Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

some work towards streaming Bullet data over shared memory for client/server

Browse Source
This commit is contained in:
erwincoumans
2015-07-09 14:04:58 -07:00
parent 7f4beba7ee
commit 285ac286fa
10 changed files with 179 additions and 79 deletions
Download Patch File Download Diff File Expand all files Collapse all files

41
examples/SharedMemory/PhysicsServer.cpp
View File

@@ -7,6 +7,7 @@
#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
#include "../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h"
#include "SharedMemoryCommon.h"
@@ -17,6 +18,8 @@ class PhysicsServer : public SharedMemoryCommon
SharedMemoryExampleData* m_testBlock1;
btAlignedObjectArray<btJointFeedback*> m_jointFeedbacks;
btAlignedObjectArray<btBulletWorldImporter*> m_worldImporters;
bool m_wantsShutdown;
public:
@@ -196,6 +199,29 @@ void PhysicsServer::stepSimulation(float deltaTime)
//consume the command
switch (clientCmd.m_type)
{
case CMD_SEND_BULLET_DATA_STREAM:
{
b3Printf("Processed CMD_SEND_BULLET_DATA_STREAM length %d",clientCmd.m_dataStreamArguments.m_streamChunkLength);
btBulletWorldImporter* worldImporter = new btBulletWorldImporter(m_dynamicsWorld);
this->m_worldImporters.push_back(worldImporter);
bool completedOk = worldImporter->loadFileFromMemory(m_testBlock1->m_bulletStreamDataClientToServer,clientCmd.m_dataStreamArguments.m_streamChunkLength);
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
SharedMemoryCommand& serverCmd =m_testBlock1->m_serverCommands[0];
if (completedOk)
{
serverCmd.m_type =CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED;
} else
{
serverCmd.m_type =CMD_BULLET_DATA_STREAM_RECEIVED_FAILED;
}
m_testBlock1->m_numServerCommands++;
break;
}
case CMD_LOAD_URDF:
{
b3Printf("Processed CMD_LOAD_URDF:%s",clientCmd.m_urdfArguments.m_urdfFileName);
@@ -330,6 +356,21 @@ void PhysicsServer::stepSimulation(float deltaTime)
wantsShutdown = true;
break;
}
case CMD_CREATE_BOX_COLLISION_SHAPE:
{
btVector3 halfExtents(30,30,1);
btTransform startTrans;
startTrans.setIdentity();
startTrans.setOrigin(btVector3(0,0,-4));
btCollisionShape* shape = createBoxShape(halfExtents);
btScalar mass = 0.f;
createRigidBody(mass,startTrans,shape);
this->m_guiHelper->autogenerateGraphicsObjects(this->m_dynamicsWorld);
SharedMemoryCommand& serverCmd =m_testBlock1->m_serverCommands[0];
serverCmd.m_type =CMD_STEP_FORWARD_SIMULATION_COMPLETED;
m_testBlock1->m_numServerCommands++;
break;
}
default:
{
b3Error("Unsupported command encountered");