Refactor of PhysicsClient/PhysicsServer, to separate from the example browser code.

(as usual, work-in-progress)

examples/SharedMemory/PhysicsServerExample.cpp

@@ -0,0 +1,110 @@
+
+
+
+#include "PhysicsServerExample.h"
+
+
+
+
+#include "PhysicsServer.h"
+
+#include "SharedMemoryCommon.h"
+//const char* blaatnaam = "basename";
+struct UrdfLinkNameMapUtil
+{
+	btMultiBody* m_mb;
+	btDefaultSerializer* m_memSerializer;
+
+	UrdfLinkNameMapUtil():m_mb(0),m_memSerializer(0)
+	{
+	}
+};
+
+class PhysicsServerExample : public SharedMemoryCommon
+{
+	PhysicsServerSharedMemory	m_physicsServer;
+
+	
+	bool m_wantsShutdown;
+
+	
+public:
+    
+	PhysicsServerExample(GUIHelperInterface* helper);
+    
+	virtual ~PhysicsServerExample();
+    
+	virtual void	initPhysics();
+    
+	virtual void	stepSimulation(float deltaTime);
+    
+    
+    bool loadUrdf(const char* fileName, const btVector3& pos, const btQuaternion& orn,
+                  bool useMultiBody, bool useFixedBase);
+    
+	virtual void resetCamera()
+	{
+		float dist = 5;
+		float pitch = 50;
+		float yaw = 35;
+		float targetPos[3]={0,0,0};//-3,2.8,-2.5};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+    
+    virtual bool wantsTermination();
+};
+
+PhysicsServerExample::PhysicsServerExample(GUIHelperInterface* helper)
+:SharedMemoryCommon(helper),
+m_wantsShutdown(false)
+{
+	b3Printf("Started PhysicsServer\n");
+	bool useServer = true;
+}
+
+
+
+PhysicsServerExample::~PhysicsServerExample()
+{
+	bool deInitializeSharedMemory = true;
+	m_physicsServer.disconnectSharedMemory(deInitializeSharedMemory);
+}
+
+void	PhysicsServerExample::initPhysics()
+{
+	///for this testing we use Z-axis up
+	int upAxis = 2;
+	m_guiHelper->setUpAxis(upAxis);
+
+    createEmptyDynamicsWorld();
+	//todo: create a special debug drawer that will cache the lines, so we can send the debug info over the wire
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+	btVector3 grav(0,0,0);
+	grav[upAxis] = 0;//-9.8;
+	this->m_dynamicsWorld->setGravity(grav);
+    
+	bool allowSharedMemoryInitialization = true;
+	m_physicsServer.connectSharedMemory(allowSharedMemoryInitialization, m_dynamicsWorld,m_guiHelper);
+  
+}
+
+
+bool PhysicsServerExample::wantsTermination()
+{
+    return m_wantsShutdown;
+}
+
+
+
+void	PhysicsServerExample::stepSimulation(float deltaTime)
+{
+    m_physicsServer.processClientCommands();
+}
+
+
+class CommonExampleInterface*    PhysicsServerCreateFunc(struct CommonExampleOptions& options)
+{
+    return new PhysicsServerExample(options.m_guiHelper);
+}
+
+