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migrating from b3RobotSimAPI to b3RobotSimulatorClientAPI (step by step)

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allow to run the client/server code in the example browser without this b3RobotSimAPI hack.
This commit is contained in:
Erwin Coumans
2017-05-13 11:15:20 -07:00
parent f80838e989
commit 0944790577
7 changed files with 246 additions and 46 deletions
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100
examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
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@@ -4,6 +4,9 @@
#include "PhysicsClientSharedMemory.h"
#include"../ExampleBrowser/InProcessExampleBrowser.h"
#include "PhysicsServerExample.h"
#include "../CommonInterfaces/CommonExampleInterface.h"
#include "InProcessMemory.h"
#include "Bullet3Common/b3Logging.h"
class InProcessPhysicsClientSharedMemoryMainThread : public PhysicsClientSharedMemory
@@ -124,3 +127,100 @@ b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnect(int argc, char* a
return (b3PhysicsClientHandle ) cl;
}
class InProcessPhysicsClientExistingExampleBrowser : public PhysicsClientSharedMemory
{
CommonExampleInterface* m_physicsServerExample;
SharedMemoryInterface* m_sharedMem;
b3Clock m_clock;
unsigned long long int m_prevTime;
public:
InProcessPhysicsClientExistingExampleBrowser (struct GUIHelperInterface* guiHelper)
{
m_sharedMem = new InProcessMemory;
CommonExampleOptions options(guiHelper);
options.m_sharedMem = m_sharedMem;
m_physicsServerExample = PhysicsServerCreateFunc(options);
m_physicsServerExample ->initPhysics();
m_physicsServerExample ->resetCamera();
setSharedMemoryInterface(m_sharedMem);
m_clock.reset();
m_prevTime = m_clock.getTimeMicroseconds();
}
virtual ~InProcessPhysicsClientExistingExampleBrowser()
{
m_physicsServerExample->exitPhysics();
//s_instancingRenderer->removeAllInstances();
delete m_physicsServerExample;
delete m_sharedMem;
}
// return non-null if there is a status, nullptr otherwise
virtual const struct SharedMemoryStatus* processServerStatus()
{
//m_physicsServerExample->updateGraphics();
unsigned long long int curTime = m_clock.getTimeMicroseconds();
unsigned long long int dtMicro = curTime - m_prevTime;
m_prevTime = curTime;
double dt = double(dtMicro)/1000000.;
m_physicsServerExample->stepSimulation(dt);
#if 0
{
//if (btIsExampleBrowserMainThreadTerminated(m_data))
//{
// PhysicsClientSharedMemory::disconnectSharedMemory();
//}
}
//{
//unsigned long int ms = m_clock.getTimeMilliseconds();
//if (ms>20)
//{
// B3_PROFILE("m_clock.reset()");
//
// m_clock.reset();
//btUpdateInProcessExampleBrowserMainThread(m_data);
//}
}
#endif
{
b3Clock::usleep(0);
}
const SharedMemoryStatus* stat = 0;
{
stat = PhysicsClientSharedMemory::processServerStatus();
}
return stat;
}
virtual void renderScene()
{
m_physicsServerExample->renderScene();
}
};
void b3InProcessRenderSceneInternal(b3PhysicsClientHandle clientHandle)
{
InProcessPhysicsClientExistingExampleBrowser* cl = (InProcessPhysicsClientExistingExampleBrowser*) clientHandle;
cl->renderScene();
}
b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect(struct GUIHelperInterface* guiHelper)
{
InProcessPhysicsClientExistingExampleBrowser* cl = new InProcessPhysicsClientExistingExampleBrowser(guiHelper);
//InProcessPhysicsClientFromGuiHelper* cl = new InProcessPhysicsClientFromGuiHelper(guiHelper);
cl->connect();
return (b3PhysicsClientHandle ) cl;
}