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Create a PhysicsLoopBack that includes both PhysicsClient and PhysicsServer over shared memory.

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Add a test for PhysicsLoopBack.
This commit is contained in:
erwincoumans
2015-10-26 17:56:21 -07:00
parent e779bb247b
commit 57f50f1778
8 changed files with 306 additions and 34 deletions
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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));