bodyJoints = new BodyJointInfoCache;
m_data->m_bodyJointMap.insert(bodyUniqueId,bodyJoints);
for (int i = 0; i < bf.m_multiBodies.size(); i++) {
int flag = bf.getFlags();
if ((flag & bParse::FD_DOUBLE_PRECISION) != 0) {
Bullet::btMultiBodyDoubleData* mb =
(Bullet::btMultiBodyDoubleData*)bf.m_multiBodies[i];
addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
} else
{
Bullet::btMultiBodyFloatData* mb =
(Bullet::btMultiBodyFloatData*)bf.m_multiBodies[i];
addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
}
}
if (bf.ok()) {
if (m_data->m_verboseOutput) {
b3Printf("Received robot description ok!\n");
}
} else {
b3Warning("Robot description not received");
}
}
break;
}
case CMD_DESIRED_STATE_RECEIVED_COMPLETED: {
if (m_data->m_verboseOutput) {
b3Printf("Server received desired state");
}
break;
}
case CMD_STEP_FORWARD_SIMULATION_COMPLETED: {
if (m_data->m_verboseOutput) {
b3Printf("Server completed step simulation");
}
break;
}
case CMD_URDF_LOADING_FAILED: {
if (m_data->m_verboseOutput) {
b3Printf("Server failed loading the URDF...\n");
}
break;
}
case CMD_BODY_INFO_COMPLETED:
{
if (m_data->m_verboseOutput) {
b3Printf("Received body info\n");
}
int bodyUniqueId = serverCmd.m_dataStreamArguments.m_bodyUniqueId;
processBodyJointInfo(bodyUniqueId, serverCmd);
break;
}
case CMD_SDF_LOADING_FAILED: {
if (m_data->m_verboseOutput) {
b3Printf("Server failed loading the SDF...\n");
}
break;
}
case CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED: {
if (m_data->m_verboseOutput) {
b3Printf("Server received bullet data stream OK\n");
}
break;
}
case CMD_BULLET_DATA_STREAM_RECEIVED_FAILED: {
if (m_data->m_verboseOutput) {
b3Printf("Server failed receiving bullet data stream\n");
}
break;
}
case CMD_ACTUAL_STATE_UPDATE_COMPLETED: {
if (m_data->m_verboseOutput) {
b3Printf("Received actual state\n");
}
SharedMemoryStatus& command = m_data->m_testBlock1->m_serverCommands[0];
int numQ = command.m_sendActualStateArgs.m_numDegreeOfFreedomQ;
int numU = command.m_sendActualStateArgs.m_numDegreeOfFreedomU;
if (m_data->m_verboseOutput) {
b3Printf("size Q = %d, size U = %d\n", numQ, numU);
}
char msg[1024];
{
sprintf(msg, "Q=[");
for (int i = 0; i < numQ; i++) {
if (i < numQ - 1) {
sprintf(msg, "%s%f,", msg,
command.m_sendActualStateArgs.m_actualStateQ[i]);
} else {
sprintf(msg, "%s%f", msg,
command.m_sendActualStateArgs.m_actualStateQ[i]);
}
}
sprintf(msg, "%s]", msg);
}
if (m_data->m_verboseOutput) {
b3Printf(msg);
}
{
sprintf(msg, "U=[");
for (int i = 0; i < numU; i++) {
if (i < numU - 1) {
sprintf(msg, "%s%f,", msg,
command.m_sendActualStateArgs.m_actualStateQdot[i]);
} else {
sprintf(msg, "%s%f", msg,
command.m_sendActualStateArgs.m_actualStateQdot[i]);
}
}
sprintf(msg, "%s]", msg);
}
if (m_data->m_verboseOutput) {
b3Printf(msg);
}
if (m_data->m_verboseOutput) {
b3Printf("\n");
}
break;
}
case CMD_RESET_SIMULATION_COMPLETED: {
if (m_data->m_verboseOutput) {
b3Printf("CMD_RESET_SIMULATION_COMPLETED clean data\n");
}
m_data->m_debugLinesFrom.clear();
m_data->m_debugLinesTo.clear();
m_data->m_debugLinesColor.clear();
for (int i=0;i<m_data->m_bodyJointMap.size();i++)
{
BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap.getAtIndex(i);
if (bodyJointsPtr && *bodyJointsPtr)
{
BodyJointInfoCache* bodyJoints = *bodyJointsPtr;
for (int j=0;j<bodyJoints->m_jointInfo.size();j++) {
if (bodyJoints->m_jointInfo[j].m_jointName)
{
free(bodyJoints->m_jointInfo[j].m_jointName);
}
if (bodyJoints->m_jointInfo[j].m_linkName)
{
free(bodyJoints->m_jointInfo[j].m_linkName);
}
}
delete (*bodyJointsPtr);
}
}
m_data->m_bodyJointMap.clear();
break;
}
case CMD_DEBUG_LINES_COMPLETED: {
if (m_data->m_verboseOutput) {
b3Printf("Success receiving %d debug lines",
serverCmd.m_sendDebugLinesArgs.m_numDebugLines);
}
int numLines = serverCmd.m_sendDebugLinesArgs.m_numDebugLines;
float* linesFrom =
(float*)&m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0];
float* linesTo =
(float*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0] +
numLines * 3 * sizeof(float));
float* linesColor =
(float*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0] +
2 * numLines * 3 * sizeof(float));
m_data->m_debugLinesFrom.resize(serverCmd.m_sendDebugLinesArgs.m_startingLineIndex +
numLines);
m_data->m_debugLinesTo.resize(serverCmd.m_sendDebugLinesArgs.m_startingLineIndex +
numLines);
m_data->m_debugLinesColor.resize(
serverCmd.m_sendDebugLinesArgs.m_startingLineIndex + numLines);
for (int i = 0; i < numLines; i++) {
TmpFloat3 from = CreateTmpFloat3(linesFrom[i * 3], linesFrom[i * 3 + 1],
linesFrom[i * 3 + 2]);
TmpFloat3 to =
CreateTmpFloat3(linesTo[i * 3], linesTo[i * 3 + 1], linesTo[i * 3 + 2]);
TmpFloat3 color = CreateTmpFloat3(linesColor[i * 3], linesColor[i * 3 + 1],
linesColor[i * 3 + 2]);
m_data
->m_debugLinesFrom[serverCmd.m_sendDebugLinesArgs.m_startingLineIndex + i] =
from;
m_data->m_debugLinesTo[serverCmd.m_sendDebugLinesArgs.m_startingLineIndex + i] =
to;
m_data->m_debugLinesColor[serverCmd.m_sendDebugLinesArgs.m_startingLineIndex +
i] = color;
}
break;
}
case CMD_RIGID_BODY_CREATION_COMPLETED:
{
break;
}
case CMD_DEBUG_LINES_OVERFLOW_FAILED: {
b3Warning("Error receiving debug lines");
m_data->m_debugLinesFrom.resize(0);
m_data->m_debugLinesTo.resize(0);
m_data->m_debugLinesColor.resize(0);
break;
}
case CMD_CAMERA_IMAGE_COMPLETED:
{
if (m_data->m_verboseOutput)
{
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_cachedSegmentationMaskBuffer.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]);
int* segmentationMaskBuffer = (int*)&(m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[serverCmd.m_sendPixelDataArguments.m_numPixelsCopied*8]);
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;i++)
{
m_data->m_cachedSegmentationMaskBuffer[i + serverCmd.m_sendPixelDataArguments.m_startingPixelIndex] = segmentationMaskBuffer[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;
}
case CMD_CONTACT_POINT_INFORMATION_COMPLETED:
{
if (m_data->m_verboseOutput)
{
b3Printf("Contact Point Information Request OK\n");
}
int startContactIndex = serverCmd.m_sendContactPointArgs.m_startingContactPointIndex;
int numContactsCopied = serverCmd.m_sendContactPointArgs.m_numContactPointsCopied;
m_data->m_cachedContactPoints.resize(startContactIndex+numContactsCopied);
b3ContactPointData* contactData = (b3ContactPointData*)m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor;
for (int i=0;i<numContactsCopied;i++)
{
m_data->m_cachedContactPoints[startContactIndex+i] = contactData[i];
}
break;
}
case CMD_CONTACT_POINT_INFORMATION_FAILED:
{
b3Warning("Contact Point Information Request failed");
break;
}
case CMD_SAVE_WORLD_COMPLETED:
break;
case CMD_SAVE_WORLD_FAILED:
{
b3Warning("Saving world failed");
break;
}
case CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED:
{
break;
}
case CMD_CALCULATE_INVERSE_KINEMATICS_FAILED:
{
b3Warning("Calculate Inverse Kinematics Request failed");
break;
}
default: {
b3Error("Unknown server status %d\n", serverCmd.m_type);
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_CONTACT_POINT_INFORMATION_COMPLETED)
{
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
if (serverCmd.m_sendContactPointArgs.m_numRemainingContactPoints>0 && serverCmd.m_sendContactPointArgs.m_numContactPointsCopied)
{
command.m_type = CMD_REQUEST_CONTACT_POINT_INFORMATION;
command.m_requestContactPointArguments.m_startingContactPointIndex = serverCmd.m_sendContactPointArgs.m_startingContactPointIndex+serverCmd.m_sendContactPointArgs.m_numContactPointsCopied;
command.m_requestContactPointArguments.m_objectAIndexFilter = -1;
command.m_requestContactPointArguments.m_objectBIndexFilter = -1;
submitClientCommand(command);
return 0;
}
}
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;
}
const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
// SharedMemoryStatus* stat = 0;
if (!m_data->m_testBlock1) {
m_data->m_lastServerStatus.m_type = CMD_SHARED_MEMORY_NOT_INITIALIZED;
return &m_data->m_lastServerStatus;
}
if (!m_data->m_waitingForServer) {
return 0;
}
if (m_data->m_testBlock1->m_magicId != SHARED_MEMORY_MAGIC_NUMBER)
{
m_data->m_lastServerStatus.m_type = CMD_SHARED_MEMORY_NOT_INITIALIZED;
return &m_data->m_lastServerStatus;
}
if (m_data->m_testBlock1->m_numServerCommands >
m_data->m_testBlock1->m_numProcessedServerCommands) {
btAssert(m_data->m_testBlock1->m_numServerCommands ==
m_data->m_testBlock1->m_numProcessedServerCommands + 1);
const SharedMemoryStatus& serverCmd = m_data->m_testBlock1->m_serverCommands[0];
m_data->m_lastServerStatus = serverCmd;
// EnumSharedMemoryServerStatus s = (EnumSharedMemoryServerStatus)serverCmd.m_type;
// consume the command
switch (serverCmd.m_type) {
case CMD_CLIENT_COMMAND_COMPLETED: {
if (m_data->m_verboseOutput) {
b3Printf("Server completed command");
}
break;
}
case CMD_MJCF_LOADING_COMPLETED:
{
if (m_data->m_verboseOutput) {
b3Printf("Server loading the MJCF OK\n");
}
break;
}
case CMD_SDF_LOADING_COMPLETED: {
if (m_data->m_verboseOutput) {
b3Printf("Server loading the SDF OK\n");
}
break;
}
case CMD_URDF_LOADING_COMPLETED: {
if (m_data->m_verboseOutput) {
b3Printf("Server loading the URDF OK\n");
}
if (serverCmd.m_numDataStreamBytes > 0) {
bParse::btBulletFile bf(
this->m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor,
serverCmd.m_numDataStreamBytes);
bf.setFileDNAisMemoryDNA();
bf.parse(false);
int bodyUniqueId = serverCmd.m_dataStreamArguments.m_bodyUniqueId;
BodyJointInfoCache* bodyJoints = new BodyJointInfoCache;
m_data->m_bodyJointMap.insert(bodyUniqueId,bodyJoints);
for (int i = 0; i < bf.m_multiBodies.size(); i++) {
int flag = bf.getFlags();
if ((flag & bParse::FD_DOUBLE_PRECISION) != 0) {
Bullet::btMultiBodyDoubleData* mb =
(Bullet::btMultiBodyDoubleData*)bf.m_multiBodies[i];
addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
} else
{
Bullet::btMultiBodyFloatData* mb =
(Bullet::btMultiBodyFloatData*)bf.m_multiBodies[i];
addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
}
}
if (bf.ok()) {
if (m_data->m_verboseOutput) {
b3Printf("Received robot description ok!\n");
}
} else {
b3Warning("Robot description not received");
}
}
break;
}
case CMD_DESIRED_STATE_RECEIVED_COMPLETED: {
if (m_data->m_verboseOutput) {
b3Printf("Server received desired state");
}
break;
}
case CMD_STEP_FORWARD_SIMULATION_COMPLETED: {
if (m_data->m_verboseOutput) {
b3Printf("Server completed step simulation");
}
break;
}
case CMD_URDF_LOADING_FAILED: {
if (m_data->m_verboseOutput) {
b3Printf("Server failed loading the URDF...\n");
}
break;
}
case CMD_USER_CONSTRAINT_INFO_COMPLETED:
{
int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId;
m_data->m_userConstraintInfoMap.insert(cid,serverCmd.m_userConstraintResultArgs);
break;
}
case CMD_USER_CONSTRAINT_COMPLETED:
{
int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId;
m_data->m_userConstraintInfoMap.insert(cid,serverCmd.m_userConstraintResultArgs);
break;
}
case CMD_REMOVE_USER_CONSTRAINT_COMPLETED:
{
int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId;
m_data->m_userConstraintInfoMap.remove(cid);
break;
}
case CMD_CHANGE_USER_CONSTRAINT_COMPLETED:
{
int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId;
b3UserConstraint* userConstraintPtr = m_data->m_userConstraintInfoMap[cid];
if (userConstraintPtr)
{
const b3UserConstraint* serverConstraint = &serverCmd.m_userConstraintResultArgs;
if (serverCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_PIVOT_IN_B)
{
userConstraintPtr->m_childFrame[0] = serverConstraint->m_childFrame[0];
userConstraintPtr->m_childFrame[1] = serverConstraint->m_childFrame[1];
userConstraintPtr->m_childFrame[2] = serverConstraint->m_childFrame[2];
}
if (serverCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_FRAME_ORN_IN_B)
{
userConstraintPtr->m_childFrame[3] = serverConstraint->m_childFrame[3];
userConstraintPtr->m_childFrame[4] = serverConstraint->m_childFrame[4];
userConstraintPtr->m_childFrame[5] = serverConstraint->m_childFrame[5];
userConstraintPtr->m_childFrame[6] = serverConstraint->m_childFrame[6];
}
if (serverCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_MAX_FORCE)
{
userConstraintPtr->m_maxAppliedForce = serverConstraint->m_maxAppliedForce;
}
}
break;
}
case CMD_USER_CONSTRAINT_FAILED:
{
b3Warning("createConstraint failed");
break;
}
case CMD_REMOVE_USER_CONSTRAINT_FAILED:
{
b3Warning("removeConstraint failed");
break;
}
case CMD_CHANGE_USER_CONSTRAINT_FAILED:
{
b3Warning("changeConstraint failed");
break;
}
case CMD_ACTUAL_STATE_UPDATE_FAILED:
{
b3Warning("request actual state failed");
break;
}
case CMD_BODY_INFO_COMPLETED:
{
if (m_data->m_verboseOutput) {
b3Printf("Received body info\n");
}
int bodyUniqueId = serverCmd.m_dataStreamArguments.m_bodyUniqueId;
processBodyJointInfo(bodyUniqueId, serverCmd);
break;
}
case CMD_MJCF_LOADING_FAILED:
{
if (m_data->m_verboseOutput) {
b3Printf("Server failed loading the MJCF...\n");
}
break;
}
case CMD_SDF_LOADING_FAILED: {
if (m_data->m_verboseOutput) {
b3Printf("Server failed loading the SDF...\n");
}
break;
}
case CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED: {
if (m_data->m_verboseOutput) {
b3Printf("Server received bullet data stream OK\n");
}
break;
}
case CMD_BULLET_DATA_STREAM_RECEIVED_FAILED: {
if (m_data->m_verboseOutput) {
b3Printf("Server failed receiving bullet data stream\n");
}
break;
}
case CMD_ACTUAL_STATE_UPDATE_COMPLETED: {
if (m_data->m_verboseOutput) {
b3Printf("Received actual state\n");
}
SharedMemoryStatus& command = m_data->m_testBlock1->m_serverCommands[0];
int numQ = command.m_sendActualStateArgs.m_numDegreeOfFreedomQ;
int numU = command.m_sendActualStateArgs.m_numDegreeOfFreedomU;
if (m_data->m_verboseOutput) {
b3Printf("size Q = %d, size U = %d\n", numQ, numU);
}
char msg[1024];
{
sprintf(msg, "Q=[");
for (int i = 0; i < numQ; i++) {
if (i < numQ - 1) {
sprintf(msg, "%s%f,", msg,
command.m_sendActualStateArgs.m_actualStateQ[i]);
} else {
sprintf(msg, "%s%f", msg,
command.m_sendActualStateArgs.m_actualStateQ[i]);
}
}
sprintf(msg, "%s]", msg);
}
if (m_data->m_verboseOutput) {
b3Printf(msg);
}
{
sprintf(msg, "U=[");
for (int i = 0; i < numU; i++) {
if (i < numU - 1) {
sprintf(msg, "%s%f,", msg,
command.m_sendActualStateArgs.m_actualStateQdot[i]);
} else {
sprintf(msg, "%s%f", msg,
command.m_sendActualStateArgs.m_actualStateQdot[i]);
}
}
sprintf(msg, "%s]", msg);
}
if (m_data->m_verboseOutput) {
b3Printf(msg);
}
if (m_data->m_verboseOutput) {
b3Printf("\n");
}
break;
}
case CMD_RESET_SIMULATION_COMPLETED: {
if (m_data->m_verboseOutput) {
b3Printf("CMD_RESET_SIMULATION_COMPLETED clean data\n");
}
resetData();
break;
}
case CMD_DEBUG_LINES_COMPLETED: {
if (m_data->m_verboseOutput) {
b3Printf("Success receiving %d debug lines",
serverCmd.m_sendDebugLinesArgs.m_numDebugLines);
}
int numLines = serverCmd.m_sendDebugLinesArgs.m_numDebugLines;
float* linesFrom =
(float*)&m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0];
float* linesTo =
(float*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0] +
numLines * 3 * sizeof(float));
float* linesColor =
(float*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0] +
2 * numLines * 3 * sizeof(float));
m_data->m_debugLinesFrom.resize(serverCmd.m_sendDebugLinesArgs.m_startingLineIndex +
numLines);
m_data->m_debugLinesTo.resize(serverCmd.m_sendDebugLinesArgs.m_startingLineIndex +
numLines);
m_data->m_debugLinesColor.resize(
serverCmd.m_sendDebugLinesArgs.m_startingLineIndex + numLines);
for (int i = 0; i < numLines; i++) {
TmpFloat3 from = CreateTmpFloat3(linesFrom[i * 3], linesFrom[i * 3 + 1],
linesFrom[i * 3 + 2]);
TmpFloat3 to =
CreateTmpFloat3(linesTo[i * 3], linesTo[i * 3 + 1], linesTo[i * 3 + 2]);
TmpFloat3 color = CreateTmpFloat3(linesColor[i * 3], linesColor[i * 3 + 1],
linesColor[i * 3 + 2]);
m_data
->m_debugLinesFrom[serverCmd.m_sendDebugLinesArgs.m_startingLineIndex + i] =
from;
m_data->m_debugLinesTo[serverCmd.m_sendDebugLinesArgs.m_startingLineIndex + i] =
to;
m_data->m_debugLinesColor[serverCmd.m_sendDebugLinesArgs.m_startingLineIndex +
i] = color;
}
break;
}
case CMD_RIGID_BODY_CREATION_COMPLETED:
{
break;
}
case CMD_DEBUG_LINES_OVERFLOW_FAILED: {
b3Warning("Error receiving debug lines");
m_data->m_debugLinesFrom.resize(0);
m_data->m_debugLinesTo.resize(0);
m_data->m_debugLinesColor.resize(0);
break;
}
case CMD_CAMERA_IMAGE_COMPLETED:
{
if (m_data->m_verboseOutput)
{
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_cachedSegmentationMaskBuffer.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]);
int* segmentationMaskBuffer = (int*)&(m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[serverCmd.m_sendPixelDataArguments.m_numPixelsCopied*8]);
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;i++)
{
m_data->m_cachedSegmentationMaskBuffer[i + serverCmd.m_sendPixelDataArguments.m_startingPixelIndex] = segmentationMaskBuffer[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;
}
case CMD_REQUEST_AABB_OVERLAP_FAILED:
{
b3Warning("Overlapping object query failed");
break;
}
case CMD_REQUEST_RAY_CAST_INTERSECTIONS_COMPLETED:
{
if (m_data->m_verboseOutput)
{
b3Printf("Raycast completed");
}
m_data->m_raycastHits.clear();
for (int i=0;i<serverCmd.m_raycastHits.m_numRaycastHits;i++)
{
m_data->m_raycastHits.push_back(serverCmd.m_raycastHits.m_rayHits[i]);
}
break;
}
case CMD_REQUEST_VR_EVENTS_DATA_COMPLETED:
{
if (m_data->m_verboseOutput)
{
b3Printf("Request VR Events completed");
}
m_data->m_cachedVREvents.clear();
for (int i=0;i< serverCmd.m_sendVREvents.m_numVRControllerEvents;i++)
{
m_data->m_cachedVREvents.push_back(serverCmd.m_sendVREvents.m_controllerEvents[i]);
}
break;
}
case CMD_REQUEST_AABB_OVERLAP_COMPLETED:
{
if (m_data->m_verboseOutput)
{
b3Printf("Overlapping object request completed");
}
int startOverlapIndex = serverCmd.m_sendOverlappingObjectsArgs.m_startingOverlappingObjectIndex;
int numOverlapCopied = serverCmd.m_sendOverlappingObjectsArgs.m_numOverlappingObjectsCopied;
m_data->m_cachedOverlappingObjects.resize(startOverlapIndex + numOverlapCopied);
b3OverlappingObject* objects = (b3OverlappingObject*)m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor;
for (int i = 0; i < numOverlapCopied; i++)
{
m_data->m_cachedOverlappingObjects[startOverlapIndex + i] = objects[i];
}
break;
}
case CMD_CONTACT_POINT_INFORMATION_COMPLETED:
{
if (m_data->m_verboseOutput)
{
b3Printf("Contact Point Information Request OK\n");
}
int startContactIndex = serverCmd.m_sendContactPointArgs.m_startingContactPointIndex;
int numContactsCopied = serverCmd.m_sendContactPointArgs.m_numContactPointsCopied;
m_data->m_cachedContactPoints.resize(startContactIndex+numContactsCopied);
b3ContactPointData* contactData = (b3ContactPointData*)m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor;
for (int i=0;i<numContactsCopied;i++)
{
m_data->m_cachedContactPoints[startContactIndex+i] = contactData[i];
}
break;
}
case CMD_CONTACT_POINT_INFORMATION_FAILED:
{
b3Warning("Contact Point Information Request failed");
break;
}
case CMD_SAVE_WORLD_COMPLETED:
break;
case CMD_SAVE_WORLD_FAILED:
{
b3Warning("Saving world failed");
break;
}
case CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED:
{
break;
}
case CMD_CALCULATE_INVERSE_KINEMATICS_FAILED:
{
b3Warning("Calculate Inverse Kinematics Request failed");
break;
}
case CMD_VISUAL_SHAPE_INFO_COMPLETED:
{
if (m_data->m_verboseOutput)
{
b3Printf("Visual Shape Information Request OK\n");
}
int startVisualShapeIndex = serverCmd.m_sendVisualShapeArgs.m_startingVisualShapeIndex;
int numVisualShapesCopied = serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied;
m_data->m_cachedVisualShapes.resize(startVisualShapeIndex + numVisualShapesCopied);
b3VisualShapeData* shapeData = (b3VisualShapeData*)m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor;
for (int i = 0; i < numVisualShapesCopied; i++)
{
m_data->m_cachedVisualShapes[startVisualShapeIndex + i] = shapeData[i];
}
break;
}
case CMD_VISUAL_SHAPE_INFO_FAILED:
{
b3Warning("Visual Shape Info Request failed");
break;
}
case CMD_VISUAL_SHAPE_UPDATE_COMPLETED:
{
break;
}
case CMD_VISUAL_SHAPE_UPDATE_FAILED:
{
b3Warning("Visual Shape Update failed");
break;
}
case CMD_LOAD_TEXTURE_COMPLETED:
{
break;
}
case CMD_LOAD_TEXTURE_FAILED:
{
b3Warning("Load texture failed");
break;
}
case CMD_BULLET_LOADING_COMPLETED:
{
break;
}
case CMD_BULLET_LOADING_FAILED:
{
b3Warning("Load .bullet failed");
break;
}
case CMD_BULLET_SAVING_FAILED:
{
b3Warning("Save .bullet failed");
break;
}
case CMD_USER_DEBUG_DRAW_PARAMETER_COMPLETED:
case CMD_USER_DEBUG_DRAW_COMPLETED:
{
break;
}
case CMD_USER_DEBUG_DRAW_FAILED:
{
b3Warning("User debug draw failed");
break;
}
case CMD_SYNC_BODY_INFO_COMPLETED:
{
break;
}
case CMD_STATE_LOGGING_START_COMPLETED:
{
break;
};
case CMD_STATE_LOGGING_COMPLETED:
{
break;
};
case CMD_STATE_LOGGING_FAILED:
{
b3Warning("State Logging failed");
break;
}
default: {
b3Error("Unknown server status %d\n", serverCmd.m_type);
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) || (serverCmd.m_type == CMD_MJCF_LOADING_COMPLETED) || (serverCmd.m_type == CMD_SYNC_BODY_INFO_COMPLETED))
{
int numConstraints = serverCmd.m_sdfLoadedArgs.m_numUserConstraints;
for (int i=0;i<numConstraints;i++)
{
int constraintUid = serverCmd.m_sdfLoadedArgs.m_userConstraintUniqueIds[i];
m_data->m_constraintIdsRequestInfo.push_back(constraintUid);
}
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_USER_CONSTRAINT_INFO_COMPLETED)
{
if (m_data->m_constraintIdsRequestInfo.size())
{
int cid = m_data->m_constraintIdsRequestInfo[m_data->m_constraintIdsRequestInfo.size()-1];
m_data->m_constraintIdsRequestInfo.pop_back();
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
command.m_type = CMD_USER_CONSTRAINT;
command.m_updateFlags = USER_CONSTRAINT_REQUEST_INFO;
command.m_userConstraintArguments.m_userConstraintUniqueId = cid;
submitClientCommand(command);
return 0;
}
else
{
m_data->m_lastServerStatus = m_data->m_tempBackupServerStatus;
}
}
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
{
if (m_data->m_constraintIdsRequestInfo.size())
{
int cid = m_data->m_constraintIdsRequestInfo[m_data->m_constraintIdsRequestInfo.size()-1];
m_data->m_constraintIdsRequestInfo.pop_back();
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
command.m_type = CMD_USER_CONSTRAINT;
command.m_updateFlags = USER_CONSTRAINT_REQUEST_INFO;
command.m_userConstraintArguments.m_userConstraintUniqueId = cid;
submitClientCommand(command);
return 0;
} else
{
m_data->m_lastServerStatus = m_data->m_tempBackupServerStatus;
}
}
}
if (serverCmd.m_type == CMD_REQUEST_AABB_OVERLAP_COMPLETED)
{
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
if (serverCmd.m_sendOverlappingObjectsArgs.m_numRemainingOverlappingObjects > 0 && serverCmd.m_sendOverlappingObjectsArgs.m_numOverlappingObjectsCopied)
{
command.m_type = CMD_REQUEST_AABB_OVERLAP;
command.m_requestOverlappingObjectsArgs.m_startingOverlappingObjectIndex = serverCmd.m_sendOverlappingObjectsArgs.m_startingOverlappingObjectIndex + serverCmd.m_sendOverlappingObjectsArgs.m_numOverlappingObjectsCopied;
submitClientCommand(command);
return 0;
}
}
if (serverCmd.m_type == CMD_CONTACT_POINT_INFORMATION_COMPLETED)
{
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
if (serverCmd.m_sendContactPointArgs.m_numRemainingContactPoints>0 && serverCmd.m_sendContactPointArgs.m_numContactPointsCopied)
{
command.m_type = CMD_REQUEST_CONTACT_POINT_INFORMATION;
command.m_requestContactPointArguments.m_startingContactPointIndex = serverCmd.m_sendContactPointArgs.m_startingContactPointIndex+serverCmd.m_sendContactPointArgs.m_numContactPointsCopied;
command.m_requestContactPointArguments.m_objectAIndexFilter = -1;
command.m_requestContactPointArguments.m_objectBIndexFilter = -1;
submitClientCommand(command);
return 0;
}
}
if (serverCmd.m_type == CMD_VISUAL_SHAPE_INFO_COMPLETED)
{
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
if (serverCmd.m_sendVisualShapeArgs.m_numRemainingVisualShapes >0 && serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied)
{
command.m_type = CMD_REQUEST_VISUAL_SHAPE_INFO;
command.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex = serverCmd.m_sendVisualShapeArgs.m_startingVisualShapeIndex + serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied;
command.m_requestVisualShapeDataArguments.m_bodyUniqueId = serverCmd.m_sendVisualShapeArgs.m_bodyUniqueId;
submitClientCommand(command);
return 0;
}
}
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;
}
const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
SharedMemoryStatus* stat = 0;
if (!m_data->m_testBlock1) {
m_data->m_lastServerStatus.m_type = CMD_SHARED_MEMORY_NOT_INITIALIZED;
return &m_data->m_lastServerStatus;
}
if (!m_data->m_waitingForServer) {
return 0;
}
if (m_data->m_testBlock1->m_magicId != SHARED_MEMORY_MAGIC_NUMBER)
{
m_data->m_lastServerStatus.m_type = CMD_SHARED_MEMORY_NOT_INITIALIZED;
return &m_data->m_lastServerStatus;
}
if (m_data->m_testBlock1->m_numServerCommands >
m_data->m_testBlock1->m_numProcessedServerCommands) {
btAssert(m_data->m_testBlock1->m_numServerCommands ==
m_data->m_testBlock1->m_numProcessedServerCommands + 1);
const SharedMemoryStatus& serverCmd = m_data->m_testBlock1->m_serverCommands[0];
m_data->m_lastServerStatus = serverCmd;
EnumSharedMemoryServerStatus s = (EnumSharedMemoryServerStatus)serverCmd.m_type;
// consume the command
switch (serverCmd.m_type) {
case CMD_CLIENT_COMMAND_COMPLETED: {
if (m_data->m_verboseOutput) {
b3Printf("Server completed command");
}
break;
}
case CMD_URDF_LOADING_COMPLETED: {
m_data->m_serverLoadUrdfOK = true;
if (m_data->m_verboseOutput) {
b3Printf("Server loading the URDF OK\n");
}
if (serverCmd.m_dataStreamArguments.m_streamChunkLength > 0) {
bParse::btBulletFile bf(
this->m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor,
serverCmd.m_dataStreamArguments.m_streamChunkLength);
bf.setFileDNAisMemoryDNA();
bf.parse(false);
int bodyIndex = serverCmd.m_dataStreamArguments.m_bodyUniqueId;
BodyJointInfoCache* bodyJoints = new BodyJointInfoCache;
m_data->m_bodyJointMap.insert(bodyIndex,bodyJoints);
for (int i = 0; i < bf.m_multiBodies.size(); i++) {
int flag = bf.getFlags();
if ((flag & bParse::FD_DOUBLE_PRECISION) != 0) {
Bullet::btMultiBodyDoubleData* mb =
(Bullet::btMultiBodyDoubleData*)bf.m_multiBodies[i];
addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
} else
{
Bullet::btMultiBodyFloatData* mb =
(Bullet::btMultiBodyFloatData*)bf.m_multiBodies[i];
addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
}
}
if (bf.ok()) {
if (m_data->m_verboseOutput) {
b3Printf("Received robot description ok!\n");
}
} else {
b3Warning("Robot description not received");
}
}
break;
}
case CMD_DESIRED_STATE_RECEIVED_COMPLETED: {
if (m_data->m_verboseOutput) {
b3Printf("Server received desired state");
}
break;
}
case CMD_STEP_FORWARD_SIMULATION_COMPLETED: {
if (m_data->m_verboseOutput) {
b3Printf("Server completed step simulation");
}
break;
}
case CMD_URDF_LOADING_FAILED: {
if (m_data->m_verboseOutput) {
b3Printf("Server failed loading the URDF...\n");
}
m_data->m_serverLoadUrdfOK = false;
break;
}
case CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED: {
if (m_data->m_verboseOutput) {
b3Printf("Server received bullet data stream OK\n");
}
break;
}
case CMD_BULLET_DATA_STREAM_RECEIVED_FAILED: {
if (m_data->m_verboseOutput) {
b3Printf("Server failed receiving bullet data stream\n");
}
break;
}
case CMD_ACTUAL_STATE_UPDATE_COMPLETED: {
if (m_data->m_verboseOutput) {
b3Printf("Received actual state\n");
}
SharedMemoryStatus& command = m_data->m_testBlock1->m_serverCommands[0];
int numQ = command.m_sendActualStateArgs.m_numDegreeOfFreedomQ;
int numU = command.m_sendActualStateArgs.m_numDegreeOfFreedomU;
if (m_data->m_verboseOutput) {
b3Printf("size Q = %d, size U = %d\n", numQ, numU);
}
char msg[1024];
{
sprintf(msg, "Q=[");
for (int i = 0; i < numQ; i++) {
if (i < numQ - 1) {
sprintf(msg, "%s%f,", msg,
command.m_sendActualStateArgs.m_actualStateQ[i]);
} else {
sprintf(msg, "%s%f", msg,
command.m_sendActualStateArgs.m_actualStateQ[i]);
}
}
sprintf(msg, "%s]", msg);
}
if (m_data->m_verboseOutput) {
b3Printf(msg);
}
{
sprintf(msg, "U=[");
for (int i = 0; i < numU; i++) {
if (i < numU - 1) {
sprintf(msg, "%s%f,", msg,
command.m_sendActualStateArgs.m_actualStateQdot[i]);
} else {
sprintf(msg, "%s%f", msg,
command.m_sendActualStateArgs.m_actualStateQdot[i]);
}
}
sprintf(msg, "%s]", msg);
}
if (m_data->m_verboseOutput) {
b3Printf(msg);
}
if (m_data->m_verboseOutput) {
b3Printf("\n");
}
break;
}
case CMD_RESET_SIMULATION_COMPLETED: {
if (m_data->m_verboseOutput) {
b3Printf("CMD_RESET_SIMULATION_COMPLETED clean data\n");
}
m_data->m_debugLinesFrom.clear();
m_data->m_debugLinesTo.clear();
m_data->m_debugLinesColor.clear();
for (int i=0;i<m_data->m_bodyJointMap.size();i++)
{
BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap.getAtIndex(i);
if (bodyJointsPtr && *bodyJointsPtr)
{
BodyJointInfoCache* bodyJoints = *bodyJointsPtr;
for (int j=0;j<bodyJoints->m_jointInfo.size();j++) {
if (bodyJoints->m_jointInfo[j].m_jointName)
{
free(bodyJoints->m_jointInfo[j].m_jointName);
}
if (bodyJoints->m_jointInfo[j].m_linkName)
{
free(bodyJoints->m_jointInfo[j].m_linkName);
}
}
delete (*bodyJointsPtr);
}
}
m_data->m_bodyJointMap.clear();
break;
}
case CMD_DEBUG_LINES_COMPLETED: {
if (m_data->m_verboseOutput) {
b3Printf("Success receiving %d debug lines",
serverCmd.m_sendDebugLinesArgs.m_numDebugLines);
}
int numLines = serverCmd.m_sendDebugLinesArgs.m_numDebugLines;
float* linesFrom =
(float*)&m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0];
float* linesTo =
(float*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0] +
numLines * 3 * sizeof(float));
float* linesColor =
(float*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0] +
2 * numLines * 3 * sizeof(float));
m_data->m_debugLinesFrom.resize(serverCmd.m_sendDebugLinesArgs.m_startingLineIndex +
numLines);
m_data->m_debugLinesTo.resize(serverCmd.m_sendDebugLinesArgs.m_startingLineIndex +
numLines);
m_data->m_debugLinesColor.resize(
serverCmd.m_sendDebugLinesArgs.m_startingLineIndex + numLines);
for (int i = 0; i < numLines; i++) {
TmpFloat3 from = CreateTmpFloat3(linesFrom[i * 3], linesFrom[i * 3 + 1],
linesFrom[i * 3 + 2]);
TmpFloat3 to =
CreateTmpFloat3(linesTo[i * 3], linesTo[i * 3 + 1], linesTo[i * 3 + 2]);
TmpFloat3 color = CreateTmpFloat3(linesColor[i * 3], linesColor[i * 3 + 1],
linesColor[i * 3 + 2]);
m_data
->m_debugLinesFrom[serverCmd.m_sendDebugLinesArgs.m_startingLineIndex + i] =
from;
m_data->m_debugLinesTo[serverCmd.m_sendDebugLinesArgs.m_startingLineIndex + i] =
to;
m_data->m_debugLinesColor[serverCmd.m_sendDebugLinesArgs.m_startingLineIndex +
i] = color;
}
break;
}
case CMD_RIGID_BODY_CREATION_COMPLETED:
{
break;
}
case CMD_DEBUG_LINES_OVERFLOW_FAILED: {
b3Warning("Error receiving debug lines");
m_data->m_debugLinesFrom.resize(0);
m_data->m_debugLinesTo.resize(0);
m_data->m_debugLinesColor.resize(0);
break;
}
case CMD_CAMERA_IMAGE_COMPLETED:
{
b3Printf("Camera image OK\n");
break;
}
case CMD_CAMERA_IMAGE_FAILED:
{
b3Printf("Camera image FAILED\n");
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_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 PhysicsDirect::submitClientCommand(const struct SharedMemoryCommand& command)
{
if (command.m_type==CMD_REQUEST_DEBUG_LINES)
{
return processDebugLines(command);
}
if (command.m_type==CMD_REQUEST_CAMERA_IMAGE_DATA)
{
return processCamera(command);
}
bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
m_data->m_hasStatus = hasStatus;
if (hasStatus)
{
const SharedMemoryStatus& serverCmd = m_data->m_serverStatus;
switch (m_data->m_serverStatus.m_type)
{
case CMD_RESET_SIMULATION_COMPLETED:
{
m_data->m_debugLinesFrom.clear();
m_data->m_debugLinesTo.clear();
m_data->m_debugLinesColor.clear();
for (int i=0;i<m_data->m_bodyJointMap.size();i++)
{
BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap.getAtIndex(i);
if (bodyJointsPtr && *bodyJointsPtr)
{
BodyJointInfoCache2* bodyJoints = *bodyJointsPtr;
for (int j=0;j<bodyJoints->m_jointInfo.size();j++) {
if (bodyJoints->m_jointInfo[j].m_jointName)
{
free(bodyJoints->m_jointInfo[j].m_jointName);
}
if (bodyJoints->m_jointInfo[j].m_linkName)
{
free(bodyJoints->m_jointInfo[j].m_linkName);
}
}
delete (*bodyJointsPtr);
}
}
m_data->m_bodyJointMap.clear();
break;
}
case CMD_URDF_LOADING_COMPLETED:
{
if (serverCmd.m_dataStreamArguments.m_streamChunkLength > 0)
{
bParse::btBulletFile bf(
&m_data->m_bulletStreamDataServerToClient[0],
serverCmd.m_dataStreamArguments.m_streamChunkLength);
bf.setFileDNAisMemoryDNA();
bf.parse(false);
int bodyIndex = serverCmd.m_dataStreamArguments.m_bodyUniqueId;
BodyJointInfoCache2* bodyJoints = new BodyJointInfoCache2;
m_data->m_bodyJointMap.insert(bodyIndex,bodyJoints);
for (int i = 0; i < bf.m_multiBodies.size(); i++)
{
int flag = bf.getFlags();
if ((flag & bParse::FD_DOUBLE_PRECISION) != 0)
{
Bullet::btMultiBodyDoubleData* mb =
(Bullet::btMultiBodyDoubleData*)bf.m_multiBodies[i];
addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
} else
{
Bullet::btMultiBodyFloatData* mb =
(Bullet::btMultiBodyFloatData*)bf.m_multiBodies[i];
addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
}
}
if (bf.ok()) {
if (m_data->m_verboseOutput)
{
b3Printf("Received robot description ok!\n");
}
} else
{
b3Warning("Robot description not received");
}
}
break;
}
default:
{
// b3Error("Unknown server status type");
}
};
}
return hasStatus;
}
