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

Add a test for PhysicsLoopBack.

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -398,6 +398,7 @@ b3PhysicsClientHandle b3ConnectSharedMemory(int key)
 	return (b3PhysicsClientHandle ) cl;
 }
 
+
 void	b3DisconnectSharedMemory(b3PhysicsClientHandle physClient)
 {
 	PhysicsClient* cl = (PhysicsClient* ) physClient;
@@ -452,7 +453,11 @@ int b3GetStatusBodyIndex(b3SharedMemoryStatusHandle statusHandle)
 int	b3CanSubmitCommand(b3PhysicsClientHandle physClient)
 {
 	PhysicsClient* cl = (PhysicsClient* ) physClient;
-	return (int)cl->canSubmitCommand();
+	if (cl)
+	{
+		return (int)cl->canSubmitCommand();
+	}
+	return false;
 }
 
 int	b3SubmitClientCommand(b3PhysicsClientHandle physClient, const b3SharedMemoryCommandHandle commandHandle)

examples/SharedMemory/PhysicsClientC_API.h

@@ -15,7 +15,7 @@ B3_DECLARE_HANDLE(b3SharedMemoryStatusHandle);
 extern "C" { 
 #endif
 
-///make sure to start the server first, before connecting client to physics server
+///make sure to start the server first, before connecting client to a physics server over shared memory or UDP
 b3PhysicsClientHandle b3ConnectSharedMemory(int key);
 
 void	b3DisconnectSharedMemory(b3PhysicsClientHandle physClient);

examples/SharedMemory/PhysicsLoopBack.cpp

@@ -0,0 +1,115 @@
+#include "PhysicsLoopBack.h"
+#include "PhysicsServer.h"
+#include "PhysicsClientSharedMemory.h"
+#include "../CommonInterfaces/CommonGUIHelperInterface.h"
+
+struct PhysicsLoopBackInternalData
+{
+	PhysicsClientSharedMemory* m_physicsClient;
+	PhysicsServerSharedMemory* m_physicsServer;
+	DummyGUIHelper m_noGfx;
+	
+
+	PhysicsLoopBackInternalData()
+		:m_physicsClient(0),
+		m_physicsServer(0)
+	{
+	}
+};
+
+PhysicsLoopBack::PhysicsLoopBack()
+{
+	m_data = new PhysicsLoopBackInternalData;
+	m_data->m_physicsServer = new PhysicsServerSharedMemory();
+	m_data->m_physicsClient = new PhysicsClientSharedMemory();
+}
+
+PhysicsLoopBack::~PhysicsLoopBack()
+{
+	delete m_data->m_physicsClient;
+	delete m_data->m_physicsServer;
+	delete m_data;
+}
+
+
+// return true if connection succesfull, can also check 'isConnected'
+bool PhysicsLoopBack::connect()
+{
+	m_data->m_physicsServer->connectSharedMemory(&m_data->m_noGfx);
+	m_data->m_physicsClient->connect();
+	return m_data->m_physicsClient->isConnected();
+}
+
+////todo: rename to 'disconnect'
+void PhysicsLoopBack::disconnectSharedMemory()
+{
+	m_data->m_physicsClient->disconnectSharedMemory();
+	m_data->m_physicsServer->disconnectSharedMemory(true);
+}
+
+bool PhysicsLoopBack::isConnected() const
+{
+	return m_data->m_physicsClient->isConnected();
+}
+
+// return non-null if there is a status, nullptr otherwise
+const  SharedMemoryStatus* PhysicsLoopBack::processServerStatus()
+{
+	m_data->m_physicsServer->processClientCommands();
+	return m_data->m_physicsClient->processServerStatus();
+}
+
+SharedMemoryCommand* PhysicsLoopBack::getAvailableSharedMemoryCommand()
+{
+	return m_data->m_physicsClient->getAvailableSharedMemoryCommand();
+}
+
+bool PhysicsLoopBack::canSubmitCommand() const
+{
+	return m_data->m_physicsClient->canSubmitCommand();
+}
+
+bool PhysicsLoopBack::submitClientCommand(const struct SharedMemoryCommand& command)
+{
+	return  m_data->m_physicsClient->submitClientCommand(command);
+}
+
+int PhysicsLoopBack::getNumJoints(int bodyIndex) const
+{
+	return m_data->m_physicsClient->getNumJoints(bodyIndex);
+}
+
+void PhysicsLoopBack::getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const
+{
+	m_data->m_physicsClient->getJointInfo(bodyIndex,jointIndex,info);
+}
+
+///todo: move this out of the
+void PhysicsLoopBack::setSharedMemoryKey(int key)
+{
+	m_data->m_physicsServer->setSharedMemoryKey(key);
+	m_data->m_physicsClient->setSharedMemoryKey(key);
+}
+
+void PhysicsLoopBack::uploadBulletFileToSharedMemory(const char* data, int len)
+{
+	m_data->m_physicsClient->uploadBulletFileToSharedMemory(data,len);
+}
+
+int PhysicsLoopBack::getNumDebugLines() const
+{
+	return m_data->m_physicsClient->getNumDebugLines();
+}
+
+const float* PhysicsLoopBack::getDebugLinesFrom() const
+{
+	return m_data->m_physicsClient->getDebugLinesFrom();
+}
+const float* PhysicsLoopBack::getDebugLinesTo() const
+{
+	return m_data->m_physicsClient->getDebugLinesTo();
+}
+const float* PhysicsLoopBack::getDebugLinesColor() const
+{
+	return m_data->m_physicsClient->getDebugLinesColor();
+}

examples/SharedMemory/PhysicsLoopBack.h

@@ -0,0 +1,58 @@
+#ifndef PHYSICS_LOOP_BACK_H
+#define PHYSICS_LOOP_BACK_H
+
+//#include "SharedMemoryCommands.h"
+
+
+#include "PhysicsClient.h"
+#include "LinearMath/btVector3.h"
+
+///todo: the PhysicsClient API was designed with shared memory in mind, 
+///now it become more general we need to move out the shared memory specifics away
+///for example naming [disconnectSharedMemory -> disconnect] [ move setSharedMemoryKey to shared memory specific subclass ]
+
+class PhysicsLoopBack : public PhysicsClient 
+{
+	struct PhysicsLoopBackInternalData* m_data;
+
+public:
+
+	PhysicsLoopBack();
+
+	virtual ~PhysicsLoopBack();
+
+	  // return true if connection succesfull, can also check 'isConnected'
+    virtual bool connect();
+
+	////todo: rename to 'disconnect'
+    virtual void disconnectSharedMemory();
+
+    virtual bool isConnected() const;
+
+    // return non-null if there is a status, nullptr otherwise
+    virtual const  SharedMemoryStatus* processServerStatus();
+
+    virtual  SharedMemoryCommand* getAvailableSharedMemoryCommand();
+
+    virtual bool canSubmitCommand() const;
+
+    virtual bool submitClientCommand(const struct SharedMemoryCommand& command);
+
+    virtual int getNumJoints(int bodyIndex) const;
+
+    virtual void getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const;
+
+	///todo: move this out of the
+    virtual void setSharedMemoryKey(int key);
+
+    void uploadBulletFileToSharedMemory(const char* data, int len);
+
+    virtual int getNumDebugLines() const;
+
+    virtual const float* getDebugLinesFrom() const;
+    virtual const float* getDebugLinesTo() const;
+    virtual const float* getDebugLinesColor() const;
+
+};
+
+#endif //PHYSICS_LOOP_BACK_H

examples/SharedMemory/PhysicsLoopBackC_API.h

@@ -0,0 +1,19 @@
+#ifndef PHYSICS_LOOPBACK_C_API_H
+#define PHYSICS_LOOPBACK_C_API_H
+
+#include "PhysicsClientC_API.h"
+
+#ifdef __cplusplus
+extern "C" { 
+#endif
+
+
+///think more about naming. The b3ConnectPhysicsLoopback
+b3PhysicsClientHandle b3ConnectPhysicsLoopback(int key);
+
+    
+#ifdef __cplusplus
+}
+#endif
+
+#endif //PHYSICS_LOOPBACK_C_API_H

examples/SharedMemory/PhysicsLoopBackC_Api.cpp

@@ -0,0 +1,15 @@
+#include "PhysicsLoopBackC_API.h"
+
+#include "PhysicsLoopBack.h"
+
+
+
+//think more about naming. The b3ConnectPhysicsLoopback
+b3PhysicsClientHandle b3ConnectPhysicsLoopback(int key)
+{
+	PhysicsLoopBack* loopBack = new PhysicsLoopBack();
+	loopBack->setSharedMemoryKey(key);
+	bool connected = loopBack->connect();
+	return (b3PhysicsClientHandle  )loopBack;
+}
+

test/SharedMemory/premake4.lua

@@ -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",
+		}
 		

test/SharedMemory/test.c

@@ -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));