Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

minor update for shared memory interface

Browse Source
This commit is contained in:
Erwin Coumans
2015-06-21 13:24:36 -07:00
parent 6e9eb13235
commit 4688540a98
5 changed files with 235 additions and 66 deletions
Download Patch File Download Diff File Expand all files Collapse all files

65
examples/SharedMemory/PhysicsClient.cpp
View File

@@ -59,7 +59,11 @@ void MyCallback(int buttonId, bool buttonState, void* userPtr)
cl->submitCommand(CMD_LOAD_URDF);
break;
}
case CMD_REQUEST_ACTUAL_STATE:
{
cl->submitCommand(CMD_REQUEST_ACTUAL_STATE);
break;
}
case CMD_STEP_FORWARD_SIMULATION:
{
cl->submitCommand(CMD_STEP_FORWARD_SIMULATION);
@@ -129,6 +133,22 @@ void PhysicsClient::initPhysics()
m_guiHelper->getParameterInterface()->registerButtonParameter(button);
}
{
bool isTrigger = false;
ButtonParams button("Get State",CMD_REQUEST_ACTUAL_STATE, isTrigger);
button.m_callback = MyCallback;
button.m_userPointer = this;
m_guiHelper->getParameterInterface()->registerButtonParameter(button);
}
/*
{
bool isTrigger = false;
ButtonParams button("Send Desired State",CMD_SEND_DESIRED_STATE, isTrigger);
button.m_callback = MyCallback;
button.m_userPointer = this;
m_guiHelper->getParameterInterface()->registerButtonParameter(button);
}
*/
{
bool isTrigger = false;
ButtonParams button("Shut Down",CMD_SHUTDOWN, isTrigger);
@@ -190,6 +210,33 @@ void PhysicsClient::stepSimulation(float deltaTime)
m_serverLoadUrdfOK = false;
break;
}
case CMD_ACTUAL_STATE_UPDATE_COMPLETED:
{
b3Printf("Received actual state");
int numQ = m_testBlock1->m_serverCommands[0].m_sendActualStateArgs.m_numDegreeOfFreedomQ;
int numU = m_testBlock1->m_serverCommands[0].m_sendActualStateArgs.m_numDegreeOfFreedomU;
b3Printf("size Q = %d, size U = %d\n", numQ,numU);
char msg[1024];
sprintf(msg,"Q=[");
for (int i=0;i<numQ;i++)
{
if (i<numQ-1)
{
sprintf(msg,"%s%f,",msg,m_testBlock1->m_actualStateQ[i]);
} else
{
sprintf(msg,"%s%f",msg,m_testBlock1->m_actualStateQ[i]);
}
}
sprintf(msg,"%s]",msg);
b3Printf(msg);
break;
}
default:
{
b3Error("Unknown server command");
@@ -237,12 +284,26 @@ void PhysicsClient::stepSimulation(float deltaTime)
}
break;
}
case CMD_REQUEST_ACTUAL_STATE:
{
if (m_serverLoadUrdfOK)
{
b3Printf("Requesting actual state");
m_testBlock1->m_clientCommands[0].m_type =CMD_REQUEST_ACTUAL_STATE;
m_testBlock1->m_numClientCommands++;
} else
{
b3Warning("No URDF loaded");
}
break;
}
case CMD_STEP_FORWARD_SIMULATION:
{
if (m_serverLoadUrdfOK)
{
m_testBlock1->m_clientCommands[0].m_type =CMD_STEP_FORWARD_SIMULATION;
m_testBlock1->m_clientCommands[0].m_type =CMD_STEP_FORWARD_SIMULATION;
m_testBlock1->m_clientCommands[0].m_stepSimulationArguments.m_deltaTimeInSeconds = 1./60.;
m_testBlock1->m_numClientCommands++;
b3Printf("client created CMD_STEP_FORWARD_SIMULATION %d\n", m_counter++);