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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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163
examples/SharedMemory/PhysicsServer.cpp
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@@ -10,8 +10,11 @@
#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyJointFeedback.h"
#include "../CommonInterfaces/CommonRenderInterface.h"
#include "btBulletDynamicsCommon.h"
#include "../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h"
#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
#include "LinearMath/btSerializer.h"
@@ -42,17 +45,24 @@ struct PhysicsServerInternalData
btHashMap<btHashInt, btMultiBodyJointMotor*> m_multiBodyJointMotorMap;
btAlignedObjectArray<std::string*> m_strings;
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
btBroadphaseInterface* m_broadphase;
btCollisionDispatcher* m_dispatcher;
btMultiBodyConstraintSolver* m_solver;
btDefaultCollisionConfiguration* m_collisionConfiguration;
btMultiBodyDynamicsWorld* m_dynamicsWorld;
struct GUIHelperInterface* m_guiHelper;
int m_sharedMemoryKey;
PhysicsServerInternalData()
:m_sharedMemory(0),
m_testBlock1(0),
m_isConnected(false),
m_physicsDeltaTime(1./60.),
m_dynamicsWorld(0),
m_guiHelper(0)
m_guiHelper(0),
m_sharedMemoryKey(SHARED_MEMORY_KEY)
{
}
@@ -81,20 +91,115 @@ PhysicsServerSharedMemory::PhysicsServerSharedMemory()
#else
m_data->m_sharedMemory = new PosixSharedMemory();
#endif
createEmptyDynamicsWorld();
}
PhysicsServerSharedMemory::~PhysicsServerSharedMemory()
{
deleteDynamicsWorld();
delete m_data;
}
bool PhysicsServerSharedMemory::connectSharedMemory( class btMultiBodyDynamicsWorld* dynamicsWorld, struct GUIHelperInterface* guiHelper)
void PhysicsServerSharedMemory::setSharedMemoryKey(int key)
{
m_data->m_sharedMemoryKey = key;
}
void PhysicsServerSharedMemory::createEmptyDynamicsWorld()
{
///collision configuration contains default setup for memory, collision setup
m_data->m_collisionConfiguration = new btDefaultCollisionConfiguration();
//m_collisionConfiguration->setConvexConvexMultipointIterations();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_data->m_dispatcher = new btCollisionDispatcher(m_data->m_collisionConfiguration);
m_data->m_broadphase = new btDbvtBroadphase();
m_data->m_solver = new btMultiBodyConstraintSolver;
m_data->m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
m_data->m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
}
void PhysicsServerSharedMemory::deleteDynamicsWorld()
{
for (int i=0;i<m_data->m_multiBodyJointFeedbacks.size();i++)
{
delete m_data->m_multiBodyJointFeedbacks[i];
}
m_data->m_multiBodyJointFeedbacks.clear();
for (int i=0;i<m_data->m_worldImporters.size();i++)
{
delete m_data->m_worldImporters[i];
}
m_data->m_worldImporters.clear();
for (int i=0;i<m_data->m_urdfLinkNameMapper.size();i++)
{
delete m_data->m_urdfLinkNameMapper[i];
}
m_data->m_urdfLinkNameMapper.clear();
m_data->m_multiBodyJointMotorMap.clear();
for (int i=0;i<m_data->m_strings.size();i++)
{
delete m_data->m_strings[i];
}
m_data->m_strings.clear();
if (m_data->m_dynamicsWorld)
{
int i;
for (i = m_data->m_dynamicsWorld->getNumConstraints() - 1; i >= 0; i--)
{
m_data->m_dynamicsWorld->removeConstraint(m_data->m_dynamicsWorld->getConstraint(i));
}
for (i = m_data->m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
{
btCollisionObject* obj = m_data->m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(obj);
if (body && body->getMotionState())
{
delete body->getMotionState();
}
m_data->m_dynamicsWorld->removeCollisionObject(obj);
delete obj;
}
}
//delete collision shapes
for (int j = 0; j<m_data->m_collisionShapes.size(); j++)
{
btCollisionShape* shape = m_data->m_collisionShapes[j];
delete shape;
}
m_data->m_collisionShapes.clear();
delete m_data->m_dynamicsWorld;
delete m_data->m_solver;
delete m_data->m_broadphase;
delete m_data->m_dispatcher;
delete m_data->m_collisionConfiguration;
}
bool PhysicsServerSharedMemory::connectSharedMemory( struct GUIHelperInterface* guiHelper)
{
m_data->m_dynamicsWorld = dynamicsWorld;
m_data->m_guiHelper = guiHelper;
bool allowCreation = true;
@@ -107,7 +212,7 @@ bool PhysicsServerSharedMemory::connectSharedMemory( class btMultiBodyDynamicsWo
}
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)
{
int magicId =m_data->m_testBlock1->m_magicId;
@@ -121,7 +226,7 @@ bool PhysicsServerSharedMemory::connectSharedMemory( class btMultiBodyDynamicsWo
} else
{
b3Error("Server cannot connect to existing shared memory, disconnecting shared memory.\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;
m_data->m_isConnected = false;
}
@@ -146,7 +251,7 @@ void PhysicsServerSharedMemory::disconnectSharedMemory(bool deInitializeSharedMe
b3Printf("De-initialized shared memory, magic id = %d\n",m_data->m_testBlock1->m_magicId);
}
btAssert(m_data->m_sharedMemory);
m_data->m_sharedMemory->releaseSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE);
}
if (m_data->m_sharedMemory)
{
@@ -166,7 +271,8 @@ void PhysicsServerSharedMemory::releaseSharedMemory()
m_data->m_testBlock1->m_magicId = 0;
b3Printf("magic id = %d\n",m_data->m_testBlock1->m_magicId);
btAssert(m_data->m_sharedMemory);
m_data->m_sharedMemory->releaseSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
m_data->m_sharedMemory->releaseSharedMemory( m_data->m_sharedMemoryKey
, SHARED_MEMORY_SIZE);
}
if (m_data->m_sharedMemory)
{
@@ -684,11 +790,15 @@ void PhysicsServerSharedMemory::processClientCommands()
case CMD_SHUTDOWN:
case CMD_RESET_SIMULATION:
{
btAssert(0);
//wantsShutdown = true;
SharedMemoryStatus& serverCmd =m_data->createServerStatus(CMD_CLIENT_COMMAND_COMPLETED,clientCmd.m_sequenceNumber,timeStamp);
//clean up all data
m_data->m_guiHelper->getRenderInterface()->removeAllInstances();
deleteDynamicsWorld();
createEmptyDynamicsWorld();
SharedMemoryStatus& serverCmd =m_data->createServerStatus(CMD_CLIENT_COMMAND_COMPLETED,clientCmd.m_sequenceNumber,timeStamp);
m_data->submitServerStatus(serverCmd);
break;
@@ -751,3 +861,28 @@ void PhysicsServerSharedMemory::processClientCommands()
}
}
}
void PhysicsServerSharedMemory::renderScene()
{
if (m_data->m_guiHelper)
{
m_data->m_guiHelper->syncPhysicsToGraphics(m_data->m_dynamicsWorld);
m_data->m_guiHelper->render(m_data->m_dynamicsWorld);
}
}
void PhysicsServerSharedMemory::physicsDebugDraw(int debugDrawFlags)
{
if (m_data->m_dynamicsWorld)
{
if (m_data->m_dynamicsWorld->getDebugDrawer())
{
m_data->m_dynamicsWorld->getDebugDrawer()->setDebugMode(debugDrawFlags);
}
m_data->m_dynamicsWorld->debugDrawWorld();
}
}