minor refactoring

examples/ExampleBrowser/CMakeLists.txt

@@ -15,6 +15,7 @@ SET(App_ExampleBrowser_SRCS
 	main.cpp
 	ExampleEntries.cpp
 	ExampleEntries.h
+	../SharedMemory/PhysicsClientC_API.cpp
 	../SharedMemory/PhysicsServer.cpp
 	../SharedMemory/PhysicsClient.cpp
 	../SharedMemory/PhysicsServerExample.cpp

examples/ExampleBrowser/premake4.lua

@@ -50,6 +50,7 @@
 		files {
 		"**.cpp",
 		"**.h",
+		"../SharedMemory/PhysicsClientC_API.cpp",
 		"../SharedMemory/PhysicsServerExample.cpp",
 		"../SharedMemory/PhysicsClientExample.cpp",
 		"../SharedMemory/RobotControlExample.cpp",

examples/SharedMemory/PhysicsClient.cpp

@@ -6,6 +6,7 @@
 #include "../Utils/b3ResourcePath.h"
 #include "../../Extras/Serialize/BulletFileLoader/btBulletFile.h"
 #include "../../Extras/Serialize/BulletFileLoader/autogenerated/bullet.h"
+#include "SharedMemoryBlock.h"
 
 
 //copied from btMultiBodyLink.h
@@ -18,7 +19,7 @@ enum JointType
 struct PhysicsClientSharedMemoryInternalData
 {
 	SharedMemoryInterface* m_sharedMemory;
-	SharedMemoryExampleData*   m_testBlock1;
+	SharedMemoryBlock*   m_testBlock1;
 
 	btAlignedObjectArray<bParse::btBulletFile*> m_robotMultiBodyData;
 	btAlignedObjectArray<PoweredJointInfo> m_poweredJointInfo;
@@ -89,7 +90,7 @@ bool	PhysicsClientSharedMemory::isConnected() const
 bool PhysicsClientSharedMemory::connect(bool allowSharedMemoryInitialization)
 {
 	bool allowCreation = true;
-	m_data->m_testBlock1 = (SharedMemoryExampleData*)m_data->m_sharedMemory->allocateSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE, allowCreation);
+	m_data->m_testBlock1 = (SharedMemoryBlock*)m_data->m_sharedMemory->allocateSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE, allowCreation);
 	
     if (m_data->m_testBlock1)
     {
@@ -97,7 +98,7 @@ bool PhysicsClientSharedMemory::connect(bool allowSharedMemoryInitialization)
         {
 			if (allowSharedMemoryInitialization)
 			{
-				InitSharedMemoryExampleData(m_data->m_testBlock1);
+				InitSharedMemoryBlock(m_data->m_testBlock1);
 				b3Printf("Created and initialized shared memory block");
 				m_data->m_isConnected = true;
 			} else
@@ -123,7 +124,7 @@ bool PhysicsClientSharedMemory::connect(bool allowSharedMemoryInitialization)
 
 
 
-bool	PhysicsClientSharedMemory::processServerStatus(ServerStatus& serverStatus)
+bool	PhysicsClientSharedMemory::processServerStatus(SharedMemoryStatus& serverStatus)
 {
 	btAssert(m_data->m_testBlock1);
 	bool hasStatus = false;

examples/SharedMemory/PhysicsClient.h

@@ -3,17 +3,6 @@
 
 #include "SharedMemoryCommands.h"
 
-#include <string>
-
-struct PoweredJointInfo
-{
-	std::string m_linkName;
-	std::string m_jointName;
-	int m_jointType;
-	int m_qIndex;
-	int m_uIndex;
-};
-
 
 class PhysicsClientSharedMemory  //: public CommonPhysicsClientInterface
 {
@@ -31,7 +20,7 @@ public:
 	virtual bool	isConnected() const;
 
 	// return true if there is a status, and fill in 'serverStatus'
-	virtual bool	processServerStatus(ServerStatus& serverStatus);
+	virtual bool	processServerStatus(SharedMemoryStatus& serverStatus);
 	
 	virtual bool	canSubmitCommand() const;
 	

examples/SharedMemory/PhysicsClientExample.cpp

@@ -211,7 +211,7 @@ void	PhysicsClientExample::stepSimulation(float deltaTime)
     
 	if (m_physicsClient.isConnected())
     {
-		ServerStatus status;
+		SharedMemoryStatus status;
 		bool hasStatus = m_physicsClient.processServerStatus(status);
 		if (hasStatus && status.m_type == CMD_URDF_LOADING_COMPLETED)
 		{
@@ -219,7 +219,7 @@ void	PhysicsClientExample::stepSimulation(float deltaTime)
 			{
 				PoweredJointInfo info;
 				m_physicsClient.getPoweredJointInfo(i,info);
-				b3Printf("1-DOF PoweredJoint %s at q-index %d and u-index %d\n",info.m_jointName.c_str(),info.m_qIndex,info.m_uIndex);
+				b3Printf("1-DOF PoweredJoint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex);
 				
 			}
 		}

examples/SharedMemory/PhysicsServer.cpp

@@ -17,6 +17,7 @@
 #include "LinearMath/btSerializer.h"
 #include "Bullet3Common/b3Logging.h"
 #include "../CommonInterfaces/CommonGUIHelperInterface.h"
+#include "SharedMemoryBlock.h"
 
 struct UrdfLinkNameMapUtil
 {
@@ -31,7 +32,7 @@ struct UrdfLinkNameMapUtil
 struct PhysicsServerInternalData
 {
 	SharedMemoryInterface* m_sharedMemory;
-    SharedMemoryExampleData* m_testBlock1;
+    SharedMemoryBlock* m_testBlock1;
 	bool m_isConnected;
 	btScalar m_physicsDeltaTime;
 	//btAlignedObjectArray<btJointFeedback*> m_jointFeedbacks;
@@ -84,14 +85,14 @@ bool PhysicsServerSharedMemory::connectSharedMemory(bool allowSharedMemoryInitia
 	
 	bool allowCreation = true;
 
-	m_data->m_testBlock1 = (SharedMemoryExampleData*)m_data->m_sharedMemory->allocateSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE,allowCreation);
+	m_data->m_testBlock1 = (SharedMemoryBlock*)m_data->m_sharedMemory->allocateSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE,allowCreation);
     if (m_data->m_testBlock1)
     {
         if (m_data->m_testBlock1->m_magicId !=SHARED_MEMORY_MAGIC_NUMBER)
         {
 			if (allowSharedMemoryInitialization)
 			{
-				InitSharedMemoryExampleData(m_data->m_testBlock1);
+				InitSharedMemoryBlock(m_data->m_testBlock1);
 				b3Printf("Created and initialized shared memory block");
 				m_data->m_isConnected = true;
 			} else
@@ -212,7 +213,7 @@ bool PhysicsServerSharedMemory::loadUrdf(const char* fileName, const btVector3&
         tr.setIdentity();
         tr.setOrigin(pos);
         tr.setRotation(orn);
-        int rootLinkIndex = u2b.getRootLinkIndex();
+        //int rootLinkIndex = u2b.getRootLinkIndex();
         //                      printf("urdf root link index = %d\n",rootLinkIndex);
 		MyMultiBodyCreator creation(m_data->m_guiHelper);
         

examples/SharedMemory/PhysicsServerExample.cpp

@@ -57,7 +57,6 @@ PhysicsServerExample::PhysicsServerExample(GUIHelperInterface* helper)
 m_wantsShutdown(false)
 {
 	b3Printf("Started PhysicsServer\n");
-	
 }
 
 

examples/SharedMemory/RobotControlExample.cpp

@@ -10,6 +10,7 @@
 #include "PhysicsClient.h"
 #include "SharedMemoryCommon.h"
 #include "../Utils/b3Clock.h"
+#include "PhysicsClientC_API.h"
 
 //const char* blaatnaam = "basename";
 
@@ -100,11 +101,20 @@ void MyCallback2(int buttonId, bool buttonState, void* userPtr)
 
 		case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS:
 		{
-			command.m_type = CMD_SEND_PHYSICS_SIMULATION_PARAMETERS;
+		    //#ifdef USE_C_API
-			command.m_physSimParamArgs.m_gravityAcceleration[0] = 0;
+		    b3InitPhysicsParamCommand(&command);
-			command.m_physSimParamArgs.m_gravityAcceleration[1] = 0;
+            b3PhysicsParamSetGravity(&command, 0,0,-10);
-			command.m_physSimParamArgs.m_gravityAcceleration[2] = -10;
+            
-			command.m_updateFlags = SIM_PARAM_UPDATE_GRAVITY;
+
+//		    #else
+//		    
+//			command.m_type = CMD_SEND_PHYSICS_SIMULATION_PARAMETERS;
+//			command.m_physSimParamArgs.m_gravityAcceleration[0] = 0;
+//			command.m_physSimParamArgs.m_gravityAcceleration[1] = 0;
+//			command.m_physSimParamArgs.m_gravityAcceleration[2] = -10;
+//			command.m_physSimParamArgs.m_updateFlags = SIM_PARAM_UPDATE_GRAVITY;
+//			#endif // USE_C_API
+			
 			cl->enqueueCommand(command);
 			break;
 
@@ -286,7 +296,7 @@ void	RobotControlExample::stepSimulation(float deltaTime)
 	if (m_physicsClient.isConnected())
     {
 		
-		ServerStatus status;
+		SharedMemoryStatus status;
 		bool hasStatus = m_physicsClient.processServerStatus(status);
 		if (hasStatus && status.m_type == CMD_URDF_LOADING_COMPLETED)
 		{
@@ -294,12 +304,12 @@ void	RobotControlExample::stepSimulation(float deltaTime)
 			{
 				PoweredJointInfo info;
 				m_physicsClient.getPoweredJointInfo(i,info);
-				b3Printf("1-DOF PoweredJoint %s at q-index %d and u-index %d\n",info.m_jointName.c_str(),info.m_qIndex,info.m_uIndex);
+				b3Printf("1-DOF PoweredJoint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex);
 				
 				if (m_numMotors<MAX_NUM_MOTORS)
 				{
 					char motorName[1024];
-					sprintf(motorName,"%s q'", info.m_jointName.c_str());
+					sprintf(motorName,"%s q'", info.m_jointName);
 					MyMotorInfo* motorInfo = &m_motorTargetVelocities[m_numMotors];
 					motorInfo->m_velTarget = 0.f;
 					motorInfo->m_uIndex = info.m_uIndex;

examples/SharedMemory/SharedMemoryCommands.h

@@ -63,11 +63,11 @@ enum EnumSharedMemoryServerStatus
 
 struct UrdfArgs
 {
-    char m_urdfFileName[MAX_URDF_FILENAME_LENGTH];
+	char m_urdfFileName[MAX_URDF_FILENAME_LENGTH];
-    double m_initialPosition[3];
+	double m_initialPosition[3];
-    double m_initialOrientation[4];
+	double m_initialOrientation[4];
-	bool m_useMultiBody;
+	int m_useMultiBody;
-	bool m_useFixedBase;
+	int m_useFixedBase;
 };
 
 
@@ -81,7 +81,7 @@ struct SetJointFeedbackArgs
 {
 	int m_bodyUniqueId;
 	int m_linkId;
-	bool m_isEnabled;
+	int m_isEnabled;
 };
 
 //todo: discuss and decide about control mode and combinations
@@ -132,7 +132,6 @@ enum EnumUpdateFlags
 ///The control mode determines the state variables used for motor control.
 struct SendPhysicsSimulationParameters
 {
-	
 	double m_deltaTime;
 	double m_gravityAcceleration[3];
 	int m_numSimulationSubSteps;
@@ -161,25 +160,26 @@ struct SendActualStateArgs
 };
 
 
+typedef  struct SharedMemoryCommand SharedMemoryCommand_t;
 
 
 struct SharedMemoryCommand
 {
-    int m_type;
+	int m_type;
+	smUint64_t	m_timeStamp;
 	int	m_sequenceNumber;
-    smUint64_t	m_timeStamp;
+	 //a bit fields to tell which parameters need updating
-	//a bit fields to tell which parameters need updating
+        //for example m_updateFlags = SIM_PARAM_UPDATE_DELTA_TIME | SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS;
-	//for example m_updateFlags = SIM_PARAM_UPDATE_DELTA_TIME | SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS;
+        int m_updateFlags;
-	smUint64_t	m_updateFlags;
 
     union
     {
-        UrdfArgs m_urdfArguments;
+        struct UrdfArgs m_urdfArguments;
-		InitPoseArgs m_initPoseArgs;
+	struct InitPoseArgs m_initPoseArgs;
-		SendPhysicsSimulationParameters m_physSimParamArgs;
+	struct SendPhysicsSimulationParameters m_physSimParamArgs;
-		BulletDataStreamArgs	m_dataStreamArguments;
+	struct BulletDataStreamArgs	m_dataStreamArguments;
-  		SendDesiredStateArgs m_sendDesiredStateCommandArgument;
+	struct SendDesiredStateArgs m_sendDesiredStateCommandArgument;
-		RequestActualStateArgs m_requestActualStateInformationCommandArgument;
+	struct RequestActualStateArgs m_requestActualStateInformationCommandArgument;
     };
 };
 
@@ -193,11 +193,20 @@ struct SharedMemoryStatus
 	
 	union
 	{
-		BulletDataStreamArgs	m_dataStreamArguments;
+		struct BulletDataStreamArgs	m_dataStreamArguments;
-		SendActualStateArgs m_sendActualStateArgs;
+		struct SendActualStateArgs m_sendActualStateArgs;
 	};
 };
 
-typedef SharedMemoryStatus ServerStatus;
+struct PoweredJointInfo
+{
+        char* m_linkName;
+        char* m_jointName;
+        int m_jointType;
+        int m_qIndex;
+        int m_uIndex;
+};
+
+
 
 #endif //SHARED_MEMORY_COMMANDS_H

examples/SharedMemory/SharedMemoryInterface.h

@@ -1,49 +1,6 @@
 #ifndef SHARED_MEMORY_INTERFACE_H
 #define SHARED_MEMORY_INTERFACE_H
 
-#define SHARED_MEMORY_KEY 12347
-#define SHARED_MEMORY_MAGIC_NUMBER 64738
-#define SHARED_MEMORY_MAX_COMMANDS 32
-#define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (256*1024)
-
-#include "SharedMemoryCommands.h"
-
-struct SharedMemoryExampleData
-{
-    int m_magicId;
-    SharedMemoryCommand m_clientCommands[SHARED_MEMORY_MAX_COMMANDS];
-    SharedMemoryStatus m_serverCommands[SHARED_MEMORY_MAX_COMMANDS];
-    
-    int m_numClientCommands;
-    int m_numProcessedClientCommands;
-    
-    int m_numServerCommands;
-    int m_numProcessedServerCommands;
-  
-	//m_bulletStreamDataClientToServer is a way for the client to create collision shapes, rigid bodies and constraints
-	//the Bullet data structures are more general purpose than the capabilities of a URDF file.
-	char	m_bulletStreamDataClientToServer[SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE];
-	
-	//m_bulletStreamDataServerToClient is used to send (debug) data from server to client, for
-	//example to provide all details of a multibody including joint/link names, after loading a URDF file.
-	char	m_bulletStreamDataServerToClient[SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE];
-};
-
-
-inline void	InitSharedMemoryExampleData(SharedMemoryExampleData* sharedMemoryBlock)
-{
-	sharedMemoryBlock->m_numClientCommands = 0;
-    sharedMemoryBlock->m_numServerCommands = 0;
-    sharedMemoryBlock->m_numProcessedClientCommands=0;
-    sharedMemoryBlock->m_numProcessedServerCommands=0;
-    sharedMemoryBlock->m_magicId = SHARED_MEMORY_MAGIC_NUMBER;
-}
-
-#define SHARED_MEMORY_SIZE sizeof(SharedMemoryExampleData)
-
-
-
-
 class SharedMemoryInterface
 {
 	public:
@@ -54,5 +11,6 @@ class SharedMemoryInterface
 	virtual void*	allocateSharedMemory(int key, int size, bool allowCreation) =0;
 	virtual void releaseSharedMemory(int key, int size) =0;
 };
+
 #endif
 

examples/SharedMemory/main.cpp

@@ -27,7 +27,6 @@ int main(int argc, char* argv[])
 {
 
 	b3CommandLineArgs args(argc, argv);
-	struct PhysicsInterface* pint = 0;
 	
 	DummyGUIHelper noGfx;