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add physics server loopback (both client and server in the same process, using shared memory)

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add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
This commit is contained in:
erwincoumans
2015-11-22 20:50:32 -08:00
parent 7d6c2b77f7
commit 03bf78ef49
23 changed files with 2914 additions and 2086 deletions
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22
examples/SharedMemory/SharedMemoryCommands.h
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@@ -24,6 +24,7 @@
typedef unsigned long long int smUint64_t;
#endif
#define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (256*1024)
#define SHARED_MEMORY_SERVER_TEST_C
#define MAX_DEGREE_OF_FREEDOM 64
@@ -31,6 +32,27 @@
#define MAX_URDF_FILENAME_LENGTH 1024
#define MAX_FILENAME_LENGTH MAX_URDF_FILENAME_LENGTH
struct TmpFloat3
{
float m_x;
float m_y;
float m_z;
};
#ifdef _WIN32
__inline
#else
inline
#endif
TmpFloat3 CreateTmpFloat3(float x, float y, float z)
{
TmpFloat3 tmp;
tmp.m_x = x;
tmp.m_y = y;
tmp.m_z = z;
return tmp;
}
enum EnumUrdfArgsUpdateFlags
{
URDF_ARGS_FILE_NAME=1,