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Fix bullet classic entity management #393

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merged 2 commits into from
Jul 26, 2022
Merged

Fix bullet classic entity management #393

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4b4731e
Fix the entity management features for bullet classic
mxgrey Jul 25, 2022
db25242
Fix model removal for bullet classic
mxgrey Jul 25, 2022
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93 changes: 33 additions & 60 deletions bullet/src/Base.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -57,6 +57,8 @@ struct WorldInfo
std::shared_ptr<btBroadphaseInterface> broadphase;
std::shared_ptr<btConstraintSolver> solver;
std::shared_ptr<btDiscreteDynamicsWorld> world;
std::vector<std::size_t> models = {};
std::unordered_map<std::string, std::size_t> modelsByName = {};
};

struct ModelInfo
Expand All @@ -67,6 +69,9 @@ struct ModelInfo
bool fixed;
math::Pose3d pose;
std::vector<std::size_t> links = {};
std::unordered_map<std::string, std::size_t> linksByName = {};
std::vector<std::size_t> joints = {};
std::unordered_map<std::string, std::size_t> jointsByName = {};
};

struct LinkInfo
Expand All @@ -81,6 +86,7 @@ struct LinkInfo
std::shared_ptr<btDefaultMotionState> motionState;
std::shared_ptr<btCompoundShape> collisionShape;
std::shared_ptr<btRigidBody> link;
std::vector<std::size_t> shapes = {};
};

struct CollisionInfo
Expand Down Expand Up @@ -154,90 +160,59 @@ class Base : public Implements3d<FeatureList<Feature>>
return this->GenerateIdentity(0);
}

public: inline std::size_t idToIndexInContainer(std::size_t _id) const
{
auto it = this->childIdToParentId.find(_id);
if (it != this->childIdToParentId.end())
{
std::size_t index = 0;
for (const auto &pair : this->childIdToParentId)
{
if (pair.first == _id && pair.second == it->second)
{
return index;
}
else if (pair.second == it->second)
{
++index;
}
}
}
// return invalid index if not found in id map
return -1;
}

public: inline std::size_t indexInContainerToId(
const std::size_t _containerId, const std::size_t _index) const
{
std::size_t counter = 0;
auto it = this->childIdToParentId.begin();

while (counter <= _index && it != this->childIdToParentId.end())
{
if (it->second == _containerId && counter == _index)
{
return it->first;
}
else if (it->second == _containerId)
{
++counter;
}
++it;
}
// return invalid id if entity not found
return -1;
}

public: inline Identity AddWorld(WorldInfo _worldInfo)
{
const auto id = this->GetNextEntity();
this->worlds[id] = std::make_shared<WorldInfo>(_worldInfo);
this->childIdToParentId.insert({id, -1});
const auto world = std::make_shared<WorldInfo>(_worldInfo);
this->worlds[id] = world;
this->worldsByName[world->name] = id;
this->worldsByIndex.push_back(id);
return this->GenerateIdentity(id, this->worlds.at(id));
}

public: inline Identity AddModel(std::size_t _worldId, ModelInfo _modelInfo)
{
const auto id = this->GetNextEntity();
this->models[id] = std::make_shared<ModelInfo>(_modelInfo);
this->childIdToParentId.insert({id, _worldId});
const auto model = std::make_shared<ModelInfo>(_modelInfo);
this->models[id] = model;
const auto world = this->worlds.at(_worldId);
world->models.push_back(id);
world->modelsByName[model->name] = id;
return this->GenerateIdentity(id, this->models.at(id));
}

public: inline Identity AddLink(std::size_t _modelId, LinkInfo _linkInfo)
public: inline Identity AddLink(LinkInfo _linkInfo)
{
const auto id = this->GetNextEntity();
this->links[id] = std::make_shared<LinkInfo>(_linkInfo);
const auto link = std::make_shared<LinkInfo>(_linkInfo);
this->links[id] = link;

auto model = this->models.at(_linkInfo.model);
auto model = this->models.at(link->model);
model->links.push_back(id);

this->childIdToParentId.insert({id, _modelId});
model->linksByName[link->name] = id;
return this->GenerateIdentity(id, this->links.at(id));
}
public: inline Identity AddCollision(
std::size_t _linkId, CollisionInfo _collisionInfo)
{
const auto id = this->GetNextEntity();
this->collisions[id] = std::make_shared<CollisionInfo>(_collisionInfo);
this->childIdToParentId.insert({id, _linkId});
this->links.at(_linkId)->shapes.push_back(id);
return this->GenerateIdentity(id, this->collisions.at(id));
}

public: inline Identity AddJoint(JointInfo _jointInfo)
public: inline Identity AddJoint(
std::optional<std::size_t> _modelId, JointInfo _jointInfo)
{
const auto id = this->GetNextEntity();
this->joints[id] = std::make_shared<JointInfo>(_jointInfo);
const auto joint = std::make_shared<JointInfo>(_jointInfo);
this->joints[id] = joint;
if (_modelId.has_value())
{
const auto model = this->models.at(*_modelId);
model->joints.push_back(id);
model->jointsByName[joint->name] = id;
}

return this->GenerateIdentity(id, this->joints.at(id));
}
Expand All @@ -249,14 +224,12 @@ class Base : public Implements3d<FeatureList<Feature>>
public: using JointInfoPtr = std::shared_ptr<JointInfo>;

public: std::unordered_map<std::size_t, WorldInfoPtr> worlds;
public: std::vector<std::size_t> worldsByIndex;
public: std::unordered_map<std::string, std::size_t> worldsByName;
public: std::unordered_map<std::size_t, ModelInfoPtr> models;
public: std::unordered_map<std::size_t, LinkInfoPtr> links;
public: std::unordered_map<std::size_t, CollisionInfoPtr> collisions;
public: std::unordered_map<std::size_t, JointInfoPtr> joints;

// childIdToParentId needs to be an ordered map so this iteration proceeds
// in ascending order of the keys of that map. Do not change.
public: std::map<std::size_t, std::size_t> childIdToParentId;
};

} // namespace bullet
Expand Down
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