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

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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
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10
examples/SharedMemory/SharedMemoryCommands.h
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@@ -8,6 +8,8 @@ enum SharedMemoryServerCommand
{
CMD_URDF_LOADING_COMPLETED,
CMD_URDF_LOADING_FAILED,
CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED,
CMD_BULLET_DATA_STREAM_RECEIVED_FAILED,
CMD_BOX_COLLISION_SHAPE_CREATION_COMPLETED,
CMD_RIGID_BODY_CREATION_COMPLETED,
CMD_SET_JOINT_FEEDBACK_COMPLETED,
@@ -20,6 +22,7 @@ enum SharedMemoryServerCommand
enum SharedMemoryClientCommand
{
CMD_LOAD_URDF,
CMD_SEND_BULLET_DATA_STREAM,
CMD_CREATE_BOX_COLLISION_SHAPE,
CMD_DELETE_BOX_COLLISION_SHAPE,
CMD_CREATE_RIGID_BODY,
@@ -45,6 +48,12 @@ struct UrdfArgs
bool m_useFixedBase;
};
struct BulletDataStreamArgs
{
int m_streamChunkLength;
};
struct SetJointFeedbackArgs
{
int m_bodyUniqueId;
@@ -96,6 +105,7 @@ struct SharedMemoryCommand
union
{
UrdfArgs m_urdfArguments;
BulletDataStreamArgs m_dataStreamArguments;
StepSimulationArgs m_stepSimulationArguments;
SendDesiredStateArgs m_sendDesiredQandUStateCommandArgument;
RequestActualStateArgs m_requestActualStateInformationCommandArgument;