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Merge pull request #506 from erwincoumans/master

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Create a PhysicsLoopBack+test,  fix in example Collision: catch case where no collision world is created
This commit is contained in:
erwincoumans
2015-10-26 22:01:31 -07:00
parent 67cb01c0b1 57f50f1778
commit 3f1940987c
10 changed files with 313 additions and 35 deletions
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5
examples/Collision/CollisionTutorialBullet2.cpp
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@@ -245,7 +245,10 @@ public:
numNearCallbacks = 0;
{
BT_PROFILE("plWorldCollide");
plWorldCollide(m_collisionSdkHandle,m_collisionWorldHandle,myNearCallback, myUserPtr);
if (m_collisionSdkHandle && m_collisionWorldHandle)
{
plWorldCollide(m_collisionSdkHandle,m_collisionWorldHandle,myNearCallback, myUserPtr);
}
}
#if 0

3
examples/Collision/Internal/RealTimeBullet3CollisionSdk.cpp
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@@ -3,6 +3,7 @@
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
//convert the opaque pointer to int
struct RTB3_ColliderOpaque2Int
@@ -48,6 +49,8 @@ struct RTB3CollisionWorld
b3AlignedObjectArray<b3Collidable> m_collidables;
b3AlignedObjectArray<b3GpuChildShape> m_childShapes;
b3AlignedObjectArray<b3Aabb> m_localSpaceAabbs;
b3AlignedObjectArray<b3Aabb> m_worldSpaceAabbs;
b3AlignedObjectArray<b3GpuFace> m_planeFaces;
b3AlignedObjectArray<b3CompoundOverlappingPair> m_compoundOverlappingPairs;
int m_nextFreeShapeIndex;

7
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -398,6 +398,7 @@ b3PhysicsClientHandle b3ConnectSharedMemory(int key)
return (b3PhysicsClientHandle ) cl;
}
void b3DisconnectSharedMemory(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
@@ -452,7 +453,11 @@ int b3GetStatusBodyIndex(b3SharedMemoryStatusHandle statusHandle)
int b3CanSubmitCommand(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
return (int)cl->canSubmitCommand();
if (cl)
{
return (int)cl->canSubmitCommand();
}
return false;
}
int b3SubmitClientCommand(b3PhysicsClientHandle physClient, const b3SharedMemoryCommandHandle commandHandle)

2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -15,7 +15,7 @@ B3_DECLARE_HANDLE(b3SharedMemoryStatusHandle);
extern "C" {
#endif
///make sure to start the server first, before connecting client to physics server
///make sure to start the server first, before connecting client to a physics server over shared memory or UDP
b3PhysicsClientHandle b3ConnectSharedMemory(int key);
void b3DisconnectSharedMemory(b3PhysicsClientHandle physClient);

115
examples/SharedMemory/PhysicsLoopBack.cpp Normal file
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@@ -0,0 +1,115 @@
#include "PhysicsLoopBack.h"
#include "PhysicsServer.h"
#include "PhysicsClientSharedMemory.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
struct PhysicsLoopBackInternalData
{
PhysicsClientSharedMemory* m_physicsClient;
PhysicsServerSharedMemory* m_physicsServer;
DummyGUIHelper m_noGfx;
PhysicsLoopBackInternalData()
:m_physicsClient(0),
m_physicsServer(0)
{
}
};
PhysicsLoopBack::PhysicsLoopBack()
{
m_data = new PhysicsLoopBackInternalData;
m_data->m_physicsServer = new PhysicsServerSharedMemory();
m_data->m_physicsClient = new PhysicsClientSharedMemory();
}
PhysicsLoopBack::~PhysicsLoopBack()
{
delete m_data->m_physicsClient;
delete m_data->m_physicsServer;
delete m_data;
}
// return true if connection succesfull, can also check 'isConnected'
bool PhysicsLoopBack::connect()
{
m_data->m_physicsServer->connectSharedMemory(&m_data->m_noGfx);
m_data->m_physicsClient->connect();
return m_data->m_physicsClient->isConnected();
}
////todo: rename to 'disconnect'
void PhysicsLoopBack::disconnectSharedMemory()
{
m_data->m_physicsClient->disconnectSharedMemory();
m_data->m_physicsServer->disconnectSharedMemory(true);
}
bool PhysicsLoopBack::isConnected() const
{
return m_data->m_physicsClient->isConnected();
}
// return non-null if there is a status, nullptr otherwise
const SharedMemoryStatus* PhysicsLoopBack::processServerStatus()
{
m_data->m_physicsServer->processClientCommands();
return m_data->m_physicsClient->processServerStatus();
}
SharedMemoryCommand* PhysicsLoopBack::getAvailableSharedMemoryCommand()
{
return m_data->m_physicsClient->getAvailableSharedMemoryCommand();
}
bool PhysicsLoopBack::canSubmitCommand() const
{
return m_data->m_physicsClient->canSubmitCommand();
}
bool PhysicsLoopBack::submitClientCommand(const struct SharedMemoryCommand& command)
{
return m_data->m_physicsClient->submitClientCommand(command);
}
int PhysicsLoopBack::getNumJoints(int bodyIndex) const
{
return m_data->m_physicsClient->getNumJoints(bodyIndex);
}
void PhysicsLoopBack::getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const
{
m_data->m_physicsClient->getJointInfo(bodyIndex,jointIndex,info);
}
///todo: move this out of the
void PhysicsLoopBack::setSharedMemoryKey(int key)
{
m_data->m_physicsServer->setSharedMemoryKey(key);
m_data->m_physicsClient->setSharedMemoryKey(key);
}
void PhysicsLoopBack::uploadBulletFileToSharedMemory(const char* data, int len)
{
m_data->m_physicsClient->uploadBulletFileToSharedMemory(data,len);
}
int PhysicsLoopBack::getNumDebugLines() const
{
return m_data->m_physicsClient->getNumDebugLines();
}
const float* PhysicsLoopBack::getDebugLinesFrom() const
{
return m_data->m_physicsClient->getDebugLinesFrom();
}
const float* PhysicsLoopBack::getDebugLinesTo() const
{
return m_data->m_physicsClient->getDebugLinesTo();
}
const float* PhysicsLoopBack::getDebugLinesColor() const
{
return m_data->m_physicsClient->getDebugLinesColor();
}

58
examples/SharedMemory/PhysicsLoopBack.h Normal file
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@@ -0,0 +1,58 @@
#ifndef PHYSICS_LOOP_BACK_H
#define PHYSICS_LOOP_BACK_H
//#include "SharedMemoryCommands.h"
#include "PhysicsClient.h"
#include "LinearMath/btVector3.h"
///todo: the PhysicsClient API was designed with shared memory in mind,
///now it become more general we need to move out the shared memory specifics away
///for example naming [disconnectSharedMemory -> disconnect] [ move setSharedMemoryKey to shared memory specific subclass ]
class PhysicsLoopBack : public PhysicsClient
{
struct PhysicsLoopBackInternalData* m_data;
public:
PhysicsLoopBack();
virtual ~PhysicsLoopBack();
// return true if connection succesfull, can also check 'isConnected'
virtual bool connect();
////todo: rename to 'disconnect'
virtual void disconnectSharedMemory();
virtual bool isConnected() const;
// return non-null if there is a status, nullptr otherwise
virtual const SharedMemoryStatus* processServerStatus();
virtual SharedMemoryCommand* getAvailableSharedMemoryCommand();
virtual bool canSubmitCommand() const;
virtual bool submitClientCommand(const struct SharedMemoryCommand& command);
virtual int getNumJoints(int bodyIndex) const;
virtual void getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const;
///todo: move this out of the
virtual void setSharedMemoryKey(int key);
void uploadBulletFileToSharedMemory(const char* data, int len);
virtual int getNumDebugLines() const;
virtual const float* getDebugLinesFrom() const;
virtual const float* getDebugLinesTo() const;
virtual const float* getDebugLinesColor() const;
};
#endif //PHYSICS_LOOP_BACK_H

19
examples/SharedMemory/PhysicsLoopBackC_API.h Normal file
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@@ -0,0 +1,19 @@
#ifndef PHYSICS_LOOPBACK_C_API_H
#define PHYSICS_LOOPBACK_C_API_H
#include "PhysicsClientC_API.h"
#ifdef __cplusplus
extern "C" {
#endif
///think more about naming. The b3ConnectPhysicsLoopback
b3PhysicsClientHandle b3ConnectPhysicsLoopback(int key);
#ifdef __cplusplus
}
#endif
#endif //PHYSICS_LOOPBACK_C_API_H

15
examples/SharedMemory/PhysicsLoopBackC_Api.cpp Normal file
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@@ -0,0 +1,15 @@
#include "PhysicsLoopBackC_API.h"
#include "PhysicsLoopBack.h"
//think more about naming. The b3ConnectPhysicsLoopback
b3PhysicsClientHandle b3ConnectPhysicsLoopback(int key)
{
PhysicsLoopBack* loopBack = new PhysicsLoopBack();
loopBack->setSharedMemoryKey(key);
bool connected = loopBack->connect();
return (b3PhysicsClientHandle )loopBack;
}

55
test/SharedMemory/premake4.lua
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@@ -1,4 +1,4 @@
project ("Test_SharedMemoryPhysicsClient")
project ("Test_SharedMemoryPhysicsClient")
language "C++"
kind "ConsoleApp"
@@ -25,4 +25,57 @@
"../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ResourcePath.h",
}
project ("Test_PhysicsLoopBack")
language "C++"
kind "ConsoleApp"
includedirs {"../../src", "../../examples/SharedMemory",
"../../examples/ThirdPartyLibs"}
defines {"PHYSICS_LOOP_BACK"}
links {
"BulletFileLoader",
"BulletWorldImporter",
"Bullet3Common",
"BulletDynamics",
"BulletCollision",
"LinearMath"
}
files {
"test.c",
"../../examples/SharedMemory/PhysicsClient.cpp",
"../../examples/SharedMemory/PhysicsClient.h",
"../../examples/SharedMemory/PhysicsServer.cpp",
"../../examples/SharedMemory/PhysicsServer.h",
"../../examples/SharedMemory/PhysicsLoopback.cpp",
"../../examples/SharedMemory/PhysicsLoopback.h",
"../../examples/SharedMemory/PhysicsLoopbackC_Api.cpp",
"../../examples/SharedMemory/PhysicsLoopbackC_Api.h",
"../../examples/SharedMemory/PhysicsClientSharedMemory.cpp",
"../../examples/SharedMemory/PhysicsClientSharedMemory.h",
"../../examples/SharedMemory/PhysicsClientC_API.cpp",
"../../examples/SharedMemory/PhysicsClientC_API.h",
"../../examples/SharedMemory/Win32SharedMemory.cpp",
"../../examples/SharedMemory/Win32SharedMemory.h",
"../../examples/SharedMemory/PosixSharedMemory.cpp",
"../../examples/SharedMemory/PosixSharedMemory.h",
"../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ResourcePath.h",
"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
"../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",
"../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp",
}

69
test/SharedMemory/test.c
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@@ -1,13 +1,14 @@
//#include "SharedMemoryCommands.h"
#include "PhysicsClientC_API.h"
#ifdef PHYSICS_LOOP_BACK
#include "PhysicsLoopbackC_API.h"
#endif //PHYSICS_LOOP_BACK
#include "SharedMemoryPublic.h"
#include "Bullet3Common/b3Logging.h"
#include <string.h>
struct test
{
int unused;
};
#include <stdio.h>
@@ -24,12 +25,18 @@ int main(int argc, char* argv[])
int imuLinkIndex = -1;
b3PhysicsClientHandle sm;
b3PhysicsClientHandle sm=0;
int bodyIndex = -1;
printf("hello world\n");
#ifdef PHYSICS_LOOP_BACK
sm = b3ConnectPhysicsLoopback(SHARED_MEMORY_KEY);
#else
sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
#endif
if (b3CanSubmitCommand(sm))
{
{
@@ -150,35 +157,35 @@ int main(int argc, char* argv[])
}
{
b3SubmitClientCommandAndWaitStatus(sm, b3RequestActualStateCommandInit(sm));
}
b3SharedMemoryStatusHandle state = b3SubmitClientCommandAndWaitStatus(sm, b3RequestActualStateCommandInit(sm));
if (sensorJointIndexLeft>=0)
{
struct b3JointSensorState sensorState;
b3GetJointState(sm,state,sensorJointIndexLeft,&sensorState);
b3Printf("Sensor for joint [%d] = %f,%f,%f\n", sensorJointIndexLeft,
sensorState.m_jointForceTorque[0],
sensorState.m_jointForceTorque[1],
sensorState.m_jointForceTorque[2]);
}
if (sensorJointIndexRight>=0)
{
struct b3JointSensorState sensorState;
b3GetJointState(sm,state,sensorJointIndexRight,&sensorState);
b3GetJointInfo(sm,bodyIndex,sensorJointIndexRight,&sensorState);
b3Printf("Sensor for joint [%d] = %f,%f,%f\n", sensorJointIndexRight,
sensorState.m_jointForceTorque[0],
sensorState.m_jointForceTorque[1],
sensorState.m_jointForceTorque[2]);
if (sensorJointIndexLeft>=0)
{
struct b3JointSensorState info;
b3GetJointInfo(sm,bodyIndex,sensorJointIndexLeft,&info);
b3Printf("Sensor for joint [%d] = %f,%f,%f\n", sensorJointIndexLeft,
info.m_jointForceTorque[0],
info.m_jointForceTorque[1],
info.m_jointForceTorque[2]);
}
}
}
if (sensorJointIndexRight>=0)
{
struct b3JointSensorState info;
b3GetJointInfo(sm,bodyIndex,sensorJointIndexRight,&info);
b3Printf("Sensor for joint [%d] = %f,%f,%f\n", sensorJointIndexRight,
info.m_jointForceTorque[0],
info.m_jointForceTorque[1],
info.m_jointForceTorque[2]);
}
{
b3SubmitClientCommandAndWaitStatus(sm, b3InitResetSimulationCommand(sm));