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add command-line argument for example browser and shared memory app, --shared_memory_key=<int>

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fix some shared memory issues, client uses attach/detach, server uses create/remove shared memory
implement CMD_RESET_SIMULATION
This commit is contained in:
Erwin Coumans
2015-08-07 00:13:26 -07:00
parent f750275cf9
commit 03d991c92b
14 changed files with 373 additions and 56 deletions
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30
examples/SharedMemory/PhysicsClient.cpp
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@@ -24,6 +24,8 @@ struct PhysicsClientSharedMemoryInternalData
btAlignedObjectArray<bParse::btBulletFile*> m_robotMultiBodyData;
btAlignedObjectArray<b3JointInfo> m_jointInfo;
int m_sharedMemoryKey;
int m_counter;
bool m_serverLoadUrdfOK;
bool m_isConnected;
@@ -37,7 +39,8 @@ struct PhysicsClientSharedMemoryInternalData
m_serverLoadUrdfOK(false),
m_isConnected(false),
m_waitingForServer(false),
m_hasLastServerStatus(false)
m_hasLastServerStatus(false),
m_sharedMemoryKey(SHARED_MEMORY_KEY)
{
}
@@ -66,7 +69,7 @@ PhysicsClientSharedMemory::PhysicsClientSharedMemory()
{
m_data = new PhysicsClientSharedMemoryInternalData;
#ifdef _WIN32
m_data->m_sharedMemory = new Win32SharedMemoryClient();
#else
@@ -85,11 +88,16 @@ PhysicsClientSharedMemory::~PhysicsClientSharedMemory()
delete m_data;
}
void PhysicsClientSharedMemory::setSharedMemoryKey(int key)
{
m_data->m_sharedMemoryKey = key;
}
void PhysicsClientSharedMemory::disconnectSharedMemory ()
{
if (m_data->m_isConnected)
{
m_data->m_sharedMemory->releaseSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE);
m_data->m_isConnected = false;
}
}
@@ -103,14 +111,14 @@ bool PhysicsClientSharedMemory::connect()
{
///server always has to create and initialize shared memory
bool allowCreation = false;
m_data->m_testBlock1 = (SharedMemoryBlock*)m_data->m_sharedMemory->allocateSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE, allowCreation);
m_data->m_testBlock1 = (SharedMemoryBlock*)m_data->m_sharedMemory->allocateSharedMemory(m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE, allowCreation);
if (m_data->m_testBlock1)
{
if (m_data->m_testBlock1->m_magicId !=SHARED_MEMORY_MAGIC_NUMBER)
{
b3Error("Error: please start server before client\n");
m_data->m_sharedMemory->releaseSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE);
m_data->m_testBlock1 = 0;
return false;
} else
@@ -389,6 +397,18 @@ bool PhysicsClientSharedMemory::submitClientCommand(const SharedMemoryCommand& c
if (!m_data->m_waitingForServer)
{
//a reset simulation command needs special attention, cleanup state
if (command.m_type==CMD_RESET_SIMULATION)
{
for (int i=0;i<m_data->m_robotMultiBodyData.size();i++)
{
delete m_data->m_robotMultiBodyData[i];
}
m_data->m_robotMultiBodyData.clear();
m_data->m_jointInfo.clear();
}
m_data->m_testBlock1->m_clientCommands[0] = command;
m_data->m_testBlock1->m_numClientCommands++;
m_data->m_waitingForServer = true;