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Separate SharedMemoryStatus from SharedMemoryCommand

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Added CMD_CMD_SEND_PHYSICS_SIMULATION_PARAMETERS (set gravity as example)
and CMD_INIT_POSE, not fully implemented yet.
This commit is contained in:
Erwin Coumans
2015-07-21 21:46:28 -07:00
parent 8e163c984d
commit 05fc203ec1
5 changed files with 165 additions and 33 deletions
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48
examples/SharedMemory/PhysicsServer.cpp
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@@ -316,7 +316,7 @@ void PhysicsServerSharedMemory::processClientCommands()
m_data->m_worldImporters.push_back(worldImporter);
bool completedOk = worldImporter->loadFileFromMemory(m_data->m_testBlock1->m_bulletStreamDataClientToServer,clientCmd.m_dataStreamArguments.m_streamChunkLength);
SharedMemoryCommand& serverCmd =m_data->m_testBlock1->m_serverCommands[0];
SharedMemoryStatus& serverCmd =m_data->m_testBlock1->m_serverCommands[0];
if (completedOk)
{
@@ -345,7 +345,7 @@ void PhysicsServerSharedMemory::processClientCommands()
urdfArgs.m_initialOrientation[2],
urdfArgs.m_initialOrientation[3]),
urdfArgs.m_useMultiBody, urdfArgs.m_useFixedBase);
SharedMemoryCommand& serverCmd =m_data->m_testBlock1->m_serverCommands[0];
SharedMemoryStatus& serverCmd =m_data->m_testBlock1->m_serverCommands[0];
if (completedOk)
{
@@ -450,7 +450,7 @@ void PhysicsServerSharedMemory::processClientCommands()
SharedMemoryCommand& serverCmd = m_data->m_testBlock1->m_serverCommands[0];
SharedMemoryStatus& serverCmd = m_data->m_testBlock1->m_serverCommands[0];
serverCmd.m_type = CMD_DESIRED_STATE_RECEIVED_COMPLETED;
m_data->m_testBlock1->m_numServerCommands++;
break;
@@ -461,7 +461,7 @@ void PhysicsServerSharedMemory::processClientCommands()
if (m_data->m_dynamicsWorld->getNumMultibodies()>0)
{
btMultiBody* mb = m_data->m_dynamicsWorld->getMultiBody(0);
SharedMemoryCommand& serverCmd = m_data->m_testBlock1->m_serverCommands[0];
SharedMemoryStatus& serverCmd = m_data->m_testBlock1->m_serverCommands[0];
serverCmd.m_type = CMD_ACTUAL_STATE_UPDATE_COMPLETED;
serverCmd.m_sendActualStateArgs.m_bodyUniqueId = 0;
@@ -553,13 +553,49 @@ void PhysicsServerSharedMemory::processClientCommands()
b3Printf("Step simulation request");
m_data->m_dynamicsWorld->stepSimulation(m_data->m_physicsDeltaTime);
SharedMemoryCommand& serverCmd =m_data->m_testBlock1->m_serverCommands[0];
SharedMemoryStatus& serverCmd =m_data->m_testBlock1->m_serverCommands[0];
serverCmd.m_type =CMD_STEP_FORWARD_SIMULATION_COMPLETED;
m_data->m_testBlock1->m_numServerCommands++;
break;
}
case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS:
{
if (clientCmd.m_physSimParamArgs.m_updateFlags&SIM_PARAM_UPDATE_GRAVITY)
{
btVector3 grav(clientCmd.m_physSimParamArgs.m_gravityAcceleration[0],
clientCmd.m_physSimParamArgs.m_gravityAcceleration[1],
clientCmd.m_physSimParamArgs.m_gravityAcceleration[2]);
this->m_data->m_dynamicsWorld->setGravity(grav);
b3Printf("Updated Gravity: %f,%f,%f",grav[0],grav[1],grav[2]);
}
SharedMemoryStatus& serverCmd =m_data->m_testBlock1->m_serverCommands[0];
serverCmd.m_type =CMD_STEP_FORWARD_SIMULATION_COMPLETED;
m_data->m_testBlock1->m_numServerCommands++;
break;
};
case CMD_INIT_POSE:
{
b3Printf("Server Init Pose not implemented yet");
///@todo: implement this
m_data->m_dynamicsWorld->setGravity(btVector3(0,0,0));
SharedMemoryStatus& serverCmd =m_data->m_testBlock1->m_serverCommands[0];
serverCmd.m_type =CMD_STEP_FORWARD_SIMULATION_COMPLETED;
m_data->m_testBlock1->m_numServerCommands++;
break;
}
case CMD_SHUTDOWN:
{
btAssert(0);
@@ -581,7 +617,7 @@ void PhysicsServerSharedMemory::processClientCommands()
bool isDynamic = (mass>0);
worldImporter->createRigidBody(isDynamic,mass,startTrans,shape,0);
m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld);
SharedMemoryCommand& serverCmd =m_data->m_testBlock1->m_serverCommands[0];
SharedMemoryStatus& serverCmd =m_data->m_testBlock1->m_serverCommands[0];
serverCmd.m_type =CMD_STEP_FORWARD_SIMULATION_COMPLETED;
m_data->m_testBlock1->m_numServerCommands++;
break;