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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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70
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -29,6 +29,8 @@ protected:
void createButton(const char* name, int id, bool isTrigger );
void createButtons();
public:
//@todo, add accessor methods
@@ -64,6 +66,18 @@ public:
void enqueueCommand(const SharedMemoryCommand& orgCommand);
virtual void exitPhysics(){};
virtual void renderScene(){}
virtual void physicsDebugDraw(int debugFlags){}
virtual bool mouseMoveCallback(float x,float y){return false;};
virtual bool mouseButtonCallback(int button, int state, float x, float y){return false;}
virtual bool keyboardCallback(int key, int state){return false;}
virtual void setSharedMemoryKey(int key)
{
m_physicsClient.setSharedMemoryKey(key);
}
};
@@ -97,6 +111,11 @@ void MyCallback(int buttonId, bool buttonState, void* userPtr)
case CMD_CREATE_BOX_COLLISION_SHAPE:
{
command.m_type =CMD_CREATE_BOX_COLLISION_SHAPE;
command.m_updateFlags = BOX_SHAPE_HAS_INITIAL_POSITION;
command.m_createBoxShapeArguments.m_initialPosition[0] = 0;
command.m_createBoxShapeArguments.m_initialPosition[1] = 0;
command.m_createBoxShapeArguments.m_initialPosition[2] = -3;
cl->enqueueCommand(command);
break;
}
@@ -115,6 +134,7 @@ void MyCallback(int buttonId, bool buttonState, void* userPtr)
case CMD_SEND_DESIRED_STATE:
{
command.m_type =CMD_SEND_DESIRED_STATE;
int controlMode = CONTROL_MODE_VELOCITY;//CONTROL_MODE_TORQUE;
@@ -141,6 +161,12 @@ void MyCallback(int buttonId, bool buttonState, void* userPtr)
cl->enqueueCommand(command);
break;
}
case CMD_RESET_SIMULATION:
{
command.m_type = CMD_RESET_SIMULATION;
cl->enqueueCommand(command);
break;
}
case CMD_SEND_BULLET_DATA_STREAM:
{
command.m_type = buttonId;
@@ -167,7 +193,8 @@ void MyCallback(int buttonId, bool buttonState, void* userPtr)
PhysicsClientExample::PhysicsClientExample(GUIHelperInterface* helper)
:SharedMemoryCommon(helper),
m_wantsTermination(false)
m_wantsTermination(false),
m_numMotors(0)
{
b3Printf("Started PhysicsClientExample\n");
}
@@ -184,18 +211,26 @@ void PhysicsClientExample::createButton(const char* name, int buttonId, bool isT
button.m_userPointer = this;
m_guiHelper->getParameterInterface()->registerButtonParameter(button);
}
void PhysicsClientExample::createButtons()
{
bool isTrigger = false;
createButton("Load URDF",CMD_LOAD_URDF, isTrigger);
createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION, isTrigger);
createButton("Send Bullet Stream",CMD_SEND_BULLET_DATA_STREAM, isTrigger);
createButton("Get State",CMD_REQUEST_ACTUAL_STATE, isTrigger);
createButton("Send Desired State",CMD_SEND_DESIRED_STATE, isTrigger);
createButton("Create Box Collider",CMD_CREATE_BOX_COLLISION_SHAPE,isTrigger);
createButton("Reset Simulation",CMD_RESET_SIMULATION,isTrigger);
}
void PhysicsClientExample::initPhysics()
{
if (m_guiHelper && m_guiHelper->getParameterInterface())
{
bool isTrigger = false;
createButton("Load URDF",CMD_LOAD_URDF, isTrigger);
createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION, isTrigger);
createButton("Send Bullet Stream",CMD_SEND_BULLET_DATA_STREAM, isTrigger);
createButton("Get State",CMD_REQUEST_ACTUAL_STATE, isTrigger);
createButton("Send Desired State",CMD_SEND_DESIRED_STATE, isTrigger);
createButton("Create Box Collider",CMD_CREATE_BOX_COLLISION_SHAPE,isTrigger);
createButtons();
} else
{
@@ -285,6 +320,14 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
m_userCommandRequests.pop_back();
//for the CMD_RESET_SIMULATION we need to do something special: clear the GUI sliders
if (command.m_type==CMD_RESET_SIMULATION)
{
m_guiHelper->getParameterInterface()->removeAllParameters();
m_numMotors=0;
createButtons();
}
m_physicsClient.submitClientCommand(command);
}
}
@@ -293,8 +336,15 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
}
extern int gSharedMemoryKey;
class CommonExampleInterface* PhysicsClientCreateFunc(struct CommonExampleOptions& options)
{
return new PhysicsClientExample(options.m_guiHelper);
PhysicsClientExample* example = new PhysicsClientExample(options.m_guiHelper);
if (gSharedMemoryKey>=0)
{
example->setSharedMemoryKey(gSharedMemoryKey);
}
return example;
}