mix physics client/server into a single example for easier/faster development of shared memory experiment

add premake option to choose targetdir for binaries/libraries
add simple hinge.urdf file

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)
 
 

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

data/hinge.urdf

@@ -0,0 +1,49 @@
+<?xml version="0.0" ?>
+<robot name="urdf_robot">
+  <link name="baseLink">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="0.0"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+      <box size="0.1 .1 .1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 <box size="0.1 .1 .1"/>
+      </geometry>
+    </collision>
+  </link>
+   <link name="childA">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="10.0"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.1 .1 .1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.1 .1 .1"/>
+      </geometry>
+    </collision>
+  </link>
+   <joint name="joint_baseLink_childA" type="continuous">
+    <parent link="baseLink"/>
+    <child link="childA"/>
+    <origin xyz="0 0 1.0"/>
+	<axis xyz="0 0 1"/>
+  </joint>
+ 
+</robot>
+

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

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),

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;
+	
 }
 
 

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<int> 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<m_userCommandRequests.size();i++)
+				{
+					m_userCommandRequests[i-1] = m_userCommandRequests[i];
+				}
+
+				m_userCommandRequests.pop_back();
+				SharedMemoryCommand tmp;
+				tmp.m_type = command;
+				m_physicsClient.submitClientCommand(tmp);
+			}
+		}
+	}
+}
+
+
+class CommonExampleInterface*    RobotControlExampleCreateFunc(struct CommonExampleOptions& options)
+{
+    return new RobotControlExample(options.m_guiHelper);
+}
+
+

examples/SharedMemory/RobotControlExample.h

@@ -0,0 +1,8 @@
+#ifndef ROBOT_CONTROL_EXAMPLE_H
+#define ROBOT_CONTROL_EXAMPLE_H
+
+class CommonExampleInterface*    RobotControlExampleCreateFunc(struct CommonExampleOptions& options);
+
+#endif //ROBOT_CONTROL_EXAMPLE_H
+
+