Support getCachedReturnData for PhysicsLoopBack

re-use existing code path for streaming plugin return data (work-in-progress)
HumanED · Oct 7, 2020 · bc51ac3 · bc51ac3
1 parent 954ceff
commit bc51ac3
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Showing 6 changed files with 19 additions and 28 deletions.
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -3069,7 +3069,7 @@ 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_startingReturnBytes = 0;
 		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;

diff --git a/examples/SharedMemory/PhysicsLoopBack.cpp b/examples/SharedMemory/PhysicsLoopBack.cpp
@@ -227,6 +227,10 @@ void PhysicsLoopBack::getCachedMassMatrix(int dofCountCheck, double* massMatrix)
 {
 	m_data->m_physicsClient->getCachedMassMatrix(dofCountCheck, massMatrix);
 }
+bool PhysicsLoopBack::getCachedReturnData(struct b3UserDataValue* returnData)
+{
+	return m_data->m_physicsClient->getCachedReturnData(returnData);
+}
 
 void PhysicsLoopBack::setTimeOut(double timeOutInSeconds)
 {

diff --git a/examples/SharedMemory/PhysicsLoopBack.h b/examples/SharedMemory/PhysicsLoopBack.h
@@ -88,6 +88,8 @@ class PhysicsLoopBack : public PhysicsClient
 
 	virtual void getCachedMassMatrix(int dofCountCheck, double* massMatrix);
 
+	virtual bool getCachedReturnData(struct b3UserDataValue* returnData);
+
 	virtual void setTimeOut(double timeOutInSeconds);
 	virtual double getTimeOut() const;
 

diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -5759,6 +5759,8 @@ bool PhysicsServerCommandProcessor::processCustomCommand(const struct SharedMemo
 	serverCmd.m_type = CMD_CUSTOM_COMMAND_FAILED;
 	serverCmd.m_customCommandResultArgs.m_returnDataSizeInBytes = 0;
 	serverCmd.m_customCommandResultArgs.m_returnDataType = -1;
+	serverCmd.m_customCommandResultArgs.m_returnDataStart = 0;
+
 	serverCmd.m_customCommandResultArgs.m_pluginUniqueId = -1;
 
 	if (clientCmd.m_updateFlags & CMD_CUSTOM_COMMAND_LOAD_PLUGIN)
@@ -5783,43 +5785,28 @@ bool PhysicsServerCommandProcessor::processCustomCommand(const struct SharedMemo
 		m_data->m_pluginManager.unloadPlugin(clientCmd.m_customCommandArgs.m_pluginUniqueId);
 		serverCmd.m_type = CMD_CUSTOM_COMMAND_COMPLETED;
 	}
-	if (clientCmd.m_updateFlags & CMD_CUSTOM_COMMAND_STREAM_RETURN_DATA)
+
+	if (clientCmd.m_updateFlags & CMD_CUSTOM_COMMAND_EXECUTE_PLUGIN_COMMAND)
 	{
-		serverCmd.m_type = CMD_CUSTOM_COMMAND_STREAM_RETURN_DATA_FAILED;
-		const b3UserDataValue* returnData = m_data->m_pluginManager.getReturnData(clientCmd.m_customCommandArgs.m_pluginUniqueId);
-		if (returnData)
+		int startBytes = clientCmd.m_customCommandArgs.m_startingReturnBytes;
+		if (startBytes == 0)
 		{
-			int startBytes = clientCmd.m_customCommandArgs.m_startingReturnBytes;
-			if (startBytes >= 0 && startBytes < returnData->m_length)
-			{
-				int totalRemain = returnData->m_length - startBytes;
-				int numBytes = totalRemain <= bufferSizeInBytes ? totalRemain : bufferSizeInBytes;
-				serverStatusOut.m_numDataStreamBytes = numBytes;
-				for (int i = 0; i < numBytes; i++)
-				{
-					bufferServerToClient[i] = returnData->m_data1[i + startBytes];
-				}
-				serverCmd.m_customCommandResultArgs.m_returnDataSizeInBytes = returnData->m_length;
-				serverCmd.m_customCommandResultArgs.m_returnDataType = returnData->m_type;
-				serverCmd.m_type = CMD_CUSTOM_COMMAND_STREAM_RETURN_DATA_COMPLETED;
-			}
+			int result = m_data->m_pluginManager.executePluginCommand(clientCmd.m_customCommandArgs.m_pluginUniqueId, &clientCmd.m_customCommandArgs.m_arguments);
+			serverCmd.m_customCommandResultArgs.m_executeCommandResult = result;
 		}
-	}
-	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_arguments);
-		serverCmd.m_customCommandResultArgs.m_executeCommandResult = result;
 		const b3UserDataValue* returnData = m_data->m_pluginManager.getReturnData(clientCmd.m_customCommandArgs.m_pluginUniqueId);
 		if (returnData)
 		{
-			int numBytes = returnData->m_length <= bufferSizeInBytes ? returnData->m_length : bufferSizeInBytes;
+			int totalRemain = returnData->m_length - startBytes;
+			int numBytes = totalRemain <= bufferSizeInBytes ? totalRemain : bufferSizeInBytes;
 			serverStatusOut.m_numDataStreamBytes = numBytes;
 			for (int i = 0; i < numBytes; i++)
 			{
 				bufferServerToClient[i] = returnData->m_data1[i];
 			}
 			serverCmd.m_customCommandResultArgs.m_returnDataSizeInBytes = returnData->m_length;
 			serverCmd.m_customCommandResultArgs.m_returnDataType = returnData->m_type;
+			serverCmd.m_customCommandResultArgs.m_returnDataStart = startBytes;
 		}
 		else
 		{

diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
@@ -124,7 +124,6 @@ enum CustomCommandEnum
 	CMD_CUSTOM_COMMAND_UNLOAD_PLUGIN = 2,
 	CMD_CUSTOM_COMMAND_EXECUTE_PLUGIN_COMMAND = 4,
 	CMD_CUSTOM_COMMAND_LOAD_PLUGIN_POSTFIX = 8,
-	CMD_CUSTOM_COMMAND_STREAM_RETURN_DATA = 16,
 };
 
 struct b3CustomCommand
@@ -142,6 +141,7 @@ struct b3CustomCommandResultArgs
 	int m_executeCommandResult;
 	int m_returnDataType;
 	int m_returnDataSizeInBytes;
+	int m_returnDataStart;
 };
 
 struct BulletDataStreamArgs

diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
@@ -239,8 +239,6 @@ enum EnumSharedMemoryServerStatus
 	CMD_REQUEST_MESH_DATA_COMPLETED,
 	CMD_REQUEST_MESH_DATA_FAILED,
 
-	CMD_CUSTOM_COMMAND_STREAM_RETURN_DATA_COMPLETED,
-	CMD_CUSTOM_COMMAND_STREAM_RETURN_DATA_FAILED,
 	//don't go beyond 'CMD_MAX_SERVER_COMMANDS!
 	CMD_MAX_SERVER_COMMANDS
 };