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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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This commit is contained in:
Erwin Coumans
2017-01-06 09:56:04 -08:00
parent af57c812aa 8f02e75d98
commit 44126584fb
4 changed files with 215 additions and 177 deletions
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18
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -1444,23 +1444,7 @@ void PhysicsServerExample::stepSimulation(float deltaTime)
#if 0
if (m_options == PHYSICS_SERVER_USE_RTC_CLOCK)
{
btClock rtc;
btScalar endTime = rtc.getTimeMilliseconds() + deltaTime*btScalar(800);
while (rtc.getTimeMilliseconds()<endTime)
{
m_physicsServer.processClientCommands();
}
} else
{
//for (int i=0;i<10;i++)
m_physicsServer.processClientCommands();
}
#endif
{
if (m_multiThreadedHelper->m_childGuiHelper->getRenderInterface())
{

264
examples/SharedMemory/PhysicsServerSharedMemory.cpp
View File

@@ -14,7 +14,8 @@
#include "PhysicsServerCommandProcessor.h"
//number of shared memory blocks == number of simultaneous connections
#define MAX_SHARED_MEMORY_BLOCKS 2
struct PhysicsServerSharedMemoryInternalData
{
@@ -25,36 +26,39 @@ struct PhysicsServerSharedMemoryInternalData
SharedMemoryInterface* m_sharedMemory;
bool m_ownsSharedMemory;
SharedMemoryBlock* m_testBlock1;
SharedMemoryBlock* m_testBlocks[MAX_SHARED_MEMORY_BLOCKS];
int m_sharedMemoryKey;
bool m_isConnected;
bool m_areConnected[MAX_SHARED_MEMORY_BLOCKS];
bool m_verboseOutput;
PhysicsServerCommandProcessor* m_commandProcessor;
PhysicsServerSharedMemoryInternalData()
:m_sharedMemory(0),
m_ownsSharedMemory(false),
m_testBlock1(0),
m_sharedMemoryKey(SHARED_MEMORY_KEY),
m_isConnected(false),
m_verboseOutput(false),
m_sharedMemoryKey(SHARED_MEMORY_KEY),
m_verboseOutput(false),
m_commandProcessor(0)
{
for (int i=0;i<MAX_SHARED_MEMORY_BLOCKS;i++)
{
m_testBlocks[i]=0;
m_areConnected[i]=false;
}
}
SharedMemoryStatus& createServerStatus(int statusType, int sequenceNumber, int timeStamp)
SharedMemoryStatus& createServerStatus(int statusType, int sequenceNumber, int timeStamp, int blockIndex)
{
SharedMemoryStatus& serverCmd =m_testBlock1->m_serverCommands[0];
SharedMemoryStatus& serverCmd =m_testBlocks[blockIndex]->m_serverCommands[0];
serverCmd .m_type = statusType;
serverCmd.m_sequenceNumber = sequenceNumber;
serverCmd.m_timeStamp = timeStamp;
return serverCmd;
}
void submitServerStatus(SharedMemoryStatus& status)
void submitServerStatus(SharedMemoryStatus& status,int blockIndex)
{
m_testBlock1->m_numServerCommands++;
m_testBlocks[blockIndex]->m_numServerCommands++;
}
};
@@ -84,9 +88,25 @@ PhysicsServerSharedMemory::PhysicsServerSharedMemory(SharedMemoryInterface* shar
PhysicsServerSharedMemory::~PhysicsServerSharedMemory()
{
m_data->m_commandProcessor->deleteDynamicsWorld();
delete m_data->m_commandProcessor;
delete m_data;
if (m_data->m_sharedMemory)
{
if (m_data->m_verboseOutput)
{
b3Printf("m_sharedMemory\n");
}
if (m_data->m_ownsSharedMemory)
{
delete m_data->m_sharedMemory;
}
m_data->m_sharedMemory = 0;
}
delete m_data;
}
void PhysicsServerSharedMemory::resetDynamicsWorld()
@@ -107,55 +127,61 @@ bool PhysicsServerSharedMemory::connectSharedMemory( struct GUIHelperInterface*
bool allowCreation = true;
bool allConnected = false;
if (m_data->m_isConnected)
{
b3Warning("connectSharedMemory, while already connected");
return m_data->m_isConnected;
}
int counter = 0;
do
{
for (int block=0;block<MAX_SHARED_MEMORY_BLOCKS;block++)
{
if (m_data->m_areConnected[block])
{
allConnected = true;
b3Warning("connectSharedMemory, while already connected");
continue;
}
do
{
m_data->m_testBlock1 = (SharedMemoryBlock*)m_data->m_sharedMemory->allocateSharedMemory(m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE,allowCreation);
if (m_data->m_testBlock1)
{
int magicId =m_data->m_testBlock1->m_magicId;
if (m_data->m_verboseOutput)
{
b3Printf("magicId = %d\n", magicId);
}
if (m_data->m_testBlock1->m_magicId !=SHARED_MEMORY_MAGIC_NUMBER)
{
InitSharedMemoryBlock(m_data->m_testBlock1);
if (m_data->m_verboseOutput)
{
b3Printf("Created and initialized shared memory block\n");
}
m_data->m_isConnected = true;
} else
{
m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE);
m_data->m_testBlock1 = 0;
m_data->m_isConnected = false;
}
} else
{
b3Error("Cannot connect to shared memory");
m_data->m_isConnected = false;
}
} while (counter++ < 10 && !m_data->m_isConnected);
if (!m_data->m_isConnected)
{
b3Error("Server cannot connect to shared memory.\n");
}
m_data->m_testBlocks[block] = (SharedMemoryBlock*)m_data->m_sharedMemory->allocateSharedMemory(m_data->m_sharedMemoryKey+block, SHARED_MEMORY_SIZE,allowCreation);
if (m_data->m_testBlocks[block])
{
int magicId =m_data->m_testBlocks[block]->m_magicId;
if (m_data->m_verboseOutput)
{
b3Printf("magicId = %d\n", magicId);
}
if (m_data->m_testBlocks[block]->m_magicId !=SHARED_MEMORY_MAGIC_NUMBER)
{
InitSharedMemoryBlock(m_data->m_testBlocks[block]);
if (m_data->m_verboseOutput)
{
b3Printf("Created and initialized shared memory block\n");
}
m_data->m_areConnected[block] = true;
} else
{
m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey+block, SHARED_MEMORY_SIZE);
m_data->m_testBlocks[block] = 0;
m_data->m_areConnected[block] = false;
}
} else
{
b3Error("Cannot connect to shared memory");
m_data->m_areConnected[block] = false;
}
} while (counter++ < 10 && !m_data->m_areConnected[block]);
if (!m_data->m_areConnected[block])
{
b3Error("Server cannot connect to shared memory.\n");
}
}
return m_data->m_isConnected;
return allConnected;
}
@@ -167,72 +193,34 @@ void PhysicsServerSharedMemory::disconnectSharedMemory(bool deInitializeSharedMe
{
b3Printf("releaseSharedMemory1\n");
}
if (m_data->m_testBlock1)
{
if (m_data->m_verboseOutput)
{
b3Printf("m_testBlock1\n");
}
if (deInitializeSharedMemory)
{
m_data->m_testBlock1->m_magicId = 0;
if (m_data->m_verboseOutput)
{
b3Printf("De-initialized shared memory, magic id = %d\n",m_data->m_testBlock1->m_magicId);
}
}
btAssert(m_data->m_sharedMemory);
m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE);
}
if (m_data->m_sharedMemory)
{
if (m_data->m_verboseOutput)
{
b3Printf("m_sharedMemory\n");
}
if (m_data->m_ownsSharedMemory)
{
delete m_data->m_sharedMemory;
}
m_data->m_sharedMemory = 0;
m_data->m_testBlock1 = 0;
}
for (int block = 0;block<MAX_SHARED_MEMORY_BLOCKS;block++)
{
if (m_data->m_testBlocks[block])
{
if (m_data->m_verboseOutput)
{
b3Printf("m_testBlock1\n");
}
if (deInitializeSharedMemory)
{
m_data->m_testBlocks[block]->m_magicId = 0;
if (m_data->m_verboseOutput)
{
b3Printf("De-initialized shared memory, magic id = %d\n",m_data->m_testBlocks[block]->m_magicId);
}
}
btAssert(m_data->m_sharedMemory);
m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey+block, SHARED_MEMORY_SIZE);
}
m_data->m_testBlocks[block] = 0;
m_data->m_areConnected[block] = false;
}
}
void PhysicsServerSharedMemory::releaseSharedMemory()
{
if (m_data->m_verboseOutput)
{
b3Printf("releaseSharedMemory1\n");
}
if (m_data->m_testBlock1)
{
if (m_data->m_verboseOutput)
{
b3Printf("m_testBlock1\n");
}
m_data->m_testBlock1->m_magicId = 0;
if (m_data->m_verboseOutput)
{
b3Printf("magic id = %d\n",m_data->m_testBlock1->m_magicId);
}
btAssert(m_data->m_sharedMemory);
m_data->m_sharedMemory->releaseSharedMemory( m_data->m_sharedMemoryKey
, SHARED_MEMORY_SIZE);
}
if (m_data->m_sharedMemory)
{
if (m_data->m_verboseOutput)
{
b3Printf("m_sharedMemory\n");
}
if (m_data->m_ownsSharedMemory)
{
delete m_data->m_sharedMemory;
}
m_data->m_sharedMemory = 0;
m_data->m_testBlock1 = 0;
}
disconnectSharedMemory(true);
}
@@ -250,30 +238,34 @@ void PhysicsServerSharedMemory::enableRealTimeSimulation(bool enableRealTimeSim)
void PhysicsServerSharedMemory::processClientCommands()
{
if (m_data->m_isConnected && m_data->m_testBlock1)
for (int block = 0;block<MAX_SHARED_MEMORY_BLOCKS;block++)
{
m_data->m_commandProcessor->replayLogCommand(&m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
///we ignore overflow of integer for now
if (m_data->m_testBlock1->m_numClientCommands> m_data->m_testBlock1->m_numProcessedClientCommands)
if (m_data->m_areConnected[block] && m_data->m_testBlocks[block])
{
//until we implement a proper ring buffer, we assume always maximum of 1 outstanding commands
btAssert(m_data->m_testBlock1->m_numClientCommands==m_data->m_testBlock1->m_numProcessedClientCommands+1);
m_data->m_commandProcessor->replayLogCommand(&m_data->m_testBlocks[block]->m_bulletStreamDataServerToClientRefactor[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
const SharedMemoryCommand& clientCmd =m_data->m_testBlock1->m_clientCommands[0];
///we ignore overflow of integer for now
if (m_data->m_testBlocks[block]->m_numClientCommands> m_data->m_testBlocks[block]->m_numProcessedClientCommands)
{
m_data->m_testBlock1->m_numProcessedClientCommands++;
//todo, timeStamp
int timeStamp = 0;
SharedMemoryStatus& serverStatusOut = m_data->createServerStatus(CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED,clientCmd.m_sequenceNumber,timeStamp);
bool hasStatus = m_data->m_commandProcessor->processCommand(clientCmd, serverStatusOut,&m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
if (hasStatus)
{
m_data->submitServerStatus(serverStatusOut);
}
//until we implement a proper ring buffer, we assume always maximum of 1 outstanding commands
btAssert(m_data->m_testBlocks[block]->m_numClientCommands==m_data->m_testBlocks[block]->m_numProcessedClientCommands+1);
const SharedMemoryCommand& clientCmd =m_data->m_testBlocks[block]->m_clientCommands[0];
m_data->m_testBlocks[block]->m_numProcessedClientCommands++;
//todo, timeStamp
int timeStamp = 0;
SharedMemoryStatus& serverStatusOut = m_data->createServerStatus(CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED,clientCmd.m_sequenceNumber,timeStamp,block);
bool hasStatus = m_data->m_commandProcessor->processCommand(clientCmd, serverStatusOut,&m_data->m_testBlocks[block]->m_bulletStreamDataServerToClientRefactor[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
if (hasStatus)
{
m_data->submitServerStatus(serverStatusOut,block);
}
}
}
}
}

95
examples/SharedMemory/PosixSharedMemory.cpp
View File

@@ -1,6 +1,7 @@
#include "PosixSharedMemory.h"
#include "Bullet3Common/b3Logging.h"
#include "LinearMath/btScalar.h" //for btAssert
#include "LinearMath/btAlignedObjectArray.h"
//Windows implementation is in Win32SharedMemory.cpp
#ifndef _WIN32
@@ -16,16 +17,28 @@
#endif
struct btSharedMemorySegment
{
int m_key;
int m_sharedMemoryId;
void* m_sharedMemoryPtr;
bool m_createdSharedMemory;
btSharedMemorySegment()
: m_sharedMemoryId(-1),
m_sharedMemoryPtr(0),
m_createdSharedMemory(true)
{
}
};
struct PosixSharedMemoryInteralData
{
bool m_createdSharedMemory;
int m_sharedMemoryId;
void* m_sharedMemoryPtr;
btAlignedObjectArray<btSharedMemorySegment> m_segments;
PosixSharedMemoryInteralData()
:m_createdSharedMemory(false),
m_sharedMemoryId(-1),
m_sharedMemoryPtr(0)
{
}
};
@@ -53,6 +66,27 @@ struct btPointerCaster
void* PosixSharedMemory::allocateSharedMemory(int key, int size, bool allowCreation)
{
#ifdef TEST_SHARED_MEMORY
{
btSharedMemorySegment* seg = 0;
int i=0;
for (i=0;i<m_internalData->m_segments.size();i++)
{
if (m_internalData->m_segments[i].m_key == key)
{
seg = &m_internalData->m_segments[i];
break;
}
}
if (seg)
{
b3Error("already created shared memory segment using same key");
return seg->m_sharedMemoryPtr;
}
}
int flags = (allowCreation ? IPC_CREAT : 0) | 0666;
int id = shmget((key_t) key, (size_t) size,flags);
if (id < 0)
@@ -67,9 +101,12 @@ void* PosixSharedMemory::allocateSharedMemory(int key, int size, bool allowCr
b3Error("shmat returned -1");
} else
{
m_internalData->m_createdSharedMemory = allowCreation;
m_internalData->m_sharedMemoryId = id;
m_internalData->m_sharedMemoryPtr = result.ptr;
btSharedMemorySegment seg;
seg.m_key = key;
seg.m_createdSharedMemory = allowCreation;
seg.m_sharedMemoryId = id;
seg.m_sharedMemoryPtr = result.ptr;
m_internalData->m_segments.push_back(seg);
return result.ptr;
}
}
@@ -82,14 +119,33 @@ void* PosixSharedMemory::allocateSharedMemory(int key, int size, bool allowCr
void PosixSharedMemory::releaseSharedMemory(int key, int size)
{
#ifdef TEST_SHARED_MEMORY
if (m_internalData->m_sharedMemoryId < 0)
btSharedMemorySegment* seg = 0;
int i=0;
for (i=0;i<m_internalData->m_segments.size();i++)
{
if (m_internalData->m_segments[i].m_key == key)
{
seg = &m_internalData->m_segments[i];
break;
}
}
if (0==seg)
{
b3Error("PosixSharedMemory::releaseSharedMemory: shared memory key not found");
return;
}
if (seg->m_sharedMemoryId < 0)
{
b3Error("PosixSharedMemory::releaseSharedMemory: shared memory id is not set");
} else
{
if (m_internalData->m_createdSharedMemory)
if (seg->m_createdSharedMemory)
{
int result = shmctl(m_internalData->m_sharedMemoryId,IPC_RMID,0);
int result = shmctl(seg->m_sharedMemoryId,IPC_RMID,0);
if (result == -1)
{
b3Error("PosixSharedMemory::releaseSharedMemory: shmat returned -1");
@@ -97,15 +153,18 @@ void PosixSharedMemory::releaseSharedMemory(int key, int size)
{
b3Printf("PosixSharedMemory::releaseSharedMemory removed shared memory");
}
m_internalData->m_createdSharedMemory = false;
m_internalData->m_sharedMemoryId = -1;
seg->m_createdSharedMemory = false;
seg->m_sharedMemoryId = -1;
}
if (m_internalData->m_sharedMemoryPtr)
if (seg->m_sharedMemoryPtr)
{
shmdt(m_internalData->m_sharedMemoryPtr);
m_internalData->m_sharedMemoryPtr = 0;
shmdt(seg->m_sharedMemoryPtr);
seg->m_sharedMemoryPtr = 0;
b3Printf("PosixSharedMemory::releaseSharedMemory detached shared memory\n");
}
}
m_internalData->m_segments.removeAtIndex(i);
#endif
}

15
src/LinearMath/btAlignedObjectArray.h
View File

@@ -476,15 +476,18 @@ protected:
return index;
}
void removeAtIndex(int index)
{
if (index<size())
{
swap( index,size()-1);
pop_back();
}
}
void remove(const T& key)
{
int findIndex = findLinearSearch(key);
if (findIndex<size())
{
swap( findIndex,size()-1);
pop_back();
}
removeAtIndex(findIndex);
}
//PCK: whole function