Merge pull request #855 from erwincoumans/master

add proper 'App_PhysicsServerUDP' without shared memory usage, and re…

examples/SharedMemory/PhysicsClientUDP.cpp

@@ -11,6 +11,7 @@
 #include "../MultiThreading/b3ThreadSupportInterface.h"
 void	UDPThreadFunc(void* userPtr, void* lsMemory);
 void*	UDPlsMemoryFunc();
+bool gVerboseNetworkMessagesClient = false;
 
 #ifndef _WIN32
 #include "../MultiThreading/b3PosixThreadSupport.h"
@@ -101,6 +102,7 @@ struct	UdpNetworkedInternalData
 		if (enet_initialize() != 0)
 		{
 			fprintf(stderr, "Error initialising enet");
+			
 			exit(EXIT_FAILURE);
 
 		}
@@ -165,13 +167,16 @@ struct	UdpNetworkedInternalData
 				break;
 
 			case ENET_EVENT_TYPE_RECEIVE:
-				printf("A packet of length %u containing '%s' was "
+				
-					"received from %s on channel %u.\n",
+				if (gVerboseNetworkMessagesClient)
-					m_event.packet->dataLength,
+				{
-					m_event.packet->data,
+					printf("A packet of length %u containing '%s' was "
-					m_event.peer->data,
+						"received from %s on channel %u.\n",
-					m_event.channelID);
+						m_event.packet->dataLength,
-
+						m_event.packet->data,
+						m_event.peer->data,
+						m_event.channelID);
+				}
 				/* Clean up the packet now that we're done using it.
 				> */
 				enet_packet_destroy(m_event.packet);
@@ -198,7 +203,7 @@ struct	UdpNetworkedInternalData
 	{
 		bool hasStatus = false;
 
-		int serviceResult = enet_host_service(m_client, &m_event, 100);
+		int serviceResult = enet_host_service(m_client, &m_event, 0);
 
 		if (serviceResult > 0)
 		{
@@ -214,13 +219,15 @@ struct	UdpNetworkedInternalData
 
 			case ENET_EVENT_TYPE_RECEIVE:
 			{
-				printf("A packet of length %u containing '%s' was "
+				if (gVerboseNetworkMessagesClient)
-					"received from %s on channel %u.\n",
+				{
-					m_event.packet->dataLength,
+					printf("A packet of length %u containing '%s' was "
-					m_event.packet->data,
+						"received from %s on channel %u.\n",
-					m_event.peer->data,
+						m_event.packet->dataLength,
-					m_event.channelID);
+						m_event.packet->data,
-
+						m_event.peer->data,
+						m_event.channelID);
+				}
 
 				int packetSizeInBytes = b3DeserializeInt(m_event.packet->data);
 

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -2313,6 +2313,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								dofIndex += mb->getLink(i).m_dofCount;
 							}
 						}
+                        
+                        btAlignedObjectArray<btQuaternion> scratch_q;
+                        btAlignedObjectArray<btVector3> scratch_m;
+                        
+                        mb->forwardKinematics(scratch_q,scratch_m);
+                        int nLinks = mb->getNumLinks();
+                        scratch_q.resize(nLinks+1);
+                        scratch_m.resize(nLinks+1);
+                        
+                        mb->updateCollisionObjectWorldTransforms(scratch_q,scratch_m);
+
+                        
 					}
 
 					SharedMemoryStatus& serverCmd =serverStatusOut;

examples/SharedMemory/udp/main.cpp

@@ -1,10 +1,20 @@
 /* server.cpp */
 #include <stdio.h>
 #include <enet/enet.h>
-#include "SharedMemoryCommandProcessor.h"
+#include "../../CommonInterfaces/CommonGUIHelperInterface.h"
+#ifdef NO_SHARED_MEMORY
+	#include "PhysicsServerCommandProcessor.h"
+	typedef PhysicsServerCommandProcessor MyCommandProcessor;
+#else
+	#include "SharedMemoryCommandProcessor.h"
+	typedef SharedMemoryCommandProcessor MyCommandProcessor ;
+#endif //NO_SHARED_MEMORY
 #include "SharedMemoryCommands.h"
 #include "Bullet3Common/b3AlignedObjectArray.h"
 #include "PhysicsServerCommandProcessor.h"
+	
+	
+bool gVerboseNetworkMessagesServer = false;
 
 void MySerializeInt(unsigned int sz, unsigned char* output)
 {
@@ -22,10 +32,10 @@ void MySerializeInt(unsigned int sz, unsigned char* output)
 
 int main(int argc, char *argv[])
 {
-	unsigned char buf[4];
 
-
+	DummyGUIHelper guiHelper;
-	SharedMemoryCommandProcessor* sm = new SharedMemoryCommandProcessor;
+	PhysicsCommandProcessorInterface* sm = new MyCommandProcessor;
+	sm->setGuiHelper(&guiHelper);
 	
 //	PhysicsDirect* sm = new PhysicsDirect(sdk);
 
@@ -95,13 +105,15 @@ int main(int argc, char *argv[])
 						break;
 
 					case ENET_EVENT_TYPE_RECEIVE:
-						printf("A packet of length %u containing '%s' was "
+						if (gVerboseNetworkMessagesServer)
-							"received from %s on channel %u.\n",
+						{
-							event.packet->dataLength,
+							printf("A packet of length %u containing '%s' was "
-							event.packet->data,
+								"received from %s on channel %u.\n",
-							event.peer->data,
+								event.packet->dataLength,
-							event.channelID);
+								event.packet->data,
-
+								event.peer->data,
+								event.channelID);
+						}
 						if (event.packet->dataLength == sizeof(SharedMemoryCommand))
 						{
 							SharedMemoryCommand* cmdPtr = (SharedMemoryCommand*)event.packet->data;
@@ -117,8 +129,11 @@ int main(int argc, char *argv[])
 								hasStatus = sm->receiveStatus(serverStatus, &buffer[0], buffer.size());
 
 							}
-                            printf("buffer.size = %d\n", buffer.size());
+							if (gVerboseNetworkMessagesServer)
-                            printf("serverStatus.m_numDataStreamBytes = %d\n", serverStatus.m_numDataStreamBytes);
+							{
+								printf("buffer.size = %d\n", buffer.size());
+								printf("serverStatus.m_numDataStreamBytes = %d\n", serverStatus.m_numDataStreamBytes);
+							}
 							if (hasStatus)
 							{
 								//create packetData with [int packetSizeInBytes, status, streamBytes)
@@ -138,13 +153,12 @@ int main(int argc, char *argv[])
 
 								for (int i = 0; i < serverStatus.m_numDataStreamBytes; i++)
 								{
-									packetData[i + curPos] = serverStatus.m_dataStream[i];
+									packetData[i + curPos] = buffer[i];
 								}
 
 								ENetPacket *packet = enet_packet_create(&packetData[0], packetData.size() , ENET_PACKET_FLAG_RELIABLE);
-								//enet_peer_send(peer, 0, packet);
+								enet_peer_send(event.peer, 0, packet);
-
+								//enet_host_broadcast(server, 0, packet);
-								enet_host_broadcast(server, 0, packet);
 							}
 						}
 						else

examples/SharedMemory/udp/premake4.lua

@@ -1,5 +1,5 @@
 
-project ("App_PhysicsServerUDP")
+project ("App_PhysicsServerSharedMemoryBridgeUDP")
 
 	language "C++"
 			
@@ -9,6 +9,7 @@ project ("App_PhysicsServerUDP")
 		
 	if os.is("Windows") then 
 			defines { "WIN32" }
+			
 
 		links {"Ws2_32","Winmm"}
 	end
@@ -44,3 +45,82 @@ project ("App_PhysicsServerUDP")
 		"../../Utils/b3ResourcePath.h",
 	}
 
+
+project "App_PhysicsServerUDP"
+
+if _OPTIONS["ios"] then
+	kind "WindowedApp"
+else	
+	kind "ConsoleApp"
+end
+
+defines { "NO_SHARED_MEMORY" }
+						
+includedirs {"..","../../../src", "../../ThirdPartyLibs","../../ThirdPartyLibs/enet/include"}
+
+links {
+	"enet","Bullet3Common","BulletInverseDynamicsUtils", "BulletInverseDynamics",	"BulletDynamics","BulletCollision", "LinearMath", "BussIK"
+}
+
+if os.is("Windows") then 
+	defines { "WIN32" }
+	links {"Ws2_32","Winmm"}
+end
+
+language "C++"
+
+myfiles = 
+{
+	"../IKTrajectoryHelper.cpp",
+	"../IKTrajectoryHelper.h",
+	"../SharedMemoryCommands.h",
+	"../SharedMemoryPublic.h",
+	"../PhysicsServerCommandProcessor.cpp",
+	"../PhysicsServerCommandProcessor.h",
+	"../TinyRendererVisualShapeConverter.cpp",
+	"../TinyRendererVisualShapeConverter.h",
+	"../../TinyRenderer/geometry.cpp",
+	"../../TinyRenderer/model.cpp",
+	"../../TinyRenderer/tgaimage.cpp",
+	"../../TinyRenderer/our_gl.cpp",
+	"../../TinyRenderer/TinyRenderer.cpp",
+	"../../OpenGLWindow/SimpleCamera.cpp",
+	"../../OpenGLWindow/SimpleCamera.h",
+	"../../Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h",
+	"../../Importers/ImportURDFDemo/MultiBodyCreationInterface.h",
+	"../../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
+	"../../Importers/ImportURDFDemo/MyMultiBodyCreator.h",
+	"../../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
+	"../../Importers/ImportURDFDemo/BulletUrdfImporter.h",
+	"../../Importers/ImportURDFDemo/UrdfParser.cpp",
+ 	"../../Importers/ImportURDFDemo/urdfStringSplit.cpp",
+	"../../Importers/ImportURDFDemo/UrdfParser.cpp",
+	"../../Importers/ImportURDFDemo/UrdfParser.h",
+	"../../Importers/ImportURDFDemo/URDF2Bullet.cpp",
+	"../../Importers/ImportURDFDemo/URDF2Bullet.h",
+	"../../Utils/b3ResourcePath.cpp",
+	"../../Utils/b3Clock.cpp",	
+	"../../../Extras/Serialize/BulletWorldImporter/*",
+	"../../../Extras/Serialize/BulletFileLoader/*",	
+	"../../Importers/ImportURDFDemo/URDFImporterInterface.h",
+	"../../Importers/ImportURDFDemo/URDFJointTypes.h",
+	"../../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
+	"../../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
+	"../../Importers/ImportSTLDemo/ImportSTLSetup.h",
+	"../../Importers/ImportSTLDemo/LoadMeshFromSTL.h",
+	"../../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
+	"../../Importers/ImportColladaDemo/ColladaGraphicsInstance.h",
+	"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",	
+	"../../ThirdPartyLibs/tinyxml/tinystr.cpp",
+	"../../ThirdPartyLibs/tinyxml/tinyxml.cpp",
+	"../../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
+	"../../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
+	"../../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
+	"../../ThirdPartyLibs/stb_image/stb_image.cpp",     
+}
+
+files {
+	myfiles,
+	"main.cpp",
+}
+

test/enet/chat/client/main.cpp

@@ -119,8 +119,11 @@ int main(int argc, char* argv[]) {
 
 
 		printf("Say> ");
+#ifdef _WIN32
 		gets_s(message, 1024);
-
+#else
+		gets(message);
+#endif
 		if (strcmp(message, "exit") == 0 ||
 			strcmp(message, "quit") == 0) {
 			break;