mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-07-12 23:24:41 +00:00
update bullet so it actually works
Moved the addSourceDirectory for physics/Bullet into the Engine/Source/CMakeLists.txt file that way it can actually appear where we expect it to in the solution explorer.
This commit is contained in:
marauder2k7
parent
c7be48130a
commit
13fa178cf6
5986 changed files with 1811270 additions and 453803 deletions
1835
Engine/lib/bullet/examples/SharedMemory/grpc/ConvertGRPCBullet.cpp
Normal file
1835
Engine/lib/bullet/examples/SharedMemory/grpc/ConvertGRPCBullet.cpp
Normal file
File diff suppressed because it is too large
Load diff
|
|
@ -0,0 +1,21 @@
|
|||
|
||||
#ifndef BT_CONVERT_GRPC_BULLET_H
|
||||
#define BT_CONVERT_GRPC_BULLET_H
|
||||
|
||||
#include "../PhysicsClientC_API.h"
|
||||
|
||||
namespace pybullet_grpc
|
||||
{
|
||||
class PyBulletCommand;
|
||||
class PyBulletStatus;
|
||||
}; // namespace pybullet_grpc
|
||||
|
||||
struct SharedMemoryCommand* convertGRPCToBulletCommand(const pybullet_grpc::PyBulletCommand& grpcCommand, struct SharedMemoryCommand& cmd);
|
||||
|
||||
pybullet_grpc::PyBulletCommand* convertBulletToGRPCCommand(const struct SharedMemoryCommand& clientCmd, pybullet_grpc::PyBulletCommand& grpcCommand);
|
||||
|
||||
bool convertGRPCToStatus(const pybullet_grpc::PyBulletStatus& grpcReply, struct SharedMemoryStatus& serverStatus, char* bufferServerToClient, int bufferSizeInBytes);
|
||||
|
||||
bool convertStatusToGRPC(const struct SharedMemoryStatus& serverStatus, char* bufferServerToClient, int bufferSizeInBytes, pybullet_grpc::PyBulletStatus& grpcReply);
|
||||
|
||||
#endif //BT_CONVERT_GRPC_BULLET_H
|
||||
298
Engine/lib/bullet/examples/SharedMemory/grpc/main.cpp
Normal file
298
Engine/lib/bullet/examples/SharedMemory/grpc/main.cpp
Normal file
|
|
@ -0,0 +1,298 @@
|
|||
///PyBullet / BulletRobotics GRPC server.
|
||||
///works as standalone GRPC server as as a GRPC server bridge,
|
||||
///connecting to a local physics server using shared memory
|
||||
|
||||
#include <stdio.h>
|
||||
#include "../../CommonInterfaces/CommonGUIHelperInterface.h"
|
||||
#include "Bullet3Common/b3CommandLineArgs.h"
|
||||
#include "PhysicsClientC_API.h"
|
||||
#ifdef NO_SHARED_MEMORY
|
||||
#include "PhysicsServerCommandProcessor.h"
|
||||
typedef PhysicsServerCommandProcessor MyCommandProcessor;
|
||||
#else
|
||||
#include "SharedMemoryCommandProcessor.h"
|
||||
typedef SharedMemoryCommandProcessor MyCommandProcessor;
|
||||
#endif //NO_SHARED_MEMORY
|
||||
|
||||
#include "SharedMemoryCommands.h"
|
||||
#include "Bullet3Common/b3AlignedObjectArray.h"
|
||||
#include "PhysicsServerCommandProcessor.h"
|
||||
#include "../Utils/b3Clock.h"
|
||||
|
||||
#include <memory>
|
||||
#include <iostream>
|
||||
#include <string>
|
||||
#include <thread>
|
||||
|
||||
#include <grpc++/grpc++.h>
|
||||
#include <grpc/support/log.h>
|
||||
|
||||
#include "SharedMemory/grpc/proto/pybullet.grpc.pb.h"
|
||||
|
||||
using grpc::Server;
|
||||
using grpc::ServerAsyncResponseWriter;
|
||||
using grpc::ServerBuilder;
|
||||
using grpc::ServerCompletionQueue;
|
||||
using grpc::ServerContext;
|
||||
using grpc::Status;
|
||||
using pybullet_grpc::PyBulletAPI;
|
||||
using pybullet_grpc::PyBulletCommand;
|
||||
using pybullet_grpc::PyBulletStatus;
|
||||
|
||||
bool gVerboseNetworkMessagesServer = true;
|
||||
#include "ConvertGRPCBullet.h"
|
||||
|
||||
class ServerImpl final
|
||||
{
|
||||
public:
|
||||
~ServerImpl()
|
||||
{
|
||||
server_->Shutdown();
|
||||
// Always shutdown the completion queue after the server.
|
||||
cq_->Shutdown();
|
||||
}
|
||||
|
||||
void Run(MyCommandProcessor* comProc, const std::string& hostNamePort)
|
||||
{
|
||||
ServerBuilder builder;
|
||||
// Listen on the given address without any authentication mechanism.
|
||||
builder.AddListeningPort(hostNamePort, grpc::InsecureServerCredentials());
|
||||
// Register "service_" as the instance through which we'll communicate with
|
||||
// clients. In this case it corresponds to an *asynchronous* service.
|
||||
builder.RegisterService(&service_);
|
||||
// Get hold of the completion queue used for the asynchronous communication
|
||||
// with the gRPC runtime.
|
||||
cq_ = builder.AddCompletionQueue();
|
||||
// Finally assemble the server.
|
||||
server_ = builder.BuildAndStart();
|
||||
std::cout << "Standalone Bullet Physics GRPC server listening on " << hostNamePort << std::endl;
|
||||
|
||||
// Proceed to the server's main loop.
|
||||
HandleRpcs(comProc);
|
||||
}
|
||||
|
||||
private:
|
||||
// Class encompasing the state and logic needed to serve a request.
|
||||
class CallData
|
||||
{
|
||||
public:
|
||||
// Take in the "service" instance (in this case representing an asynchronous
|
||||
// server) and the completion queue "cq" used for asynchronous communication
|
||||
// with the gRPC runtime.
|
||||
CallData(PyBulletAPI::AsyncService* service, ServerCompletionQueue* cq, MyCommandProcessor* comProc)
|
||||
: service_(service), cq_(cq), responder_(&ctx_), status_(CREATE), m_finished(false), m_comProc(comProc)
|
||||
{
|
||||
// Invoke the serving logic right away.
|
||||
Proceed();
|
||||
}
|
||||
|
||||
enum CallStatus
|
||||
{
|
||||
CREATE,
|
||||
PROCESS,
|
||||
FINISH,
|
||||
TERMINATE
|
||||
};
|
||||
|
||||
CallStatus Proceed()
|
||||
{
|
||||
if (status_ == CREATE)
|
||||
{
|
||||
// Make this instance progress to the PROCESS state.
|
||||
status_ = PROCESS;
|
||||
|
||||
// As part of the initial CREATE state, we *request* that the system
|
||||
// start processing SayHello requests. In this request, "this" acts are
|
||||
// the tag uniquely identifying the request (so that different CallData
|
||||
// instances can serve different requests concurrently), in this case
|
||||
// the memory address of this CallData instance.
|
||||
|
||||
service_->RequestSubmitCommand(&ctx_, &m_command, &responder_, cq_, cq_,
|
||||
this);
|
||||
}
|
||||
else if (status_ == PROCESS)
|
||||
{
|
||||
// Spawn a new CallData instance to serve new clients while we process
|
||||
// the one for this CallData. The instance will deallocate itself as
|
||||
// part of its FINISH state.
|
||||
new CallData(service_, cq_, m_comProc);
|
||||
status_ = FINISH;
|
||||
|
||||
std::string replyString;
|
||||
// The actual processing.
|
||||
|
||||
SharedMemoryStatus serverStatus;
|
||||
b3AlignedObjectArray<char> buffer;
|
||||
buffer.resize(SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
|
||||
SharedMemoryCommand cmd;
|
||||
SharedMemoryCommand* cmdPtr = 0;
|
||||
|
||||
m_status.set_statustype(CMD_UNKNOWN_COMMAND_FLUSHED);
|
||||
|
||||
if (m_command.has_checkversioncommand())
|
||||
{
|
||||
m_status.set_statustype(CMD_CLIENT_COMMAND_COMPLETED);
|
||||
m_status.mutable_checkversionstatus()->set_serverversion(SHARED_MEMORY_MAGIC_NUMBER);
|
||||
}
|
||||
else
|
||||
{
|
||||
cmdPtr = convertGRPCToBulletCommand(m_command, cmd);
|
||||
|
||||
if (cmdPtr)
|
||||
{
|
||||
bool hasStatus = m_comProc->processCommand(*cmdPtr, serverStatus, &buffer[0], buffer.size());
|
||||
m_comProc->reportNotifications();
|
||||
double timeOutInSeconds = 10;
|
||||
b3Clock clock;
|
||||
double startTimeSeconds = clock.getTimeInSeconds();
|
||||
double curTimeSeconds = clock.getTimeInSeconds();
|
||||
|
||||
while ((!hasStatus) && ((curTimeSeconds - startTimeSeconds) < timeOutInSeconds))
|
||||
{
|
||||
hasStatus = m_comProc->receiveStatus(serverStatus, &buffer[0], buffer.size());
|
||||
curTimeSeconds = clock.getTimeInSeconds();
|
||||
}
|
||||
if (gVerboseNetworkMessagesServer)
|
||||
{
|
||||
//printf("buffer.size = %d\n", buffer.size());
|
||||
printf("serverStatus.m_numDataStreamBytes = %d\n", serverStatus.m_numDataStreamBytes);
|
||||
}
|
||||
if (hasStatus)
|
||||
{
|
||||
b3AlignedObjectArray<unsigned char> packetData;
|
||||
unsigned char* statBytes = (unsigned char*)&serverStatus;
|
||||
|
||||
convertStatusToGRPC(serverStatus, &buffer[0], buffer.size(), m_status);
|
||||
}
|
||||
}
|
||||
|
||||
if (m_command.has_terminateservercommand())
|
||||
{
|
||||
status_ = TERMINATE;
|
||||
}
|
||||
}
|
||||
|
||||
// And we are done! Let the gRPC runtime know we've finished, using the
|
||||
// memory address of this instance as the uniquely identifying tag for
|
||||
// the event.
|
||||
|
||||
responder_.Finish(m_status, Status::OK, this);
|
||||
}
|
||||
else
|
||||
{
|
||||
GPR_ASSERT(status_ == FINISH);
|
||||
// Once in the FINISH state, deallocate ourselves (CallData).
|
||||
delete this;
|
||||
}
|
||||
return status_;
|
||||
}
|
||||
|
||||
private:
|
||||
// The means of communication with the gRPC runtime for an asynchronous
|
||||
// server.
|
||||
PyBulletAPI::AsyncService* service_;
|
||||
// The producer-consumer queue where for asynchronous server notifications.
|
||||
ServerCompletionQueue* cq_;
|
||||
// Context for the rpc, allowing to tweak aspects of it such as the use
|
||||
// of compression, authentication, as well as to send metadata back to the
|
||||
// client.
|
||||
ServerContext ctx_;
|
||||
|
||||
// What we get from the client.
|
||||
PyBulletCommand m_command;
|
||||
// What we send back to the client.
|
||||
PyBulletStatus m_status;
|
||||
|
||||
// The means to get back to the client.
|
||||
ServerAsyncResponseWriter<PyBulletStatus> responder_;
|
||||
|
||||
// Let's implement a tiny state machine with the following states.
|
||||
|
||||
CallStatus status_; // The current serving state.
|
||||
|
||||
bool m_finished;
|
||||
|
||||
MyCommandProcessor* m_comProc; //physics server command processor
|
||||
};
|
||||
|
||||
// This can be run in multiple threads if needed.
|
||||
void HandleRpcs(MyCommandProcessor* comProc)
|
||||
{
|
||||
// Spawn a new CallData instance to serve new clients.
|
||||
new CallData(&service_, cq_.get(), comProc);
|
||||
void* tag; // uniquely identifies a request.
|
||||
bool ok;
|
||||
bool finished = false;
|
||||
|
||||
CallData::CallStatus status = CallData::CallStatus::CREATE;
|
||||
|
||||
while (status != CallData::CallStatus::TERMINATE)
|
||||
{
|
||||
// Block waiting to read the next event from the completion queue. The
|
||||
// event is uniquely identified by its tag, which in this case is the
|
||||
// memory address of a CallData instance.
|
||||
// The return value of Next should always be checked. This return value
|
||||
// tells us whether there is any kind of event or cq_ is shutting down.
|
||||
|
||||
grpc::CompletionQueue::NextStatus nextStatus = cq_->AsyncNext(&tag, &ok, gpr_now(GPR_CLOCK_MONOTONIC));
|
||||
if (nextStatus == grpc::CompletionQueue::NextStatus::GOT_EVENT)
|
||||
{
|
||||
//GPR_ASSERT(cq_->Next(&tag, &ok));
|
||||
GPR_ASSERT(ok);
|
||||
status = static_cast<CallData*>(tag)->Proceed();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
std::unique_ptr<ServerCompletionQueue> cq_;
|
||||
PyBulletAPI::AsyncService service_;
|
||||
std::unique_ptr<Server> server_;
|
||||
};
|
||||
|
||||
int main(int argc, char** argv)
|
||||
{
|
||||
b3CommandLineArgs parseArgs(argc, argv);
|
||||
b3Clock clock;
|
||||
double timeOutInSeconds = 10;
|
||||
|
||||
DummyGUIHelper guiHelper;
|
||||
MyCommandProcessor* sm = new MyCommandProcessor;
|
||||
sm->setGuiHelper(&guiHelper);
|
||||
|
||||
int port = 6667;
|
||||
parseArgs.GetCmdLineArgument("port", port);
|
||||
std::string hostName = "localhost";
|
||||
std::string hostNamePort = hostName;
|
||||
if (port >= 0)
|
||||
{
|
||||
hostNamePort += ":" + std::to_string(port);
|
||||
}
|
||||
|
||||
gVerboseNetworkMessagesServer = parseArgs.CheckCmdLineFlag("verbose");
|
||||
|
||||
#ifndef NO_SHARED_MEMORY
|
||||
int key = 0;
|
||||
if (parseArgs.GetCmdLineArgument("sharedMemoryKey", key))
|
||||
{
|
||||
sm->setSharedMemoryKey(key);
|
||||
}
|
||||
#endif //NO_SHARED_MEMORY
|
||||
|
||||
bool isPhysicsClientConnected = sm->connect();
|
||||
bool exitRequested = false;
|
||||
|
||||
if (isPhysicsClientConnected)
|
||||
{
|
||||
ServerImpl server;
|
||||
|
||||
server.Run(sm, hostNamePort);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Couldn't connect to physics server\n");
|
||||
}
|
||||
|
||||
delete sm;
|
||||
|
||||
return 0;
|
||||
}
|
||||
128
Engine/lib/bullet/examples/SharedMemory/grpc/premake4.lua
Normal file
128
Engine/lib/bullet/examples/SharedMemory/grpc/premake4.lua
Normal file
|
|
@ -0,0 +1,128 @@
|
|||
|
||||
project ("App_PhysicsServerSharedMemoryBridgeGRPC")
|
||||
|
||||
language "C++"
|
||||
|
||||
kind "ConsoleApp"
|
||||
|
||||
includedirs {"../../../src",".."}
|
||||
|
||||
initGRPC()
|
||||
|
||||
links {
|
||||
"BulletFileLoader",
|
||||
"Bullet3Common",
|
||||
"LinearMath"
|
||||
}
|
||||
|
||||
files {
|
||||
"main.cpp",
|
||||
"../PhysicsClient.cpp",
|
||||
"../PhysicsClient.h",
|
||||
"../PhysicsDirect.cpp",
|
||||
"../PhysicsDirect.h",
|
||||
"../PhysicsCommandProcessorInterface.h",
|
||||
"../SharedMemoryCommandProcessor.cpp",
|
||||
"../SharedMemoryCommandProcessor.h",
|
||||
"../PhysicsClientC_API.cpp",
|
||||
"../PhysicsClientC_API.h",
|
||||
"../Win32SharedMemory.cpp",
|
||||
"../Win32SharedMemory.h",
|
||||
"../PosixSharedMemory.cpp",
|
||||
"../PosixSharedMemory.h",
|
||||
"../../Utils/b3ResourcePath.cpp",
|
||||
"../../Utils/b3ResourcePath.h",
|
||||
"../../Utils/b3Clock.cpp",
|
||||
"../../Utils/b3Clock.h",
|
||||
}
|
||||
|
||||
|
||||
project "App_PhysicsServerGRPC"
|
||||
|
||||
if _OPTIONS["ios"] then
|
||||
kind "WindowedApp"
|
||||
else
|
||||
kind "ConsoleApp"
|
||||
end
|
||||
|
||||
defines { "NO_SHARED_MEMORY" }
|
||||
|
||||
includedirs {"..","../../../src", "../../ThirdPartyLibs","../../ThirdPartyLibs/clsocket/src"}
|
||||
|
||||
links {
|
||||
"clsocket","Bullet3Common","BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletSoftBody", "BulletDynamics","BulletCollision", "LinearMath", "BussIK"
|
||||
}
|
||||
|
||||
|
||||
initGRPC()
|
||||
|
||||
|
||||
language "C++"
|
||||
|
||||
myfiles =
|
||||
{
|
||||
"../IKTrajectoryHelper.cpp",
|
||||
"../IKTrajectoryHelper.h",
|
||||
"../SharedMemoryCommands.h",
|
||||
"../SharedMemoryPublic.h",
|
||||
"../PhysicsServerCommandProcessor.cpp",
|
||||
"../PhysicsServerCommandProcessor.h",
|
||||
"../b3PluginManager.cpp",
|
||||
"../PhysicsDirect.cpp",
|
||||
"../PhysicsClientC_API.cpp",
|
||||
"../PhysicsClient.cpp",
|
||||
"../plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
|
||||
"../plugins/pdControlPlugin/pdControlPlugin.cpp",
|
||||
"../plugins/pdControlPlugin/pdControlPlugin.h",
|
||||
"../b3RobotSimulatorClientAPI_NoDirect.cpp",
|
||||
"../b3RobotSimulatorClientAPI_NoDirect.h",
|
||||
"../plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
|
||||
"../plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
|
||||
"../../TinyRenderer/geometry.cpp",
|
||||
"../../TinyRenderer/model.cpp",
|
||||
"../../TinyRenderer/tgaimage.cpp",
|
||||
"../../TinyRenderer/our_gl.cpp",
|
||||
"../../TinyRenderer/TinyRenderer.cpp",
|
||||
"../../OpenGLWindow/SimpleCamera.cpp",
|
||||
"../../OpenGLWindow/SimpleCamera.h",
|
||||
"../../Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h",
|
||||
"../../Importers/ImportURDFDemo/MultiBodyCreationInterface.h",
|
||||
"../../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
|
||||
"../../Importers/ImportURDFDemo/MyMultiBodyCreator.h",
|
||||
"../../Importers/ImportMJCFDemo/BulletMJCFImporter.cpp",
|
||||
"../../Importers/ImportMJCFDemo/BulletMJCFImporter.h",
|
||||
"../../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
|
||||
"../../Importers/ImportURDFDemo/BulletUrdfImporter.h",
|
||||
"../../Importers/ImportURDFDemo/UrdfParser.cpp",
|
||||
"../../Importers/ImportURDFDemo/urdfStringSplit.cpp",
|
||||
"../../Importers/ImportURDFDemo/UrdfParser.cpp",
|
||||
"../../Importers/ImportURDFDemo/UrdfParser.h",
|
||||
"../../Importers/ImportURDFDemo/URDF2Bullet.cpp",
|
||||
"../../Importers/ImportURDFDemo/URDF2Bullet.h",
|
||||
"../../Utils/b3ResourcePath.cpp",
|
||||
"../../Utils/b3Clock.cpp",
|
||||
"../../Utils/ChromeTraceUtil.cpp",
|
||||
"../../Utils/ChromeTraceUtil.h",
|
||||
"../../Utils/RobotLoggingUtil.cpp",
|
||||
"../../Utils/RobotLoggingUtil.h",
|
||||
"../../../Extras/Serialize/BulletWorldImporter/*",
|
||||
"../../../Extras/Serialize/BulletFileLoader/*",
|
||||
"../../Importers/ImportURDFDemo/URDFImporterInterface.h",
|
||||
"../../Importers/ImportURDFDemo/URDFJointTypes.h",
|
||||
"../../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
|
||||
"../../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
|
||||
"../../Importers/ImportSTLDemo/ImportSTLSetup.h",
|
||||
"../../Importers/ImportSTLDemo/LoadMeshFromSTL.h",
|
||||
"../../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
|
||||
"../../Importers/ImportColladaDemo/ColladaGraphicsInstance.h",
|
||||
"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
|
||||
"../../ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
|
||||
"../../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
|
||||
"../../ThirdPartyLibs/stb_image/stb_image.cpp",
|
||||
}
|
||||
|
||||
files {
|
||||
myfiles,
|
||||
"main.cpp",
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,16 @@
|
|||
del pybullet.pb.cpp
|
||||
del pybullet.pb.h
|
||||
del pybullet.grpc.pb.cpp
|
||||
del pybullet.grpc.pb.h
|
||||
|
||||
..\..\..\ThirdPartyLibs\grpc\lib\win32\protoc --proto_path=. --cpp_out=. pybullet.proto
|
||||
..\..\..\ThirdPartyLibs\grpc\lib\win32\protoc.exe --plugin=protoc-gen-grpc="..\..\..\ThirdPartyLibs\grpc\lib\win32\grpc_cpp_plugin.exe" --grpc_out=. pybullet.proto
|
||||
|
||||
rename pybullet.grpc.pb.cc pybullet.grpc.pb.cpp
|
||||
rename pybullet.pb.cc pybullet.pb.cpp
|
||||
|
||||
del pybullet_pb2.py
|
||||
del pybullet_pb2_grpc.py
|
||||
|
||||
..\..\..\ThirdPartyLibs\grpc\lib\win32\protoc --proto_path=. --python_out=. pybullet.proto
|
||||
python -m grpc_tools.protoc -I. --python_out=. --grpc_python_out=. pybullet.proto
|
||||
|
|
@ -0,0 +1,15 @@
|
|||
rm pybullet.pb.cpp
|
||||
rm pybullet.pb.h
|
||||
rm pybullet.grpc.pb.cpp
|
||||
rm pybullet.grpc.pb.h
|
||||
|
||||
protoc --proto_path=. --cpp_out=. pybullet.proto
|
||||
protoc --plugin=protoc-gen-grpc=`which grpc_cpp_plugin` --grpc_out=. pybullet.proto
|
||||
mv pybullet.grpc.pb.cc pybullet.grpc.pb.cpp
|
||||
mv pybullet.pb.cc pybullet.pb.cpp
|
||||
|
||||
rm pybullet_pb2.py
|
||||
rm pybullet_pb2_grpc.py
|
||||
|
||||
protoc --proto_path=. --python_out=. pybullet.proto
|
||||
python -m grpc_tools.protoc -I. --python_out=. --grpc_python_out=. pybullet.proto
|
||||
|
|
@ -0,0 +1,467 @@
|
|||
syntax = "proto3";
|
||||
|
||||
//for why oneof everywhere, see the sad decision here:
|
||||
//https://github.com/protocolbuffers/protobuf/issues/1606
|
||||
|
||||
option java_multiple_files = true;
|
||||
option java_package = "io.grpc.pybullet_grpc";
|
||||
option java_outer_classname = "PyBulletProto";
|
||||
option objc_class_prefix = "PBG";
|
||||
|
||||
|
||||
package pybullet_grpc;
|
||||
|
||||
service PyBulletAPI {
|
||||
// Sends a greeting
|
||||
rpc SubmitCommand (PyBulletCommand) returns (PyBulletStatus) {}
|
||||
}
|
||||
|
||||
|
||||
message vec3
|
||||
{
|
||||
double x=1;
|
||||
double y=2;
|
||||
double z=3;
|
||||
};
|
||||
|
||||
|
||||
message quat4
|
||||
{
|
||||
double x=1;
|
||||
double y=2;
|
||||
double z=3;
|
||||
double w=4;
|
||||
};
|
||||
|
||||
message vec4
|
||||
{
|
||||
double x=1;
|
||||
double y=2;
|
||||
double z=3;
|
||||
double w=4;
|
||||
};
|
||||
|
||||
|
||||
message transform
|
||||
{
|
||||
vec3 origin=1;
|
||||
quat4 orientation=2;
|
||||
};
|
||||
|
||||
message matrix4x4
|
||||
{
|
||||
//assume 16 elements, with translation in 12,13,14,
|
||||
//'right' vector is elements 0,1,3 and 4
|
||||
repeated double elems=1;
|
||||
};
|
||||
|
||||
message CheckVersionCommand
|
||||
{
|
||||
int32 clientVersion=1;
|
||||
};
|
||||
|
||||
message CheckVersionStatus
|
||||
{
|
||||
int32 serverVersion=1;
|
||||
};
|
||||
|
||||
|
||||
message TerminateServerCommand
|
||||
{
|
||||
string exitReason=1;
|
||||
};
|
||||
|
||||
message StepSimulationCommand
|
||||
{
|
||||
};
|
||||
|
||||
message SyncBodiesCommand
|
||||
{
|
||||
|
||||
};
|
||||
|
||||
message SyncBodiesStatus
|
||||
{
|
||||
repeated int32 bodyUniqueIds=1;
|
||||
repeated int32 userConstraintUniqueIds=2;
|
||||
};
|
||||
|
||||
|
||||
message RequestBodyInfoCommand
|
||||
{
|
||||
int32 bodyUniqueId=1;
|
||||
};
|
||||
|
||||
message RequestBodyInfoStatus
|
||||
{
|
||||
int32 bodyUniqueId=1;
|
||||
string bodyName=2;
|
||||
};
|
||||
|
||||
|
||||
|
||||
message LoadUrdfCommand {
|
||||
string fileName=1;
|
||||
vec3 initialPosition=2;
|
||||
quat4 initialOrientation=3;
|
||||
//for why oneof here, see the sad decision here:
|
||||
//https://github.com/protocolbuffers/protobuf/issues/1606
|
||||
oneof hasUseMultiBody { int32 useMultiBody=4; }
|
||||
oneof hasUseFixedBase{ bool useFixedBase=5; }
|
||||
int32 flags=6;
|
||||
oneof hasGlobalScaling { double globalScaling=7;
|
||||
}
|
||||
};
|
||||
|
||||
message LoadUrdfStatus {
|
||||
int32 bodyUniqueId=1;
|
||||
string bodyName=2;
|
||||
string fileName=3;
|
||||
}
|
||||
|
||||
|
||||
|
||||
message LoadSdfCommand {
|
||||
string fileName=1;
|
||||
oneof hasUseMultiBody { int32 useMultiBody=2; }
|
||||
oneof hasGlobalScaling { double globalScaling=3;
|
||||
}
|
||||
};
|
||||
|
||||
message SdfLoadedStatus
|
||||
{
|
||||
repeated int32 bodyUniqueIds=2;
|
||||
}
|
||||
|
||||
message LoadMjcfCommand {
|
||||
string fileName=1;
|
||||
int32 flags=2;
|
||||
|
||||
};
|
||||
|
||||
message MjcfLoadedStatus
|
||||
{
|
||||
repeated int32 bodyUniqueIds=2;
|
||||
}
|
||||
|
||||
|
||||
message ChangeDynamicsCommand
|
||||
{
|
||||
int32 bodyUniqueId=1;
|
||||
int32 linkIndex=2;
|
||||
|
||||
oneof hasMass { double mass=3;}
|
||||
oneof hasLateralFriction { double lateralFriction=5;}
|
||||
oneof hasSpinningFriction {double spinningFriction=6;}
|
||||
oneof hasRollingFriction {double rollingFriction=7;}
|
||||
oneof hasRestitution { double restitution=8;}
|
||||
oneof haslinearDamping { double linearDamping=9;}
|
||||
oneof hasangularDamping { double angularDamping=10;}
|
||||
oneof hasContactStiffness { double contactStiffness=11;}
|
||||
oneof hasContactDamping { double contactDamping=12;}
|
||||
oneof hasLocalInertiaDiagonal { vec3 localInertiaDiagonal=13;}
|
||||
oneof hasFrictionAnchor { int32 frictionAnchor=14;}
|
||||
oneof hasccdSweptSphereRadius { double ccdSweptSphereRadius=15;}
|
||||
oneof hasContactProcessingThreshold { double contactProcessingThreshold=16;}
|
||||
oneof hasActivationState { int32 activationState=17;}
|
||||
};
|
||||
|
||||
message GetDynamicsCommand
|
||||
{
|
||||
int32 bodyUniqueId=1;
|
||||
int32 linkIndex=2;
|
||||
};
|
||||
|
||||
message GetDynamicsStatus
|
||||
{
|
||||
double mass=3;
|
||||
double lateralFriction=5;
|
||||
double spinningFriction=6;
|
||||
double rollingFriction=7;
|
||||
double restitution=8;
|
||||
double linearDamping=9;
|
||||
double angularDamping=10;
|
||||
double contactStiffness=11;
|
||||
double contactDamping=12;
|
||||
vec3 localInertiaDiagonal=13;
|
||||
int32 frictionAnchor=14;
|
||||
double ccdSweptSphereRadius=15;
|
||||
double contactProcessingThreshold=16;
|
||||
int32 activationState=17;
|
||||
};
|
||||
|
||||
|
||||
message InitPoseCommand
|
||||
{
|
||||
int32 bodyUniqueId=1;
|
||||
int32 updateflags=2;
|
||||
repeated int32 hasInitialStateQ=3;
|
||||
repeated double initialStateQ=4;
|
||||
repeated int32 hasInitialStateQdot=5;
|
||||
repeated double initialStateQdot=6;
|
||||
};
|
||||
|
||||
|
||||
message RequestActualStateCommand
|
||||
{
|
||||
int32 bodyUniqueId=1;
|
||||
bool computeForwardKinematics=2;
|
||||
bool computeLinkVelocities=3;
|
||||
};
|
||||
|
||||
|
||||
message SendActualStateStatus
|
||||
{
|
||||
int32 bodyUniqueId=1;
|
||||
int32 numLinks=2;
|
||||
int32 numDegreeOfFreedomQ=3;
|
||||
int32 numDegreeOfFreedomU=4;
|
||||
|
||||
repeated double rootLocalInertialFrame=5;
|
||||
|
||||
//actual state is only written by the server, read-only access by client is expected
|
||||
repeated double actualStateQ=6;
|
||||
repeated double actualStateQdot=7;
|
||||
|
||||
//measured 6DOF force/torque sensors: force[x,y,z] and torque[x,y,z]
|
||||
repeated double jointReactionForces=8;
|
||||
|
||||
repeated double jointMotorForce=9;
|
||||
|
||||
repeated double linkState=10;
|
||||
repeated double linkWorldVelocities=11;//linear velocity and angular velocity in world space (x/y/z each).
|
||||
repeated double linkLocalInertialFrames=12;
|
||||
};
|
||||
|
||||
|
||||
message ConfigureOpenGLVisualizerCommand
|
||||
{
|
||||
int32 updateFlags=1;
|
||||
|
||||
double cameraDistance=2;
|
||||
double cameraPitch=3;
|
||||
double cameraYaw=4;
|
||||
vec3 cameraTargetPosition=5;
|
||||
|
||||
int32 setFlag=6;
|
||||
int32 setEnabled=7;
|
||||
};
|
||||
|
||||
|
||||
message PhysicsSimulationParameters
|
||||
{
|
||||
double deltaTime=1;
|
||||
vec3 gravityAcceleration=2;
|
||||
int32 numSimulationSubSteps=3;
|
||||
int32 numSolverIterations=4;
|
||||
int32 useRealTimeSimulation=5;
|
||||
int32 useSplitImpulse=6;
|
||||
double splitImpulsePenetrationThreshold=7;
|
||||
double contactBreakingThreshold=8;
|
||||
int32 internalSimFlags=9;
|
||||
double defaultContactERP=10;
|
||||
int32 collisionFilterMode=11;
|
||||
int32 enableFileCaching=12;
|
||||
double restitutionVelocityThreshold=13;
|
||||
double defaultNonContactERP=14;
|
||||
double frictionERP=15;
|
||||
double defaultGlobalCFM=16;
|
||||
double frictionCFM=17;
|
||||
int32 enableConeFriction=18;
|
||||
int32 deterministicOverlappingPairs=19;
|
||||
double allowedCcdPenetration=20;
|
||||
int32 jointFeedbackMode=21;
|
||||
double solverResidualThreshold=22;
|
||||
double contactSlop=23;
|
||||
int32 enableSAT=24;
|
||||
int32 constraintSolverType=25;
|
||||
int32 minimumSolverIslandSize=26;
|
||||
};
|
||||
|
||||
|
||||
message PhysicsSimulationParametersCommand
|
||||
{
|
||||
int32 updateFlags=1;
|
||||
PhysicsSimulationParameters params=2;
|
||||
};
|
||||
|
||||
|
||||
|
||||
message JointMotorControlCommand
|
||||
{
|
||||
int32 bodyUniqueId=1;
|
||||
int32 controlMode=2;
|
||||
int32 updateFlags=3;
|
||||
|
||||
//PD parameters in case controlMode == CONTROL_MODE_POSITION_VELOCITY_PD
|
||||
repeated double Kp=4;//indexed by degree of freedom, 6 for base, and then the dofs for each link
|
||||
repeated double Kd=5;//indexed by degree of freedom, 6 for base, and then the dofs for each link
|
||||
repeated double maxVelocity=6;
|
||||
|
||||
repeated int32 hasDesiredStateFlags=7;
|
||||
|
||||
//desired state is only written by the client, read-only access by server is expected
|
||||
|
||||
//desiredStateQ is indexed by position variables,
|
||||
//starting with 3 base position variables, 4 base orientation variables (quaternion), then link position variables
|
||||
repeated double desiredStateQ=8;
|
||||
|
||||
//desiredStateQdot is index by velocity degrees of freedom, 3 linear and 3 angular variables for the base and then link velocity variables
|
||||
repeated double desiredStateQdot=9;
|
||||
|
||||
//desiredStateForceTorque is either the actual applied force/torque (in CONTROL_MODE_TORQUE) or
|
||||
//or the maximum applied force/torque for the PD/motor/constraint to reach the desired velocity in CONTROL_MODE_VELOCITY and CONTROL_MODE_POSITION_VELOCITY_PD mode
|
||||
//indexed by degree of freedom, 6 dof base, and then dofs for each link
|
||||
repeated double desiredStateForceTorque=10;
|
||||
};
|
||||
|
||||
|
||||
message UserConstraintCommand
|
||||
{
|
||||
int32 parentBodyIndex=1;
|
||||
int32 parentJointIndex=2;
|
||||
int32 childBodyIndex=3;
|
||||
int32 childJointIndex=4;
|
||||
transform parentFrame=5;
|
||||
transform childFrame=6;
|
||||
vec3 jointAxis=7;
|
||||
int32 jointType=8;
|
||||
double maxAppliedForce=9;
|
||||
int32 userConstraintUniqueId=10;
|
||||
double gearRatio=11;
|
||||
int32 gearAuxLink=12;
|
||||
double relativePositionTarget=13;
|
||||
double erp=14;
|
||||
int32 updateFlags=15;
|
||||
};
|
||||
|
||||
message UserConstraintStatus
|
||||
{
|
||||
double maxAppliedForce=9;
|
||||
int32 userConstraintUniqueId=10;
|
||||
};
|
||||
|
||||
message UserConstraintStateStatus
|
||||
{
|
||||
vec3 appliedConstraintForcesLinear=1;
|
||||
vec3 appliedConstraintForcesAngular=2;
|
||||
int32 numDofs=3;
|
||||
};
|
||||
|
||||
|
||||
message RequestKeyboardEventsCommand
|
||||
{
|
||||
|
||||
};
|
||||
|
||||
message KeyboardEvent
|
||||
{
|
||||
int32 keyCode=1;//ascii
|
||||
int32 keyState=2;// see b3VRButtonInfo
|
||||
};
|
||||
|
||||
|
||||
message KeyboardEventsStatus
|
||||
{
|
||||
repeated KeyboardEvent keyboardEvents=1;
|
||||
};
|
||||
|
||||
|
||||
message RequestCameraImageCommand
|
||||
{
|
||||
int32 updateFlags=1;
|
||||
int32 cameraFlags=2;
|
||||
matrix4x4 viewMatrix=3;
|
||||
matrix4x4 projectionMatrix=4;
|
||||
int32 startPixelIndex=5;
|
||||
int32 pixelWidth=6;
|
||||
int32 pixelHeight=7;
|
||||
vec3 lightDirection=8;
|
||||
vec3 lightColor=9;
|
||||
double lightDistance=10;
|
||||
double lightAmbientCoeff=11;
|
||||
double lightDiffuseCoeff=12;
|
||||
double lightSpecularCoeff=13;
|
||||
int32 hasShadow=14;
|
||||
matrix4x4 projectiveTextureViewMatrix=15;
|
||||
matrix4x4 projectiveTextureProjectionMatrix=16;
|
||||
};
|
||||
|
||||
message RequestCameraImageStatus
|
||||
{
|
||||
int32 imageWidth=1;
|
||||
int32 imageHeight=2;
|
||||
|
||||
int32 startingPixelIndex=3;
|
||||
int32 numPixelsCopied=4;
|
||||
int32 numRemainingPixels=5;
|
||||
};
|
||||
|
||||
message ResetSimulationCommand
|
||||
{
|
||||
};
|
||||
|
||||
// The request message containing the command
|
||||
message PyBulletCommand {
|
||||
int32 commandType=1;
|
||||
|
||||
repeated bytes binaryBlob=2;
|
||||
|
||||
repeated bytes unknownCommandBinaryBlob=3;
|
||||
|
||||
oneof commands {
|
||||
|
||||
LoadUrdfCommand loadUrdfCommand = 4;
|
||||
TerminateServerCommand terminateServerCommand=5;
|
||||
StepSimulationCommand stepSimulationCommand= 6;
|
||||
LoadSdfCommand loadSdfCommand=7;
|
||||
LoadMjcfCommand loadMjcfCommand=8;
|
||||
ChangeDynamicsCommand changeDynamicsCommand=9;
|
||||
GetDynamicsCommand getDynamicsCommand=10;
|
||||
InitPoseCommand initPoseCommand=11;
|
||||
RequestActualStateCommand requestActualStateCommand=12;
|
||||
ConfigureOpenGLVisualizerCommand configureOpenGLVisualizerCommand =13;
|
||||
SyncBodiesCommand syncBodiesCommand=14;
|
||||
RequestBodyInfoCommand requestBodyInfoCommand=15;
|
||||
PhysicsSimulationParametersCommand setPhysicsSimulationParametersCommand=16;
|
||||
JointMotorControlCommand jointMotorControlCommand=17;
|
||||
UserConstraintCommand userConstraintCommand=18;
|
||||
CheckVersionCommand checkVersionCommand=19;
|
||||
RequestKeyboardEventsCommand requestKeyboardEventsCommand=20;
|
||||
RequestCameraImageCommand requestCameraImageCommand=21;
|
||||
ResetSimulationCommand resetSimulationCommand=22;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
// The response message containing the status
|
||||
message PyBulletStatus {
|
||||
int32 statusType=1;
|
||||
|
||||
repeated bytes binaryBlob=2;
|
||||
|
||||
repeated bytes unknownStatusBinaryBlob=3;
|
||||
|
||||
oneof status
|
||||
{
|
||||
|
||||
LoadUrdfStatus urdfStatus = 4;
|
||||
SdfLoadedStatus sdfStatus = 5;
|
||||
MjcfLoadedStatus mjcfStatus = 6;
|
||||
GetDynamicsStatus getDynamicsStatus = 7;
|
||||
SendActualStateStatus actualStateStatus = 8;
|
||||
SyncBodiesStatus syncBodiesStatus=9;
|
||||
RequestBodyInfoStatus requestBodyInfoStatus = 10;
|
||||
PhysicsSimulationParameters requestPhysicsSimulationParametersStatus=11;
|
||||
CheckVersionStatus checkVersionStatus=12;
|
||||
UserConstraintStatus userConstraintStatus=13;
|
||||
UserConstraintStateStatus userConstraintStateStatus=14;
|
||||
KeyboardEventsStatus keyboardEventsStatus=15;
|
||||
RequestCameraImageStatus requestCameraImageStatus=16;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,95 @@
|
|||
"""The Python implementation of the PyBullet GRPC client."""
|
||||
|
||||
from __future__ import print_function
|
||||
|
||||
import grpc
|
||||
|
||||
import pybullet_pb2
|
||||
import pybullet_pb2_grpc
|
||||
|
||||
#todo: how to add this?
|
||||
MJCF_COLORS_FROM_FILE = 512
|
||||
|
||||
|
||||
def run():
|
||||
print("grpc.insecure_channel")
|
||||
channel = grpc.insecure_channel('localhost:6667')
|
||||
print("pybullet_pb2_grpc.PyBulletAPIStub")
|
||||
stub = pybullet_pb2_grpc.PyBulletAPIStub(channel)
|
||||
response = 0
|
||||
|
||||
print("submit CheckVersionCommand")
|
||||
response = stub.SubmitCommand(
|
||||
pybullet_pb2.PyBulletCommand(checkVersionCommand=pybullet_pb2.CheckVersionCommand(
|
||||
clientVersion=123)))
|
||||
print("PyBullet client received: ", response)
|
||||
|
||||
print("submit_ResetSimulationCommand")
|
||||
response = stub.SubmitCommand(
|
||||
pybullet_pb2.PyBulletCommand(resetSimulationCommand=pybullet_pb2.ResetSimulationCommand()))
|
||||
print("PyBullet client received: ", response)
|
||||
|
||||
print("submit LoadUrdfCommand ")
|
||||
response = stub.SubmitCommand(
|
||||
pybullet_pb2.PyBulletCommand(loadUrdfCommand=pybullet_pb2.LoadUrdfCommand(
|
||||
fileName="door.urdf",
|
||||
initialPosition=pybullet_pb2.vec3(x=0, y=0, z=0),
|
||||
useMultiBody=True,
|
||||
useFixedBase=True,
|
||||
globalScaling=2,
|
||||
flags=1)))
|
||||
print("PyBullet client received: ", response)
|
||||
bodyUniqueId = response.urdfStatus.bodyUniqueId
|
||||
|
||||
print("submit LoadSdfCommand")
|
||||
response = stub.SubmitCommand(
|
||||
pybullet_pb2.PyBulletCommand(loadSdfCommand=pybullet_pb2.LoadSdfCommand(
|
||||
fileName="two_cubes.sdf", useMultiBody=True, globalScaling=2)))
|
||||
print("PyBullet client received: ", response)
|
||||
|
||||
print("submit LoadMjcfCommand")
|
||||
response = stub.SubmitCommand(
|
||||
pybullet_pb2.PyBulletCommand(loadMjcfCommand=pybullet_pb2.LoadMjcfCommand(
|
||||
fileName="mjcf/humanoid.xml", flags=MJCF_COLORS_FROM_FILE)))
|
||||
print("PyBullet client received: ", response)
|
||||
|
||||
print("submit ChangeDynamicsCommand ")
|
||||
response = stub.SubmitCommand(
|
||||
pybullet_pb2.PyBulletCommand(changeDynamicsCommand=pybullet_pb2.ChangeDynamicsCommand(
|
||||
bodyUniqueId=bodyUniqueId, linkIndex=-1, mass=10)))
|
||||
print("PyBullet client received: ", response)
|
||||
|
||||
print("submit GetDynamicsCommand ")
|
||||
response = stub.SubmitCommand(
|
||||
pybullet_pb2.PyBulletCommand(getDynamicsCommand=pybullet_pb2.GetDynamicsCommand(
|
||||
bodyUniqueId=bodyUniqueId, linkIndex=-1)))
|
||||
print("PyBullet client received: ", response)
|
||||
|
||||
print("submit InitPoseCommand")
|
||||
response = stub.SubmitCommand(
|
||||
pybullet_pb2.PyBulletCommand(initPoseCommand=pybullet_pb2.InitPoseCommand(
|
||||
bodyUniqueId=bodyUniqueId, initialStateQ=[1, 2, 3], hasInitialStateQ=[1, 1, 1])))
|
||||
print("PyBullet client received: ", response)
|
||||
|
||||
print("submit RequestActualStateCommand")
|
||||
response = stub.SubmitCommand(
|
||||
pybullet_pb2.
|
||||
PyBulletCommand(requestActualStateCommand=pybullet_pb2.RequestActualStateCommand(
|
||||
bodyUniqueId=bodyUniqueId, computeForwardKinematics=True, computeLinkVelocities=True)))
|
||||
print("PyBullet client received: ", response)
|
||||
|
||||
i = 0
|
||||
while (True):
|
||||
i = i + 1
|
||||
print("submit StepSimulationCommand: ", i)
|
||||
response = stub.SubmitCommand(
|
||||
pybullet_pb2.PyBulletCommand(stepSimulationCommand=pybullet_pb2.StepSimulationCommand()))
|
||||
print("PyBullet client received: ", response.statusType)
|
||||
|
||||
|
||||
#print("TerminateServerCommand")
|
||||
#response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(terminateServerCommand=pybullet_pb2.TerminateServerCommand()))
|
||||
#print("PyBullet client received: " , response.statusType)
|
||||
|
||||
if __name__ == '__main__':
|
||||
run()
|
||||
Loading…
Add table
Add a link
Reference in a new issue