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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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65
test/SharedMemory/premake4.lua
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@@ -26,7 +26,7 @@ project ("Test_SharedMemoryPhysicsClient")
"../../examples/Utils/b3ResourcePath.h",
}
project ("Test_PhysicsLoopBack")
project ("Test_PhysicsServerLoopBack")
language "C++"
kind "ConsoleApp"
@@ -49,6 +49,10 @@ project ("Test_PhysicsLoopBack")
"../../examples/SharedMemory/PhysicsClient.h",
"../../examples/SharedMemory/PhysicsServer.cpp",
"../../examples/SharedMemory/PhysicsServer.h",
"../../examples/SharedMemory/PhysicsServerSharedMemory.cpp",
"../../examples/SharedMemory/PhysicsServerSharedMemory.h",
"../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp",
"../../examples/SharedMemory/PhysicsServerCommandProcessor.h",
"../../examples/SharedMemory/PhysicsLoopBack.cpp",
"../../examples/SharedMemory/PhysicsLoopBack.h",
"../../examples/SharedMemory/PhysicsLoopBackC_Api.cpp",
@@ -79,3 +83,62 @@ project ("Test_PhysicsLoopBack")
"../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp",
}
project ("Test_PhysicsServerDirect")
language "C++"
kind "ConsoleApp"
includedirs {"../../src", "../../examples/SharedMemory",
"../../examples/ThirdPartyLibs"}
defines {"PHYSICS_SERVER_DIRECT"}
links {
"BulletFileLoader",
"BulletWorldImporter",
"Bullet3Common",
"BulletDynamics",
"BulletCollision",
"LinearMath"
}
files {
"test.c",
"../../examples/SharedMemory/PhysicsClient.cpp",
"../../examples/SharedMemory/PhysicsClient.h",
"../../examples/SharedMemory/PhysicsServer.cpp",
"../../examples/SharedMemory/PhysicsServer.h",
"../../examples/SharedMemory/PhysicsServerSharedMemory.cpp",
"../../examples/SharedMemory/PhysicsServerSharedMemory.h",
"../../examples/SharedMemory/PhysicsDirect.cpp",
"../../examples/SharedMemory/PhysicsDirect.h",
"../../examples/SharedMemory/PhysicsDirectC_API.cpp",
"../../examples/SharedMemory/PhysicsDirectC_API.h",
"../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp",
"../../examples/SharedMemory/PhysicsServerCommandProcessor.h",
"../../examples/SharedMemory/PhysicsClientSharedMemory.cpp",
"../../examples/SharedMemory/PhysicsClientSharedMemory.h",
"../../examples/SharedMemory/PhysicsClientC_API.cpp",
"../../examples/SharedMemory/PhysicsClientC_API.h",
"../../examples/SharedMemory/Win32SharedMemory.cpp",
"../../examples/SharedMemory/Win32SharedMemory.h",
"../../examples/SharedMemory/PosixSharedMemory.cpp",
"../../examples/SharedMemory/PosixSharedMemory.h",
"../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ResourcePath.h",
"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
"../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",
"../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp",
}

14
test/SharedMemory/test.c
View File

@@ -5,6 +5,11 @@
#include "PhysicsLoopBackC_API.h"
#endif //PHYSICS_LOOP_BACK
#ifdef PHYSICS_SERVER_DIRECT
#include "PhysicsDirectC_API.h"
#endif //PHYSICS_SERVER_DIRECT
#include "SharedMemoryPublic.h"
#include "Bullet3Common/b3Logging.h"
#include <string.h>
@@ -28,12 +33,17 @@ int main(int argc, char* argv[])
b3PhysicsClientHandle sm=0;
int bodyIndex = -1;
printf("hello world\n");
#ifdef PHYSICS_LOOP_BACK
sm = b3ConnectPhysicsLoopback(SHARED_MEMORY_KEY);
#else
sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
#endif
#ifdef PHYSICS_SERVER_DIRECT
sm = b3ConnectPhysicsDirect();
#else//PHYSICS_SERVER_DIRECT
sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
#endif //PHYSICS_SERVER_DIRECT