reduce size of SharedMemoryStatus by moving state details into shared memory streaming block.

2019-03-06 23:27:59 -08:00
parent 4c37558805
commit 0af0f193ee
13 changed files with 330 additions and 96 deletions
--- a/examples/RobotSimulator/MinitaurSimulatorExample.cpp
+++ b/examples/RobotSimulator/MinitaurSimulatorExample.cpp
@@ -0,0 +1,147 @@
+#include "MinitaurSimulatorExample.h"
+#include "MinitaurSetup.h"
+
+#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
+#include "Bullet3Common/b3Quaternion.h"
+#include "Bullet3Common/b3AlignedObjectArray.h"
+#include "../CommonInterfaces/CommonRenderInterface.h"
+#include "../CommonInterfaces/CommonExampleInterface.h"
+#include "../CommonInterfaces/CommonGUIHelperInterface.h"
+#include "../SharedMemory/PhysicsServerSharedMemory.h"
+#include "../SharedMemory/SharedMemoryPublic.h"
+
+#include "../CommonInterfaces/CommonParameterInterface.h"
+#include "../SharedMemory/PhysicsClientC_API.h"
+#include <string>
+
+#include "../RobotSimulator/b3RobotSimulatorClientAPI.h"
+#include "../Utils/b3Clock.h"
+
+///quick demo showing the right-handed coordinate system and positive rotations around each axis
+class MinitaurSimulatorExample : public CommonExampleInterface
+{
+	CommonGraphicsApp* m_app;
+	GUIHelperInterface* m_guiHelper;
+	b3RobotSimulatorClientAPI m_robotSim;
+	
+	
+	int m_options;
+	
+	double m_time;
+	
+	double m_gravityAccelerationZ;
+	
+	MinitaurSetup m_minitaur;
+	int m_minitaurUid;
+	
+	
+
+public:
+	MinitaurSimulatorExample(GUIHelperInterface* helper, int options)
+		: m_app(helper->getAppInterface()),
+		  m_guiHelper(helper),
+		  m_options(options),
+		m_gravityAccelerationZ(-10),
+		m_minitaurUid(-1)
+	{
+		m_app->setUpAxis(2);
+	}
+	virtual ~MinitaurSimulatorExample()
+	{
+	}
+
+	virtual void physicsDebugDraw(int debugDrawMode)
+	{
+		m_robotSim.debugDraw(debugDrawMode);
+	}
+	
+	virtual void initPhysics()
+	{
+		int mode = eCONNECT_EXISTING_EXAMPLE_BROWSER;
+		m_robotSim.setGuiHelper(m_guiHelper);
+		bool connected = m_robotSim.connect(mode);
+		//hide the perception camera views for rbd, depth and segmentation mask
+		m_robotSim.configureDebugVisualizer(COV_ENABLE_RGB_BUFFER_PREVIEW, 0);
+		m_robotSim.configureDebugVisualizer(COV_ENABLE_DEPTH_BUFFER_PREVIEW, 0);
+		m_robotSim.configureDebugVisualizer(COV_ENABLE_SEGMENTATION_MARK_PREVIEW, 0);
+		b3Printf("robotSim connected = %d", connected);
+
+		SliderParams slider("Gravity", &m_gravityAccelerationZ);
+		slider.m_minVal = -10;
+		slider.m_maxVal = 10;
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+		
+		//when in the debugger, don't crash when a command isn't processed immediately, give it 10 seconds
+		m_robotSim.setTimeOut(10);
+		
+		m_robotSim.loadURDF("plane.urdf");
+		
+		m_minitaurUid = m_minitaur.setupMinitaur(&m_robotSim, btVector3(0, 0, .3));
+	
+		
+		{
+			b3RobotSimulatorLoadUrdfFileArgs args;
+			args.m_startPosition.setValue(0, 0, 1);
+			args.m_startOrientation.setEulerZYX(0, 0, 0);
+			args.m_useMultiBody = true;
+			m_robotSim.loadURDF("cube_small.urdf", args);
+		}
+	}
+	
+	virtual void exitPhysics()
+	{
+		m_robotSim.disconnect();
+	}
+	
+	virtual void stepSimulation(float deltaTime)
+	{
+		m_robotSim.setGravity(btVector3(0, 0, m_gravityAccelerationZ));
+		m_robotSim.stepSimulation();
+		for (int i = 0; i < m_robotSim.getNumJoints(m_minitaurUid);i++)
+		{
+			b3JointSensorState state;
+			m_robotSim.getJointState(this->m_minitaurUid, i, &state);
+		}
+
+		b3JointStates2 states;
+		m_robotSim.getJointStates(m_minitaurUid, states);
+
+	}
+	virtual void renderScene()
+	{
+		m_robotSim.renderScene();
+	}
+
+	virtual bool mouseMoveCallback(float x, float y)
+	{
+		return m_robotSim.mouseMoveCallback(x, y);
+	}
+	virtual bool mouseButtonCallback(int button, int state, float x, float y)
+	{
+		return m_robotSim.mouseButtonCallback(button, state, x, y);
+	}
+	virtual bool keyboardCallback(int key, int state)
+	{
+		return false;
+	}
+
+	virtual void resetCamera()
+	{
+		float dist = 1.5;
+		float pitch = -10;
+		float yaw = 18;
+		float targetPos[3] = {-0.2, 0.8, 0.3};
+		if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
+		{
+			m_app->m_renderer->getActiveCamera()->setCameraDistance(dist);
+			m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch);
+			m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw);
+			m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0], targetPos[1], targetPos[2]);
+		}
+	}
+
+};
+class CommonExampleInterface* MinitaurSimulatorExampleCreateFunc(struct CommonExampleOptions& options)
+{
+	return new MinitaurSimulatorExample(options.m_guiHelper, options.m_option);
+}