More work on the C/C++ plugin system for pybullet/C-API:

Add preTickPluginCallback/postTickPluginCallback
User pointer for b3PluginContext, to store objects (class/struct instances)
Pass ints and floats as optional argument for plugin executePluginCommand

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -1748,15 +1748,15 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3CreateCustomCommand(b3PhysicsClientH
 	return (b3SharedMemoryCommandHandle)command;
 }
 
-B3_SHARED_API	void b3CustomCommandLoadPlugin(b3SharedMemoryCommandHandle commandHandle, const char* pluginPath, int options)
+B3_SHARED_API	void b3CustomCommandLoadPlugin(b3SharedMemoryCommandHandle commandHandle, const char* pluginPath)
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
 	b3Assert(command->m_type == CMD_CUSTOM_COMMAND);
 	if (command->m_type == CMD_CUSTOM_COMMAND)
 	{
 		command->m_updateFlags |= CMD_CUSTOM_COMMAND_LOAD_PLUGIN;
 		command->m_customCommandArgs.m_pluginPath[0] = 0;
-		command->m_customCommandArgs.m_options = options;
+
 		int len = strlen(pluginPath);
 		if (len<MAX_FILENAME_LENGTH)
 		{
@@ -1806,7 +1806,7 @@ B3_SHARED_API	void b3CustomCommandUnloadPlugin(b3SharedMemoryCommandHandle comma
 		command->m_customCommandArgs.m_pluginUniqueId = pluginUniqueId;
 	}
 }
-B3_SHARED_API	void b3CustomCommandExecutePluginCommand(b3SharedMemoryCommandHandle commandHandle, int pluginUniqueId, int commandUniqueId, const char* arguments)
+B3_SHARED_API	void b3CustomCommandExecutePluginCommand(b3SharedMemoryCommandHandle commandHandle, int pluginUniqueId, const char* textArguments)
 {
 
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
@@ -1815,19 +1815,56 @@ 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_commandUniqueId = commandUniqueId;
-		command->m_customCommandArgs.m_pluginArguments[0] = 0;
-		int len = strlen(arguments);
+
+		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;
+
+		int len = strlen(textArguments);
+
 		if (len<MAX_FILENAME_LENGTH)
 		{
-			strcpy(command->m_customCommandArgs.m_pluginArguments, arguments);
+			strcpy(command->m_customCommandArgs.m_arguments.m_text, textArguments);
 		}
+	}
+}
 
+B3_SHARED_API	void b3CustomCommandExecuteAddIntArgument(b3SharedMemoryCommandHandle commandHandle, int intVal)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command->m_type == CMD_CUSTOM_COMMAND);
+	b3Assert(command->m_updateFlags & CMD_CUSTOM_COMMAND_EXECUTE_PLUGIN_COMMAND);
+	if (command->m_type == CMD_CUSTOM_COMMAND && (command->m_updateFlags & CMD_CUSTOM_COMMAND_EXECUTE_PLUGIN_COMMAND))
+	{
+		int numInts = command->m_customCommandArgs.m_arguments.m_numInts;
+		if (numInts<B3_MAX_PLUGIN_ARG_SIZE)
+		{
+			command->m_customCommandArgs.m_arguments.m_ints[numInts]=intVal;
+			command->m_customCommandArgs.m_arguments.m_numInts++;
+		}
+	}
+}
 
+B3_SHARED_API	void b3CustomCommandExecuteAddFloatArgument(b3SharedMemoryCommandHandle commandHandle, float floatVal)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command->m_type == CMD_CUSTOM_COMMAND);
+	b3Assert(command->m_updateFlags & CMD_CUSTOM_COMMAND_EXECUTE_PLUGIN_COMMAND);
+	if (command->m_type == CMD_CUSTOM_COMMAND && (command->m_updateFlags & CMD_CUSTOM_COMMAND_EXECUTE_PLUGIN_COMMAND))
+	{
+		int numFloats = command->m_customCommandArgs.m_arguments.m_numFloats;
+		if (numFloats<B3_MAX_PLUGIN_ARG_SIZE)
+		{
+			command->m_customCommandArgs.m_arguments.m_floats[numFloats]=floatVal;
+			command->m_customCommandArgs.m_arguments.m_numFloats++;
+		}
 	}
 }
 
 
+
+
+
 B3_SHARED_API	b3SharedMemoryCommandHandle b3GetDynamicsInfoCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex)
 {
 	PhysicsClient* cl = (PhysicsClient* ) physClient;

examples/SharedMemory/PhysicsClientC_API.h

@@ -62,12 +62,15 @@ B3_SHARED_API	int b3GetStatusType(b3SharedMemoryStatusHandle statusHandle);
 
 ///Plugin system, load and unload a plugin, execute a command
 B3_SHARED_API b3SharedMemoryCommandHandle b3CreateCustomCommand(b3PhysicsClientHandle physClient);
-B3_SHARED_API	void b3CustomCommandLoadPlugin(b3SharedMemoryCommandHandle commandHandle, const char* pluginPath, int options);
+B3_SHARED_API	void b3CustomCommandLoadPlugin(b3SharedMemoryCommandHandle commandHandle, const char* pluginPath);
 B3_SHARED_API int b3GetStatusPluginUniqueId(b3SharedMemoryStatusHandle statusHandle);
 B3_SHARED_API int b3GetStatusPluginCommandResult(b3SharedMemoryStatusHandle statusHandle);
 
 B3_SHARED_API	void b3CustomCommandUnloadPlugin(b3SharedMemoryCommandHandle commandHandle, int pluginUniqueId);
-B3_SHARED_API	void b3CustomCommandExecutePluginCommand(b3SharedMemoryCommandHandle commandHandle, int pluginUniqueId, int commandUniqueId, const char* arguments);
+B3_SHARED_API	void b3CustomCommandExecutePluginCommand(b3SharedMemoryCommandHandle commandHandle, int pluginUniqueId, const char* textArguments);
+B3_SHARED_API	void b3CustomCommandExecuteAddIntArgument(b3SharedMemoryCommandHandle commandHandle, int intVal);
+B3_SHARED_API	void b3CustomCommandExecuteAddFloatArgument(b3SharedMemoryCommandHandle commandHandle, float floatVal);
+
 
 B3_SHARED_API	int b3GetStatusBodyIndices(b3SharedMemoryStatusHandle statusHandle, int* bodyIndicesOut, int bodyIndicesCapacity);
 

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -1,5 +1,6 @@
 #include "PhysicsServerCommandProcessor.h"
 
+
 #include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
 #include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
 #include "../Importers/ImportURDFDemo/URDF2Bullet.h"
@@ -1488,7 +1489,7 @@ struct PhysicsServerCommandProcessorInternalData
 
 
 	btAlignedObjectArray<int> m_sdfRecentLoadedBodies;
-
+	
 	btAlignedObjectArray<InternalStateLogger*>	m_stateLoggers;
 	int m_stateLoggersUniqueId;
 	int m_profileTimingLoggingUid;
@@ -1541,6 +1542,16 @@ struct PhysicsServerCommandProcessorInternalData
 		m_pickedConstraint(0),
 		m_pickingMultiBodyPoint2Point(0)
 	{
+
+
+
+		{
+			//test to statically link a plugin
+			//#include "plugins/testPlugin/testplugin.h"
+			//register static plugins:
+			//m_pluginManager.registerStaticLinkedPlugin("path", initPlugin, exitPlugin, executePluginCommand);
+		}
+
 		m_vrControllerEvents.init();
 
 		m_bodyHandles.exitHandles();
@@ -1671,13 +1682,23 @@ PhysicsServerCommandProcessor::~PhysicsServerCommandProcessor()
 	delete m_data;
 }
 
+
+void preTickCallback(btDynamicsWorld *world, btScalar timeStep)
+{
+	PhysicsServerCommandProcessor* proc = (PhysicsServerCommandProcessor*) world->getWorldUserInfo();
+	bool isPreTick = true;
+	proc->tickPlugins(timeStep, isPreTick);
+}
+
 void logCallback(btDynamicsWorld *world, btScalar timeStep)
 {
 	//handle the logging and playing sounds
 	PhysicsServerCommandProcessor* proc = (PhysicsServerCommandProcessor*) world->getWorldUserInfo();
 	proc->processCollisionForces(timeStep);
-
 	proc->logObjectStates(timeStep);
+
+	bool isPreTick = false;
+	proc->tickPlugins(timeStep, isPreTick);
 
 }
 
@@ -1786,6 +1807,12 @@ void PhysicsServerCommandProcessor::processCollisionForces(btScalar timeStep)
 #endif//B3_ENABLE_TINY_AUDIO
 }
 
+void PhysicsServerCommandProcessor::tickPlugins(btScalar timeStep, bool isPreTick)
+{
+	m_data->m_pluginManager.tickPlugins(timeStep, isPreTick);
+}
+
+
 void PhysicsServerCommandProcessor::logObjectStates(btScalar timeStep)
 {
 	for (int i=0;i<m_data->m_stateLoggers.size();i++)
@@ -2149,7 +2176,11 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
 	{
 		m_data->m_guiHelper->createPhysicsDebugDrawer(m_data->m_dynamicsWorld);
 	}
-	m_data->m_dynamicsWorld->setInternalTickCallback(logCallback,this);
+	bool isPreTick=false;
+	m_data->m_dynamicsWorld->setInternalTickCallback(logCallback,this,isPreTick);
+	isPreTick = true;
+	m_data->m_dynamicsWorld->setInternalTickCallback(preTickCallback,this,isPreTick);
+
 
 #ifdef B3_ENABLE_TINY_AUDIO
 	m_data->m_soundEngine.init(16,true);
@@ -2966,60 +2997,19 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 	bool hasStatus = false;
 
     {
-        ///we ignore overflow of integer for now
-
         {
-
-            //until we implement a proper ring buffer, we assume always maximum of 1 outstanding commands
-
-
-			//const SharedMemoryCommand& clientCmd =m_data->m_testBlock1->m_clientCommands[0];
-#if 1
 			if (m_data->m_commandLogger)
 			{
                 m_data->m_commandLogger->logCommand(clientCmd);
 			}
-#endif
-
-			//m_data->m_testBlock1->m_numProcessedClientCommands++;
-
-			//no timestamp yet
-            //int timeStamp = 0;
-
-			//catch uninitialized cases
 			serverStatusOut.m_type = CMD_INVALID_STATUS;
 			serverStatusOut.m_numDataStreamBytes = 0;
 			serverStatusOut.m_dataStream = 0;
 
             //consume the command
 			switch (clientCmd.m_type)
             {
-#if 0
-				case CMD_SEND_BULLET_DATA_STREAM:
-                {
-					if (m_data->m_verboseOutput)
-					{
-						b3Printf("Processed CMD_SEND_BULLET_DATA_STREAM length %d",clientCmd.m_dataStreamArguments.m_streamChunkLength);
-					}
-
-					btBulletWorldImporter* worldImporter = new btBulletWorldImporter(m_data->m_dynamicsWorld);
-					m_data->m_worldImporters.push_back(worldImporter);
-					bool completedOk = worldImporter->loadFileFromMemory(m_data->m_testBlock1->m_bulletStreamDataClientToServer,clientCmd.m_dataStreamArguments.m_streamChunkLength);
 
-                    if (completedOk)
-                    {
-						SharedMemoryStatus& status = m_data->createServerStatus(CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED,clientCmd.m_sequenceNumber,timeStamp);
-						m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld);
-						m_data->submitServerStatus(status);
-                    } else
-                    {
-						SharedMemoryStatus& status = m_data->createServerStatus(CMD_BULLET_DATA_STREAM_RECEIVED_FAILED,clientCmd.m_sequenceNumber,timeStamp);
-                        m_data->submitServerStatus(status);
-                    }
-
-					break;
-				}
-#endif
 				case CMD_STATE_LOGGING:
 				{
 					BT_PROFILE("CMD_STATE_LOGGING");
@@ -7996,7 +7986,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						}
 						if (clientCmd.m_updateFlags & CMD_CUSTOM_COMMAND_EXECUTE_PLUGIN_COMMAND)
 						{
-							int result = m_data->m_pluginManager.executePluginCommand(clientCmd.m_customCommandArgs.m_pluginUniqueId, clientCmd.m_customCommandArgs.m_pluginArguments);
+
+							int result = m_data->m_pluginManager.executePluginCommand(clientCmd.m_customCommandArgs.m_pluginUniqueId, &clientCmd.m_customCommandArgs.m_arguments);
 							serverCmd.m_customCommandResultArgs.m_executeCommandResult = result;
 							serverCmd.m_type = CMD_CUSTOM_COMMAND_COMPLETED;
 
@@ -8245,6 +8236,8 @@ bool PhysicsServerCommandProcessor::isRealTimeSimulationEnabled() const
 void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec,const struct b3VRControllerEvent* vrControllerEvents, int numVRControllerEvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents, const struct b3MouseEvent* mouseEvents, int numMouseEvents)
 {
 	m_data->m_vrControllerEvents.addNewVREvents(vrControllerEvents,numVRControllerEvents);
+
+
 	for (int i=0;i<m_data->m_stateLoggers.size();i++)
 	{
 		if (m_data->m_stateLoggers[i]->m_loggingType==STATE_LOGGING_VR_CONTROLLERS)

examples/SharedMemory/PhysicsServerCommandProcessor.h

@@ -91,6 +91,7 @@ class PhysicsServerCommandProcessor : public CommandProcessorInterface
 	virtual void replayLogCommand(char* bufferServerToClient, int bufferSizeInBytes );
 
 	//logging of object states (position etc)
+	void tickPlugins(btScalar timeStep, bool isPreTick);
 	void logObjectStates(btScalar timeStep);
 	void processCollisionForces(btScalar timeStep);
 

examples/SharedMemory/SharedMemoryCommands.h

@@ -119,10 +119,8 @@ enum CustomCommandEnum
 struct b3CustomCommand
 {
 	int m_pluginUniqueId;
-	int m_commandUniqueId;
-	int m_options;
+	b3PluginArguments m_arguments;
 	char m_pluginPath[MAX_FILENAME_LENGTH];
-	char m_pluginArguments[MAX_FILENAME_LENGTH];
 };
 
 struct b3CustomCommandResultArgs

examples/SharedMemory/SharedMemoryPublic.h

@@ -620,6 +620,19 @@ enum eStateLoggingFlags
 	STATE_LOG_JOINT_TORQUES = STATE_LOG_JOINT_MOTOR_TORQUES+STATE_LOG_JOINT_USER_TORQUES,
 };
 
+#define B3_MAX_PLUGIN_ARG_SIZE 128
+#define B3_MAX_PLUGIN_ARG_TEXT_LEN 1024
+
+struct b3PluginArguments
+{
+	char m_text[B3_MAX_PLUGIN_ARG_TEXT_LEN];
+	int m_numInts;
+	int m_ints[B3_MAX_PLUGIN_ARG_SIZE];
+	int m_numFloats;
+	int m_floats[B3_MAX_PLUGIN_ARG_SIZE];
+
+
+};
 
 
 #endif//SHARED_MEMORY_PUBLIC_H