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add picking to shared memory physics server

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This commit is contained in:
erwin coumans
2015-09-04 11:28:08 -07:00
parent 40d07139a9
commit 2909b5fae3
4 changed files with 303 additions and 26 deletions
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64
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -112,6 +112,28 @@ public:
}
}
}
void prepareControlCommand(SharedMemoryCommand& command)
{
int controlMode = CONTROL_MODE_VELOCITY;//CONTROL_MODE_TORQUE;
command.m_sendDesiredStateCommandArgument.m_controlMode = controlMode;
for (int i=0;i<MAX_DEGREE_OF_FREEDOM;i++)
{
command.m_sendDesiredStateCommandArgument.m_desiredStateQdot[i] = 0;
command.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[i] = 1000;
}
for (int i=0;i<m_numMotors;i++)
{
btScalar targetVel = m_motorTargetVelocities[i].m_velTarget;
int uIndex = m_motorTargetVelocities[i].m_uIndex;
command.m_sendDesiredStateCommandArgument.m_desiredStateQdot[uIndex] = targetVel;
}
}
virtual void physicsDebugDraw(int debugFlags){}
virtual bool mouseMoveCallback(float x,float y){return false;};
@@ -188,28 +210,9 @@ void MyCallback(int buttonId, bool buttonState, void* userPtr)
{
command.m_type =CMD_SEND_DESIRED_STATE;
int controlMode = CONTROL_MODE_VELOCITY;//CONTROL_MODE_TORQUE;
cl->prepareControlCommand(command);
command.m_sendDesiredStateCommandArgument.m_controlMode = controlMode;
for (int i=0;i<MAX_DEGREE_OF_FREEDOM;i++)
{
command.m_sendDesiredStateCommandArgument.m_desiredStateQdot[i] = 0;
command.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[i] = 1000;
}
for (int i=0;i<cl->m_numMotors;i++)
{
btScalar targetVel = cl->m_motorTargetVelocities[i].m_velTarget;
int uIndex = cl->m_motorTargetVelocities[i].m_uIndex;
if (targetVel>1)
{
printf("testme");
}
command.m_sendDesiredStateCommandArgument.m_desiredStateQdot[uIndex] = targetVel;
}
cl->enqueueCommand(command);
break;
}
@@ -239,7 +242,7 @@ void MyCallback(int buttonId, bool buttonState, void* userPtr)
m_userCommandRequests.push_back(orgCommand);
SharedMemoryCommand& cmd = m_userCommandRequests[m_userCommandRequests.size()-1];
b3Printf("User put command request %d on queue (queue length = %d)\n",cmd.m_type, m_userCommandRequests.size());
//b3Printf("User put command request %d on queue (queue length = %d)\n",cmd.m_type, m_userCommandRequests.size());
}
@@ -376,7 +379,7 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
{
if (m_userCommandRequests.size())
{
b3Printf("Outstanding user command requests: %d\n", m_userCommandRequests.size());
//b3Printf("Outstanding user command requests: %d\n", m_userCommandRequests.size());
SharedMemoryCommand command = m_userCommandRequests[0];
//a manual 'pop_front', we don't use 'remove' because it will re-order the commands
@@ -396,6 +399,21 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
}
m_physicsClient.submitClientCommand(command);
} else
{
if (m_numMotors)
{
SharedMemoryCommand command;
command.m_type =CMD_SEND_DESIRED_STATE;
prepareControlCommand(command);
enqueueCommand(command);
command.m_type =CMD_STEP_FORWARD_SIMULATION;
enqueueCommand(command);
command.m_type = CMD_REQUEST_ACTUAL_STATE;
enqueueCommand(command);
}
}
}
}