diff --git a/build3/premake4.lua b/build3/premake4.lua
index 59f4f12c7..d04b1274d 100644
--- a/build3/premake4.lua
+++ b/build3/premake4.lua
@@ -66,6 +66,13 @@
description = "Enable Lua scipting support in Example Browser"
}
+ newoption {
+ trigger = "targetdir",
+ value = "path such as ../bin",
+ description = "Set the output location for the generated project files"
+ }
+
+
newoption
{
trigger = "without-gtest",
@@ -129,7 +136,9 @@
-- comment-out for now, URDF reader needs exceptions
-- flags { "NoRTTI", "NoExceptions"}
-- defines { "_HAS_EXCEPTIONS=0" }
- targetdir "../bin"
+--printf ( _OPTIONS["targetdir"] )
+
+ targetdir( _OPTIONS["targetdir"] or "../bin" )
location("./" .. act .. postfix)
diff --git a/build3/vs2010.bat b/build3/vs2010.bat
index b4f4e764b..7bca3cf71 100644
--- a/build3/vs2010.bat
+++ b/build3/vs2010.bat
@@ -1,7 +1,18 @@
rem premake4 --with-pe vs2010
rem premake4 --bullet2demos vs2010
-premake4 vs2010
+premake4 --targetdir="../bin" vs2010
+rem premake4 --targetdir="../server2bin" vs2010
+rem cd vs2010
+rem rename 0_Bullet3Solution.sln 0_server.sln
+rem cd ..
+rem rename vs2010 vs2010_server
+rem
+rem premake4 --targetdir="../client2bin" vs2010
+rem cd vs2010
+rem rename 0_Bullet3Solution.sln 0_client.sln
+rem cd ..
+rem rename vs2010 vs2010_client
+
-mkdir vs2010\cache
pause
\ No newline at end of file
diff --git a/data/hinge.urdf b/data/hinge.urdf
new file mode 100644
index 000000000..121eac702
--- /dev/null
+++ b/data/hinge.urdf
@@ -0,0 +1,49 @@
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diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt
index da4f6a257..840203b62 100644
--- a/examples/ExampleBrowser/CMakeLists.txt
+++ b/examples/ExampleBrowser/CMakeLists.txt
@@ -19,6 +19,7 @@ SET(App_ExampleBrowser_SRCS
../SharedMemory/PhysicsClient.cpp
../SharedMemory/PhysicsServerExample.cpp
../SharedMemory/PhysicsClientExample.cpp
+ ../SharedMemory/RobotControlExample.cpp
../SharedMemory/PosixSharedMemory.cpp
../SharedMemory/Win32SharedMemory.cpp
../BasicDemo/BasicExample.cpp
diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp
index 858fa80f7..e191b479c 100644
--- a/examples/ExampleBrowser/ExampleEntries.cpp
+++ b/examples/ExampleBrowser/ExampleEntries.cpp
@@ -32,6 +32,7 @@
#include "../DynamicControlDemo/MotorDemo.h"
#include "../RollingFrictionDemo/RollingFrictionDemo.h"
#include "../SharedMemory/PhysicsServerExample.h"
+#include "../SharedMemory/RobotControlExample.h"
#include "../SharedMemory/PhysicsClientExample.h"
#include "../Constraints/TestHingeTorque.h"
#include "../RenderingExamples/TimeSeriesExample.h"
@@ -186,6 +187,10 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(0,"Experiments"),
+
+ ExampleEntry(1,"Robot Control", "Perform some robot control tasks, using physics server and client that communicate over shared memory",
+ RobotControlExampleCreateFunc),
+
ExampleEntry(1,"Physics Server", "Create a physics server that communicates with a physics client over shared memory",
PhysicsServerCreateFunc),
ExampleEntry(1, "Physics Client", "Create a physics client that can communicate with a physics server over shared memory", PhysicsClientCreateFunc),
diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index 8d559d6da..d1dc52dc1 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -39,8 +39,6 @@ public:
virtual void stepSimulation(float deltaTime);
- bool loadUrdf(const char* fileName, const btVector3& pos, const btQuaternion& orn,
- bool useMultiBody, bool useFixedBase);
virtual void resetCamera()
{
@@ -59,7 +57,7 @@ PhysicsServerExample::PhysicsServerExample(GUIHelperInterface* helper)
m_wantsShutdown(false)
{
b3Printf("Started PhysicsServer\n");
- bool useServer = true;
+
}
diff --git a/examples/SharedMemory/RobotControlExample.cpp b/examples/SharedMemory/RobotControlExample.cpp
new file mode 100644
index 000000000..442e0fa07
--- /dev/null
+++ b/examples/SharedMemory/RobotControlExample.cpp
@@ -0,0 +1,198 @@
+
+
+
+#include "RobotControlExample.h"
+
+
+
+#include "../CommonInterfaces/CommonParameterInterface.h"
+#include "PhysicsServer.h"
+#include "PhysicsClient.h"
+#include "SharedMemoryCommon.h"
+//const char* blaatnaam = "basename";
+
+
+
+
+class RobotControlExample : public SharedMemoryCommon
+{
+ PhysicsServerSharedMemory m_physicsServer;
+ PhysicsClientSharedMemory m_physicsClient;
+
+ bool m_wantsShutdown;
+
+ btAlignedObjectArray m_userCommandRequests;
+
+ void createButton(const char* name, int id, bool isTrigger );
+
+public:
+
+ RobotControlExample(GUIHelperInterface* helper);
+
+ virtual ~RobotControlExample();
+
+ virtual void initPhysics();
+
+ virtual void stepSimulation(float deltaTime);
+
+ void enqueueCommand(int command)
+ {
+ m_userCommandRequests.push_back(command);
+ b3Printf("User put command request %d on queue (queue length = %d)\n",command, m_userCommandRequests.size());
+ }
+
+ virtual void resetCamera()
+ {
+ float dist = 5;
+ float pitch = 50;
+ float yaw = 35;
+ float targetPos[3]={0,0,0};//-3,2.8,-2.5};
+ m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+ }
+
+ virtual bool wantsTermination();
+};
+
+
+void MyCallback2(int buttonId, bool buttonState, void* userPtr)
+{
+ RobotControlExample* cl = (RobotControlExample*) userPtr;
+ switch (buttonId)
+ {
+ case CMD_LOAD_URDF:
+ case CMD_CREATE_BOX_COLLISION_SHAPE:
+ case CMD_REQUEST_ACTUAL_STATE:
+ case CMD_STEP_FORWARD_SIMULATION:
+ case CMD_SHUTDOWN:
+ case CMD_SEND_DESIRED_STATE:
+ case CMD_SEND_BULLET_DATA_STREAM:
+ {
+ cl->enqueueCommand(buttonId);
+ break;
+ }
+
+ default:
+ {
+ b3Error("Unknown buttonId");
+ btAssert(0);
+ }
+ };
+}
+void RobotControlExample::createButton(const char* name, int buttonId, bool isTrigger )
+{
+ ButtonParams button(name,buttonId, isTrigger);
+ button.m_callback = MyCallback2;
+ button.m_userPointer = this;
+ m_guiHelper->getParameterInterface()->registerButtonParameter(button);
+}
+
+RobotControlExample::RobotControlExample(GUIHelperInterface* helper)
+:SharedMemoryCommon(helper),
+m_wantsShutdown(false)
+{
+
+ bool useServer = true;
+}
+
+
+
+RobotControlExample::~RobotControlExample()
+{
+ bool deInitializeSharedMemory = true;
+ m_physicsServer.disconnectSharedMemory(deInitializeSharedMemory);
+}
+
+void RobotControlExample::initPhysics()
+{
+ ///for this testing we use Z-axis up
+ int upAxis = 2;
+ m_guiHelper->setUpAxis(upAxis);
+
+ createEmptyDynamicsWorld();
+ //todo: create a special debug drawer that will cache the lines, so we can send the debug info over the wire
+ m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+ btVector3 grav(0,0,0);
+ grav[upAxis] = 0;//-9.8;
+ this->m_dynamicsWorld->setGravity(grav);
+
+ bool allowSharedMemoryInitialization = true;
+ m_physicsServer.connectSharedMemory(allowSharedMemoryInitialization, m_dynamicsWorld,m_guiHelper);
+
+ 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);
+
+ } else
+ {
+ m_userCommandRequests.push_back(CMD_LOAD_URDF);
+ m_userCommandRequests.push_back(CMD_REQUEST_ACTUAL_STATE);
+ m_userCommandRequests.push_back(CMD_SEND_DESIRED_STATE);
+ m_userCommandRequests.push_back(CMD_REQUEST_ACTUAL_STATE);
+ //m_userCommandRequests.push_back(CMD_SET_JOINT_FEEDBACK);
+ m_userCommandRequests.push_back(CMD_CREATE_BOX_COLLISION_SHAPE);
+ //m_userCommandRequests.push_back(CMD_CREATE_RIGID_BODY);
+ m_userCommandRequests.push_back(CMD_STEP_FORWARD_SIMULATION);
+ m_userCommandRequests.push_back(CMD_REQUEST_ACTUAL_STATE);
+ m_userCommandRequests.push_back(CMD_SHUTDOWN);
+
+ }
+
+ if (!m_physicsClient.connect())
+ {
+ b3Warning("Cannot eonnect to physics client");
+ }
+
+}
+
+
+bool RobotControlExample::wantsTermination()
+{
+ return m_wantsShutdown;
+}
+
+
+
+void RobotControlExample::stepSimulation(float deltaTime)
+{
+ m_physicsServer.processClientCommands();
+
+ if (m_physicsClient.isConnected())
+ {
+ m_physicsClient.processServerStatus();
+
+ if (m_physicsClient.canSubmitCommand())
+ {
+ if (m_userCommandRequests.size())
+ {
+ b3Printf("Outstanding user command requests: %d\n", m_userCommandRequests.size());
+ int command = m_userCommandRequests[0];
+
+ //a manual 'pop_front', we don't use 'remove' because it will re-order the commands
+ for (int i=1;i