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Physics runs in a separate thread from rendering in PhysicsServerExample (preliminary)

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Improve rendering performance. OpenVR experience is smooth now.
commit needs a bit more testing before pushing in main repo.
This commit is contained in:
erwin coumans
2016-07-07 19:24:44 -07:00
parent bc5a756c36
commit 60d2b99151
28 changed files with 978 additions and 188 deletions
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52
data/sphere2.urdf
View File

@@ -9,7 +9,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="textured_sphere_smooth.obj" scale="0.5 0.5 0.5"/>
<mesh filename="textured_sphere_smooth.obj" scale="0.5 0.5 0.5"/>
</geometry>
</visual>
<collision>
@@ -19,55 +19,5 @@
</geometry>
</collision>
</link>
<link name="childA">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="10.0"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.5"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.5"/>
</geometry>
</collision>
</link>
<joint name="joint_baseLink_childA" type="fixed">
<parent link="baseLink"/>
<child link="childA"/>
<origin xyz="0 0 1.0"/>
</joint>
<link name="childB">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.5"/>
<mass value="10.0"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.5"/>
<geometry>
<sphere radius="0.5"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.5"/>
<geometry>
<sphere radius="0.5"/>
</geometry>
</collision>
</link>
<joint name="joint_childA_childB" type="continuous">
<parent link="childA"/>
<child link="childB"/>
<axis xyz="0 1 0"/>
<origin xyz="0 0 0.5"/>
</joint>
</robot>

12
examples/CommonInterfaces/CommonGUIHelperInterface.h
View File

@@ -29,9 +29,10 @@ struct GUIHelperInterface
virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld)=0;
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices) =0;
virtual int registerTexture(const unsigned char* texels, int width, int height)=0;
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId) = 0;
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) =0;
virtual void removeAllGraphicsInstances()=0;
virtual Common2dCanvasInterface* get2dCanvasInterface()=0;
@@ -73,9 +74,10 @@ struct DummyGUIHelper : public GUIHelperInterface
virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld){}
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices) { return -1; }
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) { return -1;}
virtual int registerTexture(const unsigned char* texels, int width, int height){return -1;}
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId){return -1;}
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) {return -1;}
virtual void removeAllGraphicsInstances(){}
virtual Common2dCanvasInterface* get2dCanvasInterface()
{

2
examples/CommonInterfaces/CommonRenderInterface.h
View File

@@ -53,6 +53,8 @@ struct CommonRenderInterface
virtual void writeSingleInstanceColorToCPU(float* color, int srcIndex)=0;
virtual void writeSingleInstanceColorToCPU(double* color, int srcIndex)=0;
virtual int getTotalNumInstances() const = 0;
virtual void writeTransforms()=0;
virtual void enableBlend(bool blend)=0;
virtual void clearZBuffer()=0;

17
examples/ExampleBrowser/OpenGLGuiHelper.cpp
View File

@@ -199,9 +199,16 @@ void OpenGLGuiHelper::createCollisionObjectGraphicsObject(btCollisionObject* bod
}
}
int OpenGLGuiHelper::registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices)
int OpenGLGuiHelper::registerTexture(const unsigned char* texels, int width, int height)
{
int shapeId = m_data->m_glApp->m_renderer->registerShape(vertices, numvertices,indices,numIndices);
int textureId = m_data->m_glApp->m_renderer->registerTexture(texels,width,height);
return textureId;
}
int OpenGLGuiHelper::registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
{
int shapeId = m_data->m_glApp->m_renderer->registerShape(vertices, numvertices,indices,numIndices,primitiveType, textureId);
return shapeId;
}
@@ -210,6 +217,10 @@ int OpenGLGuiHelper::registerGraphicsInstance(int shapeIndex, const float* posit
return m_data->m_glApp->m_renderer->registerGraphicsInstance(shapeIndex,position,quaternion,color,scaling);
}
void OpenGLGuiHelper::removeAllGraphicsInstances()
{
m_data->m_glApp->m_renderer->removeAllInstances();
}
void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
{
@@ -247,7 +258,7 @@ void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* colli
if (gfxVertices.size() && indices.size())
{
int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0],gfxVertices.size(),&indices[0],indices.size());
int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0],gfxVertices.size(),&indices[0],indices.size(),B3_GL_TRIANGLES,-1);
collisionShape->setUserIndex(shapeId);
}

7
examples/ExampleBrowser/OpenGLGuiHelper.h
View File

@@ -20,11 +20,10 @@ struct OpenGLGuiHelper : public GUIHelperInterface
virtual void createCollisionObjectGraphicsObject(btCollisionObject* body, const btVector3& color);
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices);
virtual int registerTexture(const unsigned char* texels, int width, int height);
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId);
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling);
virtual void removeAllGraphicsInstances();
virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape);

3
examples/ExtendedTutorials/RigidBodyFromObj.cpp
View File

@@ -134,7 +134,8 @@ void RigidBodyFromObjExample::initPhysics()
int shapeId = m_guiHelper->registerGraphicsShape(&glmesh->m_vertices->at(0).xyzw[0],
glmesh->m_numvertices,
&glmesh->m_indices->at(0),
glmesh->m_numIndices);
glmesh->m_numIndices,
B3_GL_TRIANGLES, -1);
shape->setUserIndex(shapeId);
int renderInstance = m_guiHelper->registerGraphicsInstance(shapeId,pos,orn,color,scaling);
body->setUserIndex(renderInstance);

14
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
View File

@@ -108,7 +108,8 @@ struct BulletErrorLogger : public ErrorLogger
bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
{
if (strlen(fileName)==0)
return false;
//int argc=0;
char relativeFileName[1024];
@@ -132,7 +133,7 @@ bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
std::fstream xml_file(relativeFileName, std::fstream::in);
while ( xml_file.good() )
while ( xml_file.good())
{
std::string line;
std::getline( xml_file, line);
@@ -969,16 +970,17 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP
// graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size());
//graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size());
CommonRenderInterface* renderer = m_data->m_guiHelper->getRenderInterface();
//CommonRenderInterface* renderer = m_data->m_guiHelper->getRenderInterface();
if (renderer)
if (1)
{
int textureIndex = -1;
if (textures.size())
{
textureIndex = renderer->registerTexture(textures[0].textureData,textures[0].m_width,textures[0].m_height);
textureIndex = m_data->m_guiHelper->registerTexture(textures[0].textureData,textures[0].m_width,textures[0].m_height);
}
graphicsIndex = renderer->registerShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(),B3_GL_TRIANGLES,textureIndex);
graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(),B3_GL_TRIANGLES,textureIndex);
}
}

16
examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
View File

@@ -65,7 +65,8 @@ btAlignedObjectArray<std::string> gFileNameArray;
struct ImportUrdfInternalData
{
ImportUrdfInternalData()
:m_numMotors(0)
:m_numMotors(0),
m_mb(0)
{
for (int i=0;i<MAX_NUM_MOTORS;i++)
{
@@ -74,10 +75,13 @@ struct ImportUrdfInternalData
}
}
btScalar m_motorTargetVelocities[MAX_NUM_MOTORS];
btMultiBodyJointMotor* m_jointMotors [MAX_NUM_MOTORS];
btGeneric6DofSpring2Constraint* m_generic6DofJointMotors [MAX_NUM_MOTORS];
int m_numMotors;
btMultiBody* m_mb;
btRigidBody* m_rb;
};
@@ -223,7 +227,6 @@ void ImportUrdfSetup::initPhysics()
{
btMultiBody* mb = 0;
//todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user
@@ -232,7 +235,9 @@ void ImportUrdfSetup::initPhysics()
MyMultiBodyCreator creation(m_guiHelper);
ConvertURDF2Bullet(u2b,creation, identityTrans,m_dynamicsWorld,m_useMultiBody,u2b.getPathPrefix());
mb = creation.getBulletMultiBody();
m_data->m_rb = creation.getRigidBody();
m_data->m_mb = creation.getBulletMultiBody();
btMultiBody* mb = m_data->m_mb;
if (m_useMultiBody && mb )
{
@@ -337,7 +342,7 @@ void ImportUrdfSetup::initPhysics()
bool createGround=true;
bool createGround=false;
if (createGround)
{
btVector3 groundHalfExtents(20,20,20);
@@ -357,8 +362,7 @@ void ImportUrdfSetup::initPhysics()
m_guiHelper->createRigidBodyGraphicsObject(body,color);
}
///this extra stepSimulation call makes sure that all the btMultibody transforms are properly propagates.
m_dynamicsWorld->stepSimulation(1. / 240., 0);// 1., 10, 1. / 240.);
}
#ifdef TEST_MULTIBODY_SERIALIZATION

7
examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
View File

@@ -13,6 +13,7 @@
MyMultiBodyCreator::MyMultiBodyCreator(GUIHelperInterface* guiHelper)
:m_bulletMultiBody(0),
m_rigidBody(0),
m_guiHelper(guiHelper)
{
}
@@ -31,10 +32,10 @@ class btRigidBody* MyMultiBodyCreator::allocateRigidBody(int urdfLinkIndex, btSc
{
btRigidBody::btRigidBodyConstructionInfo rbci(mass, 0, colShape, localInertiaDiagonal);
rbci.m_startWorldTransform = initialWorldTrans;
btRigidBody* body = new btRigidBody(rbci);
body->forceActivationState(DISABLE_DEACTIVATION);
m_rigidBody = new btRigidBody(rbci);
m_rigidBody->forceActivationState(DISABLE_DEACTIVATION);
return body;
return m_rigidBody;
}
class btMultiBodyLinkCollider* MyMultiBodyCreator::allocateMultiBodyLinkCollider(int /*urdfLinkIndex*/, int mbLinkIndex, btMultiBody* multiBody)

5
examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h
View File

@@ -24,6 +24,7 @@ class MyMultiBodyCreator : public MultiBodyCreationInterface
protected:
btMultiBody* m_bulletMultiBody;
btRigidBody* m_rigidBody;
struct GUIHelperInterface* m_guiHelper;
@@ -62,6 +63,10 @@ public:
virtual void addLinkMapping(int urdfLinkIndex, int mbLinkIndex);
btMultiBody* getBulletMultiBody();
btRigidBody* getRigidBody()
{
return m_rigidBody;
}
int getNum6DofConstraints() const
{

2
examples/MultiThreading/b3PosixThreadSupport.cpp
View File

@@ -53,7 +53,7 @@ static sem_t* createSem(const char* baseName)
#ifdef NAMED_SEMAPHORES
/// Named semaphore begin
char name[32];
snprintf(name, 32, "/%s-%d-%4.4d", baseName, getpid(), semCount++);
snprintf(name, 32, "/%8.s-%4.d-%4.4d", baseName, getpid(), semCount++);
sem_t* tempSem = sem_open(name, O_CREAT, 0600, 0);
if (tempSem != reinterpret_cast<sem_t *>(SEM_FAILED))

4
examples/MultiThreading/b3Win32ThreadSupport.cpp
View File

@@ -244,10 +244,10 @@ void b3Win32ThreadSupport::startThreads(const Win32ThreadConstructionInfo& threa
threadStatus.m_userPtr=0;
sprintf(threadStatus.m_eventStartHandleName,"eventStart%s%d",threadConstructionInfo.m_uniqueName,i);
sprintf(threadStatus.m_eventStartHandleName,"eventStart%8.s%d",threadConstructionInfo.m_uniqueName,i);
threadStatus.m_eventStartHandle = CreateEventA (0,false,false,threadStatus.m_eventStartHandleName);
sprintf(threadStatus.m_eventCompletetHandleName,"eventComplete%s%d",threadConstructionInfo.m_uniqueName,i);
sprintf(threadStatus.m_eventCompletetHandleName,"eventComplete%8.s%d",threadConstructionInfo.m_uniqueName,i);
threadStatus.m_eventCompletetHandle = CreateEventA (0,false,false,threadStatus.m_eventCompletetHandleName);
m_completeHandles[i] = threadStatus.m_eventCompletetHandle;

56
examples/OpenGLWindow/GLInstancingRenderer.cpp
View File

@@ -17,8 +17,8 @@ subject to the following restrictions:
///todo: make this configurable in the gui
bool useShadowMap=true;//false;//true;
int shadowMapWidth=8192;
int shadowMapHeight=8192;
int shadowMapWidth=4096;//8192;
int shadowMapHeight=4096;
float shadowMapWorldSize=50;
#define MAX_POINTS_IN_BATCH 1024
@@ -386,23 +386,38 @@ void GLInstancingRenderer::writeTransforms()
glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
glFlush();
//glFlush();
b3Assert(glGetError() ==GL_NO_ERROR);
int totalNumInstances= 0;
for (int k=0;k<m_graphicsInstances.size();k++)
{
b3GraphicsInstance* gfxObj = m_graphicsInstances[k];
totalNumInstances+=gfxObj->m_numGraphicsInstances;
}
int POSITION_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4);
int ORIENTATION_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4);
int COLOR_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4);
// int SCALE_BUFFER_SIZE = (totalNumInstances*sizeof(float)*3);
#if 1
glBufferSubData( GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes,totalNumInstances*sizeof(float)*4,
&m_data->m_instance_positions_ptr[0]);
glBufferSubData( GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE,totalNumInstances*sizeof(float)*4,
&m_data->m_instance_quaternion_ptr[0]);
glBufferSubData( GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes+ POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE, totalNumInstances*sizeof(float)*4,
&m_data->m_instance_colors_ptr[0]);
glBufferSubData( GL_ARRAY_BUFFER, m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE,totalNumInstances*sizeof(float)*3,
&m_data->m_instance_scale_ptr[0]);
#else
char* orgBase = (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_READ_WRITE);
if (orgBase)
{
int totalNumInstances= 0;
for (int k=0;k<m_graphicsInstances.size();k++)
{
b3GraphicsInstance* gfxObj = m_graphicsInstances[k];
totalNumInstances+=gfxObj->m_numGraphicsInstances;
}
m_data->m_totalNumInstances = totalNumInstances;
@@ -413,10 +428,7 @@ void GLInstancingRenderer::writeTransforms()
int POSITION_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4);
int ORIENTATION_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4);
int COLOR_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4);
// int SCALE_BUFFER_SIZE = (totalNumInstances*sizeof(float)*3);
char* base = orgBase;
@@ -465,6 +477,9 @@ void GLInstancingRenderer::writeTransforms()
//if this glFinish is removed, the animation is not always working/blocks
//@todo: figure out why
glFlush();
#endif
glBindBuffer(GL_ARRAY_BUFFER, 0);//m_data->m_vbo);
b3Assert(glGetError() ==GL_NO_ERROR);
@@ -1006,7 +1021,7 @@ void GLInstancingRenderer::renderScene()
{
renderSceneInternal(B3_CREATE_SHADOWMAP_RENDERMODE);
// glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
//glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
renderSceneInternal(B3_USE_SHADOWMAP_RENDERMODE);
} else
@@ -1075,6 +1090,9 @@ void GLInstancingRenderer::drawPoints(const float* positions, const float color[
void GLInstancingRenderer::drawLines(const float* positions, const float color[4], int numPoints, int pointStrideInBytes, const unsigned int* indices, int numIndices, float lineWidthIn)
{
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D,0);
float lineWidth = lineWidthIn;
b3Clamp(lineWidth,(float)lineWidthRange[0],(float)lineWidthRange[1]);
glLineWidth(lineWidth);
@@ -1634,6 +1652,7 @@ b3Assert(glGetError() ==GL_NO_ERROR);
printf("gfxObj->m_numGraphicsInstances=%d\n",gfxObj->m_numGraphicsInstances);
printf("indexCount=%d\n",indexCount);
*/
glUseProgram(createShadowMapInstancingShader);
glUniformMatrix4fv(createShadow_depthMVP, 1, false, &depthMVP[0][0]);
glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances);
@@ -1667,6 +1686,7 @@ b3Assert(glGetError() ==GL_NO_ERROR);
glDisable (GL_BLEND);
}
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D,0);
break;
}
default:
@@ -1743,4 +1763,10 @@ void GLInstancingRenderer::setRenderFrameBuffer(unsigned int renderFrameBuffer)
m_data->m_renderFrameBuffer = (GLuint) renderFrameBuffer;
}
int GLInstancingRenderer::getTotalNumInstances() const
{
return m_data->m_totalNumInstances;
}
#endif //NO_OPENGL3

2
examples/OpenGLWindow/GLInstancingRenderer.h
View File

@@ -125,6 +125,8 @@ public:
virtual int getInstanceCapacity() const;
virtual int getTotalNumInstances() const;
virtual void enableShadowMap();
virtual void enableBlend(bool blend)
{

6
examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
View File

@@ -64,6 +64,12 @@ void SimpleOpenGL2Renderer::writeSingleInstanceColorToCPU(double* color, int src
{
}
int SimpleOpenGL2Renderer::getTotalNumInstances() const
{
return 0;
}
void SimpleOpenGL2Renderer::getCameraViewMatrix(float viewMat[16]) const
{
b3Assert(0);

3
examples/OpenGLWindow/SimpleOpenGL2Renderer.h
View File

@@ -68,6 +68,8 @@ struct SimpleOpenGL2Renderer : public CommonRenderInterface
virtual void writeSingleInstanceTransformToCPU(const double* position, const double* orientation, int srcIndex);
virtual int getTotalNumInstances() const;
virtual void writeTransforms();
virtual void drawLine(const double from[4], const double to[4], const double color[4], double lineWidth);
@@ -82,6 +84,7 @@ struct SimpleOpenGL2Renderer : public CommonRenderInterface
virtual void clearZBuffer();
virtual struct GLInstanceRendererInternalData* getInternalData()
{
return 0;

2
examples/SharedMemory/PhysicsClientSharedMemory.cpp
View File

@@ -659,6 +659,8 @@ bool PhysicsClientSharedMemory::canSubmitCommand() const {
}
struct SharedMemoryCommand* PhysicsClientSharedMemory::getAvailableSharedMemoryCommand() {
static int sequence = 0;
m_data->m_testBlock1->m_clientCommands[0].m_sequenceNumber = sequence++;
return &m_data->m_testBlock1->m_clientCommands[0];
}

20
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -10,7 +10,7 @@
#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyJointFeedback.h"
#include "../CommonInterfaces/CommonRenderInterface.h"
#include "btBulletDynamicsCommon.h"
@@ -1760,6 +1760,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
if (m_data->m_verboseOutput)
{
b3Printf("Step simulation request");
b3Printf("CMD_STEP_FORWARD_SIMULATION clientCmd = %d\n", clientCmd.m_sequenceNumber);
}
///todo(erwincoumans) move this damping inside Bullet
for (int i=0;i<m_data->m_bodyHandles.size();i++)
@@ -1864,16 +1865,21 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_RESET_SIMULATION:
{
//clean up all data
if (m_data && m_data->m_guiHelper && m_data->m_guiHelper->getRenderInterface())
{
m_data->m_guiHelper->getRenderInterface()->removeAllInstances();
}
if (m_data && m_data->m_guiHelper)
{
m_data->m_guiHelper->removeAllGraphicsInstances();
}
if (m_data)
{
m_data->m_visualConverter.resetAll();
}
deleteDynamicsWorld();
createEmptyDynamicsWorld();
m_data->exitHandles();
m_data->initHandles();
@@ -2058,6 +2064,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
case CMD_APPLY_EXTERNAL_FORCE:
{
if (m_data->m_verboseOutput)
{
b3Printf("CMD_APPLY_EXTERNAL_FORCE clientCmd = %d\n", clientCmd.m_sequenceNumber);
}
for (int i = 0; i < clientCmd.m_externalForceArguments.m_numForcesAndTorques; ++i)
{
InteralBodyData* body = m_data->getHandle(clientCmd.m_externalForceArguments.m_bodyUniqueIds[i]);

574
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -9,11 +9,394 @@
#include "SharedMemoryCommon.h"
#include "../Utils/b3Clock.h"
#include "../MultiThreading/b3ThreadSupportInterface.h"
int blockme = false;
int blockme2 = false;
void MotionThreadFunc(void* userPtr,void* lsMemory);
void* MotionlsMemoryFunc();
#define MAX_MOTION_NUM_THREADS 1
enum
{
numCubesX = 20,
numCubesY = 20
};
enum TestExampleBrowserCommunicationEnums
{
eRequestTerminateMotion= 13,
eMotionIsUnInitialized,
eMotionIsInitialized,
eMotionInitializationFailed,
eMotionHasTerminated
};
enum MultiThreadedGUIHelperCommunicationEnums
{
eGUIHelperIdle= 13,
eGUIHelperRegisterTexture,
eGUIHelperRegisterGraphicsShape,
eGUIHelperRegisterGraphicsInstance,
eGUIHelperCreateCollisionShapeGraphicsObject,
eGUIHelperCreateCollisionObjectGraphicsObject,
eGUIHelperRemoveAllGraphicsInstances,
};
#include <stdio.h>
//#include "BulletMultiThreaded/PlatformDefinitions.h"
#ifndef _WIN32
#include "../MultiThreading/b3PosixThreadSupport.h"
b3ThreadSupportInterface* createMotionThreadSupport(int numThreads)
{
b3PosixThreadSupport::ThreadConstructionInfo constructionInfo("MotionThreads",
MotionThreadFunc,
MotionlsMemoryFunc,
numThreads);
b3ThreadSupportInterface* threadSupport = new b3PosixThreadSupport(constructionInfo);
return threadSupport;
}
#elif defined( _WIN32)
#include "../MultiThreading/b3Win32ThreadSupport.h"
b3ThreadSupportInterface* createMotionThreadSupport(int numThreads)
{
b3Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("MotionThreads",MotionThreadFunc,MotionlsMemoryFunc,numThreads);
b3Win32ThreadSupport* threadSupport = new b3Win32ThreadSupport(threadConstructionInfo);
return threadSupport;
}
#endif
struct MotionArgs
{
MotionArgs()
:m_physicsServerPtr(0)
{
}
b3CriticalSection* m_cs;
PhysicsServerSharedMemory* m_physicsServerPtr;
b3AlignedObjectArray<b3Vector3> m_positions;
};
struct MotionThreadLocalStorage
{
int threadId;
};
int skip = 0;
void MotionThreadFunc(void* userPtr,void* lsMemory)
{
printf("thread started\n");
MotionThreadLocalStorage* localStorage = (MotionThreadLocalStorage*) lsMemory;
MotionArgs* args = (MotionArgs*) userPtr;
int workLeft = true;
b3Clock clock;
clock.reset();
bool init = true;
if (init)
{
args->m_cs->lock();
args->m_cs->setSharedParam(0,eMotionIsInitialized);
args->m_cs->unlock();
double m_x=0;
double m_y=0;
double m_z=0;
do
{
double deltaTimeInSeconds = double(clock.getTimeMicroseconds())/1000000.;
//if (deltaTimeInSeconds<.3)
//if (deltaTimeInSeconds<(1./15.))
if (deltaTimeInSeconds<(1./260.))
{
skip++;
//if (deltaTimeInSeconds<.001)
continue;
}
m_x+=deltaTimeInSeconds;
m_y+=deltaTimeInSeconds;
m_z+=deltaTimeInSeconds;
clock.reset();
int index = 0;
index++;
if (!blockme)
{
args->m_physicsServerPtr->processClientCommands();
}
} while (args->m_cs->getSharedParam(0)!=eRequestTerminateMotion);
} else
{
args->m_cs->lock();
args->m_cs->setSharedParam(0,eMotionInitializationFailed);
args->m_cs->unlock();
}
args->m_cs->lock();
args->m_cs->setSharedParam(0,eMotionHasTerminated);
args->m_cs->unlock();
printf("finished, #skip = %d\n",skip);
skip=0;
//do nothing
}
void* MotionlsMemoryFunc()
{
//don't create local store memory, just return 0
return new MotionThreadLocalStorage;
}
class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
{
CommonGraphicsApp* m_app;
b3CriticalSection* m_cs;
public:
GUIHelperInterface* m_childGuiHelper;
const unsigned char* m_texels;
int m_textureWidth;
int m_textureHeight;
int m_shapeIndex;
const float* m_position;
const float* m_quaternion;
const float* m_color;
const float* m_scaling;
const float* m_vertices;
int m_numvertices;
const int* m_indices;
int m_numIndices;
int m_primitiveType;
int m_textureId;
int m_instanceId;
MultiThreadedOpenGLGuiHelper(CommonGraphicsApp* app, GUIHelperInterface* guiHelper)
:m_app(app)
,m_cs(0),
m_texels(0),
m_textureId(-1)
{
m_childGuiHelper = guiHelper;;
}
virtual ~MultiThreadedOpenGLGuiHelper()
{
delete m_childGuiHelper;
}
void setCriticalSection(b3CriticalSection* cs)
{
m_cs = cs;
}
b3CriticalSection* getCriticalSection()
{
return m_cs;
}
virtual void createRigidBodyGraphicsObject(btRigidBody* body,const btVector3& color){}
btCollisionObject* m_obj;
btVector3 m_color2;
virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj,const btVector3& color)
{
m_obj = obj;
m_color2 = color;
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperCreateCollisionObjectGraphicsObject);
m_cs->unlock();
while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
{
}
}
btCollisionShape* m_colShape;
virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
{
m_colShape = collisionShape;
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperCreateCollisionShapeGraphicsObject);
m_cs->unlock();
while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
{
}
}
virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)
{
//this check is to prevent a crash, in case we removed all graphics instances, but there are still physics objects.
//the check will be obsolete, once we have a better/safer way of synchronizing physics->graphics transforms
if ( m_childGuiHelper->getRenderInterface()->getTotalNumInstances()>0)
{
m_childGuiHelper->syncPhysicsToGraphics(rbWorld);
}
}
virtual void render(const btDiscreteDynamicsWorld* rbWorld)
{
m_childGuiHelper->render(0);
}
virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld){}
virtual int registerTexture(const unsigned char* texels, int width, int height)
{
m_texels = texels;
m_textureWidth = width;
m_textureHeight = height;
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperRegisterTexture);
m_cs->unlock();
while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
{
}
return m_textureId;
}
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
{
m_vertices = vertices;
m_numvertices = numvertices;
m_indices = indices;
m_numIndices = numIndices;
m_primitiveType = primitiveType;
m_textureId = textureId;
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperRegisterGraphicsShape);
m_cs->unlock();
while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
{
}
return m_shapeIndex;
}
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
{
m_shapeIndex = shapeIndex;
m_position = position;
m_quaternion = quaternion;
m_color = color;
m_scaling = scaling;
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperRegisterGraphicsInstance);
m_cs->unlock();
while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
{
}
return m_instanceId;
}
virtual void removeAllGraphicsInstances()
{
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperRemoveAllGraphicsInstances);
m_cs->unlock();
while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
{
}
}
virtual Common2dCanvasInterface* get2dCanvasInterface()
{
return 0;
}
virtual CommonParameterInterface* getParameterInterface()
{
return 0;
}
virtual CommonRenderInterface* getRenderInterface()
{
return 0;
}
virtual CommonGraphicsApp* getAppInterface()
{
return 0;
}
virtual void setUpAxis(int axis)
{
m_childGuiHelper->setUpAxis(axis);
}
virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)
{
}
virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* width, int* height, int* numPixelsCopied)
{
if (width)
*width = 0;
if (height)
*height = 0;
if (numPixelsCopied)
*numPixelsCopied = 0;
}
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
{
}
virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)
{
}
};
class PhysicsServerExample : public SharedMemoryCommon
{
PhysicsServerSharedMemory m_physicsServer;
b3ThreadSupportInterface* m_threadSupport;
MotionArgs m_args[MAX_MOTION_NUM_THREADS];
MultiThreadedOpenGLGuiHelper* m_multiThreadedHelper;
bool m_wantsShutdown;
bool m_isConnected;
@@ -23,7 +406,7 @@ class PhysicsServerExample : public SharedMemoryCommon
public:
PhysicsServerExample(GUIHelperInterface* helper, SharedMemoryInterface* sharedMem=0, int options=0);
PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper, SharedMemoryInterface* sharedMem=0, int options=0);
virtual ~PhysicsServerExample();
@@ -56,7 +439,7 @@ public:
virtual bool wantsTermination();
virtual bool isConnected();
virtual void renderScene();
virtual void exitPhysics(){}
virtual void exitPhysics();
virtual void physicsDebugDraw(int debugFlags);
@@ -71,7 +454,6 @@ public:
if (!renderer)
{
btAssert(0);
return false;
}
@@ -91,7 +473,6 @@ public:
if (!renderer)
{
btAssert(0);
return false;
}
@@ -134,7 +515,7 @@ public:
};
PhysicsServerExample::PhysicsServerExample(GUIHelperInterface* helper, SharedMemoryInterface* sharedMem, int options)
PhysicsServerExample::PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper, SharedMemoryInterface* sharedMem, int options)
:SharedMemoryCommon(helper),
m_physicsServer(sharedMem),
m_wantsShutdown(false),
@@ -142,6 +523,7 @@ m_isConnected(false),
m_replay(false),
m_options(options)
{
m_multiThreadedHelper = helper;
b3Printf("Started PhysicsServer\n");
}
@@ -165,22 +547,80 @@ void PhysicsServerExample::initPhysics()
int upAxis = 2;
m_guiHelper->setUpAxis(upAxis);
#if 0
createEmptyDynamicsWorld();
//todo: create a special debug drawer that will cache the lines, so we can send the debug info over the wire
btVector3 grav(0,0,0);
grav[upAxis] = 0;//-9.8;
this->m_dynamicsWorld->setGravity(grav);
#endif
m_isConnected = m_physicsServer.connectSharedMemory( m_guiHelper);
m_threadSupport = createMotionThreadSupport(MAX_MOTION_NUM_THREADS);
for (int i=0;i<m_threadSupport->getNumTasks();i++)
{
MotionThreadLocalStorage* storage = (MotionThreadLocalStorage*) m_threadSupport->getThreadLocalMemory(i);
b3Assert(storage);
storage->threadId = i;
//storage->m_sharedMem = data->m_sharedMem;
}
for (int w=0;w<MAX_MOTION_NUM_THREADS;w++)
{
m_args[w].m_cs = m_threadSupport->createCriticalSection();
m_args[w].m_cs->setSharedParam(0,eMotionIsUnInitialized);
int numMoving = 0;
m_args[w].m_positions.resize(numMoving);
m_args[w].m_physicsServerPtr = &m_physicsServer;
int index = 0;
m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*) &this->m_args[w], w);
while (m_args[w].m_cs->getSharedParam(0)==eMotionIsUnInitialized)
{
}
}
m_args[0].m_cs->setSharedParam(1,eGUIHelperIdle);
m_multiThreadedHelper->setCriticalSection(m_args[0].m_cs);
m_isConnected = m_physicsServer.connectSharedMemory( m_guiHelper);
}
void PhysicsServerExample::exitPhysics()
{
for (int i=0;i<MAX_MOTION_NUM_THREADS;i++)
{
m_args[i].m_cs->lock();
m_args[i].m_cs->setSharedParam(0,eRequestTerminateMotion);
m_args[i].m_cs->unlock();
}
int numActiveThreads = MAX_MOTION_NUM_THREADS;
while (numActiveThreads)
{
int arg0,arg1;
if (m_threadSupport->isTaskCompleted(&arg0,&arg1,0))
{
numActiveThreads--;
printf("numActiveThreads = %d\n",numActiveThreads);
} else
{
}
};
printf("stopping threads\n");
delete m_threadSupport;
m_threadSupport = 0;
m_physicsServer.resetDynamicsWorld();
}
bool PhysicsServerExample::wantsTermination()
{
return m_wantsShutdown;
@@ -190,6 +630,90 @@ bool PhysicsServerExample::wantsTermination()
void PhysicsServerExample::stepSimulation(float deltaTime)
{
//this->m_physicsServer.processClientCommands();
//check if any graphics related tasks are requested
switch (m_multiThreadedHelper->getCriticalSection()->getSharedParam(1))
{
case eGUIHelperCreateCollisionShapeGraphicsObject:
{
m_multiThreadedHelper->m_childGuiHelper->createCollisionShapeGraphicsObject(m_multiThreadedHelper->m_colShape);
m_multiThreadedHelper->getCriticalSection()->lock();
m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
m_multiThreadedHelper->getCriticalSection()->unlock();
break;
}
case eGUIHelperCreateCollisionObjectGraphicsObject:
{
m_multiThreadedHelper->m_childGuiHelper->createCollisionObjectGraphicsObject(m_multiThreadedHelper->m_obj,
m_multiThreadedHelper->m_color2);
m_multiThreadedHelper->getCriticalSection()->lock();
m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
m_multiThreadedHelper->getCriticalSection()->unlock();
break;
}
case eGUIHelperRegisterTexture:
{
m_multiThreadedHelper->m_textureId = m_multiThreadedHelper->m_childGuiHelper->registerTexture(m_multiThreadedHelper->m_texels,
m_multiThreadedHelper->m_textureWidth,m_multiThreadedHelper->m_textureHeight);
m_multiThreadedHelper->getCriticalSection()->lock();
m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
m_multiThreadedHelper->getCriticalSection()->unlock();
break;
}
case eGUIHelperRegisterGraphicsShape:
{
m_multiThreadedHelper->m_shapeIndex = m_multiThreadedHelper->m_childGuiHelper->registerGraphicsShape(
m_multiThreadedHelper->m_vertices,
m_multiThreadedHelper->m_numvertices,
m_multiThreadedHelper->m_indices,
m_multiThreadedHelper->m_numIndices,
m_multiThreadedHelper->m_primitiveType,
m_multiThreadedHelper->m_textureId);
m_multiThreadedHelper->getCriticalSection()->lock();
m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
m_multiThreadedHelper->getCriticalSection()->unlock();
break;
}
case eGUIHelperRegisterGraphicsInstance:
{
m_multiThreadedHelper->m_instanceId = m_multiThreadedHelper->m_childGuiHelper->registerGraphicsInstance(
m_multiThreadedHelper->m_shapeIndex,
m_multiThreadedHelper->m_position,
m_multiThreadedHelper->m_quaternion,
m_multiThreadedHelper->m_color,
m_multiThreadedHelper->m_scaling);
m_multiThreadedHelper->getCriticalSection()->lock();
m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
m_multiThreadedHelper->getCriticalSection()->unlock();
break;
}
case eGUIHelperRemoveAllGraphicsInstances:
{
m_multiThreadedHelper->m_childGuiHelper->removeAllGraphicsInstances();
m_multiThreadedHelper->getCriticalSection()->lock();
m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
m_multiThreadedHelper->getCriticalSection()->unlock();
break;
}
case eGUIHelperIdle:
default:
{
}
}
#if 0
if (m_options == PHYSICS_SERVER_USE_RTC_CLOCK)
{
btClock rtc;
@@ -201,15 +725,27 @@ void PhysicsServerExample::stepSimulation(float deltaTime)
}
} else
{
for (int i=0;i<10;i++)
//for (int i=0;i<10;i++)
m_physicsServer.processClientCommands();
}
#endif
if (!blockme2)
{
if (m_multiThreadedHelper->m_childGuiHelper->getRenderInterface())
{
m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->writeTransforms();
}
}
}
void PhysicsServerExample::renderScene()
{
///debug rendering
//m_args[0].m_cs->lock();
m_physicsServer.renderScene();
//m_args[0].m_cs->unlock();
}
void PhysicsServerExample::physicsDebugDraw(int debugDrawFlags)
@@ -290,7 +826,13 @@ extern int gSharedMemoryKey;
class CommonExampleInterface* PhysicsServerCreateFunc(struct CommonExampleOptions& options)
{
PhysicsServerExample* example = new PhysicsServerExample(options.m_guiHelper, options.m_sharedMem, options.m_option);
MultiThreadedOpenGLGuiHelper* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper(options.m_guiHelper->getAppInterface(),options.m_guiHelper);
PhysicsServerExample* example = new PhysicsServerExample(guiHelperWrapper,
options.m_sharedMem,
options.m_option);
if (gSharedMemoryKey>=0)
{
example->setSharedMemoryKey(gSharedMemoryKey);

5
examples/SharedMemory/PhysicsServerSharedMemory.cpp
View File

@@ -90,6 +90,11 @@ PhysicsServerSharedMemory::~PhysicsServerSharedMemory()
delete m_data;
}
void PhysicsServerSharedMemory::resetDynamicsWorld()
{
m_data->m_commandProcessor->deleteDynamicsWorld();
m_data->m_commandProcessor ->createEmptyDynamicsWorld();
}
void PhysicsServerSharedMemory::setSharedMemoryKey(int key)
{
m_data->m_sharedMemoryKey = key;

1
examples/SharedMemory/PhysicsServerSharedMemory.h
View File

@@ -43,6 +43,7 @@ public:
void enableCommandLogging(bool enable, const char* fileName);
void replayFromLogFile(const char* fileName);
void resetDynamicsWorld();
};

210
examples/SharedMemory/premake4.lua
View File

@@ -76,12 +76,12 @@ myfiles =
"../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",
"../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 {
@@ -90,55 +90,197 @@ files {
}
files {
"../MultiThreading/b3ThreadSupportInterface.cpp",
"../MultiThreading/b3ThreadSupportInterface.h"
}
if os.is("Windows") then
project "App_SharedMemoryPhysics_VR"
files {
"../MultiThreading/b3Win32ThreadSupport.cpp",
"../MultiThreading/b3Win32ThreadSupport.h"
}
--links {"winmm"}
--defines {"__WINDOWS_MM__", "WIN32"}
end
defines {"B3_USE_STANDALONE_EXAMPLE","BT_ENABLE_VR"}
if os.is("Linux") then
files {
"../MultiThreading/b3PosixThreadSupport.cpp",
"../MultiThreading/b3PosixThreadSupport.h"
}
links {"pthread"}
end
if os.is("MacOSX") then
files {
"../MultiThreading/b3PosixThreadSupport.cpp",
"../MultiThreading/b3PosixThreadSupport.h"
}
links {"pthread"}
--links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
--defines {"__MACOSX_CORE__"}
end
project "App_SharedMemoryPhysics_GUI"
if _OPTIONS["ios"] then
kind "WindowedApp"
kind "WindowedApp"
else
kind "ConsoleApp"
kind "ConsoleApp"
end
defines {"B3_USE_STANDALONE_EXAMPLE"}
includedirs {
".","../../src", "../ThirdPartyLibs",
"../ThirdPartyLibs/openvr/headers",
"../ThirdPartyLibs/openvr/samples/shared"
}
includedirs {"../../src"}
links {
"Bullet3Common", "BulletDynamics","BulletCollision", "LinearMath","OpenGL_Window","openvr_api"
"BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common"
}
language "C++"
initOpenGL()
initGlew()
language "C++"
files
{
myfiles,
"../StandaloneMain/hellovr_opengl_main.cpp",
files {
myfiles,
"../StandaloneMain/main_opengl_single_example.cpp",
"../ExampleBrowser/OpenGLGuiHelper.cpp",
"../ExampleBrowser/GL_ShapeDrawer.cpp",
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
"../ThirdPartyLibs/openvr/samples/shared/lodepng.cpp",
"../ThirdPartyLibs/openvr/samples/shared/lodepng.h",
"../ThirdPartyLibs/openvr/samples/shared/Matrices.cpp",
"../ThirdPartyLibs/openvr/samples/shared/Matrices.h",
"../ThirdPartyLibs/openvr/samples/shared/pathtools.cpp",
"../ThirdPartyLibs/openvr/samples/shared/pathtools.h",
"../ThirdPartyLibs/openvr/samples/shared/Vectors.h",
}
if os.is("Windows") then
libdirs {"../ThirdPartyLibs/openvr/lib/win32"}
end
if os.is("Linux") then initX11() end
if os.is("MacOSX") then
links{"Cocoa.framework"}
end
files {
"../MultiThreading/b3ThreadSupportInterface.cpp",
"../MultiThreading/b3ThreadSupportInterface.h"
}
if os.is("Windows") then
files {
"../MultiThreading/b3Win32ThreadSupport.cpp",
"../MultiThreading/b3Win32ThreadSupport.h"
}
--links {"winmm"}
--defines {"__WINDOWS_MM__", "WIN32"}
end
if os.is("Linux") then
files {
"../MultiThreading/b3PosixThreadSupport.cpp",
"../MultiThreading/b3PosixThreadSupport.h"
}
links {"pthread"}
end
if os.is("MacOSX") then
files {
"../MultiThreading/b3PosixThreadSupport.cpp",
"../MultiThreading/b3PosixThreadSupport.h"
}
links {"pthread"}
--links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
--defines {"__MACOSX_CORE__"}
end
if os.is("Windows") then
project "App_SharedMemoryPhysics_VR"
--for now, only enable VR under Windows, until compilation issues are resolved on Mac/Linux
defines {"B3_USE_STANDALONE_EXAMPLE","BT_ENABLE_VR"}
if _OPTIONS["ios"] then
kind "WindowedApp"
else
kind "ConsoleApp"
end
includedirs {
".","../../src", "../ThirdPartyLibs",
"../ThirdPartyLibs/openvr/headers",
"../ThirdPartyLibs/openvr/samples/shared"
}
links {
"Bullet3Common", "BulletDynamics","BulletCollision", "LinearMath","OpenGL_Window","openvr_api"
}
language "C++"
initOpenGL()
initGlew()
files
{
myfiles,
"../StandaloneMain/hellovr_opengl_main.cpp",
"../ExampleBrowser/OpenGLGuiHelper.cpp",
"../ExampleBrowser/GL_ShapeDrawer.cpp",
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
"../ThirdPartyLibs/openvr/samples/shared/lodepng.cpp",
"../ThirdPartyLibs/openvr/samples/shared/lodepng.h",
"../ThirdPartyLibs/openvr/samples/shared/Matrices.cpp",
"../ThirdPartyLibs/openvr/samples/shared/Matrices.h",
"../ThirdPartyLibs/openvr/samples/shared/pathtools.cpp",
"../ThirdPartyLibs/openvr/samples/shared/pathtools.h",
"../ThirdPartyLibs/openvr/samples/shared/Vectors.h",
}
if os.is("Windows") then
libdirs {"../ThirdPartyLibs/openvr/lib/win32"}
end
if os.is("Linux") then initX11() end
if os.is("MacOSX") then
links{"Cocoa.framework"}
end
files {
"../MultiThreading/b3ThreadSupportInterface.cpp",
"../MultiThreading/b3ThreadSupportInterface.h"
}
if os.is("Windows") then
files {
"../MultiThreading/b3Win32ThreadSupport.cpp",
"../MultiThreading/b3Win32ThreadSupport.h"
}
--links {"winmm"}
--defines {"__WINDOWS_MM__", "WIN32"}
end
if os.is("Linux") then
files {
"../MultiThreading/b3PosixThreadSupport.cpp",
"../MultiThreading/b3PosixThreadSupport.h"
}
links {"pthread"}
end
if os.is("MacOSX") then
files {
"../MultiThreading/b3PosixThreadSupport.cpp",
"../MultiThreading/b3PosixThreadSupport.h"
}
links {"pthread"}
--links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
--defines {"__MACOSX_CORE__"}
end
end

42
examples/StandaloneMain/hellovr_opengl_main.cpp
View File

@@ -28,7 +28,7 @@ int gSharedMemoryKey = -1;
#include "pathtools.h"
CommonExampleInterface* sExample;
OpenGLGuiHelper* sGuiPtr = 0;
GUIHelperInterface* sGuiPtr = 0;
#if defined(POSIX)
@@ -375,7 +375,9 @@ bool CMainApplication::BInit()
*/
m_app = new SimpleOpenGL3App("SimpleOpenGL3App",m_nWindowWidth,m_nWindowHeight,true);
sGuiPtr = new OpenGLGuiHelper(m_app,false);
//sGuiPtr = new DummyGUIHelper;
CommonExampleOptions options(sGuiPtr);
@@ -1461,6 +1463,8 @@ void CMainApplication::SetupDistortion()
//-----------------------------------------------------------------------------
void CMainApplication::RenderStereoTargets()
{
sExample->stepSimulation(1./60.);
glClearColor( 0.15f, 0.15f, 0.18f, 1.0f ); // nice background color, but not black
glEnable( GL_MULTISAMPLE );
@@ -1476,13 +1480,15 @@ void CMainApplication::RenderStereoTargets()
rotYtoZ.rotateX(-90);
}
RenderScene( vr::Eye_Left );
// Left Eye
{
Matrix4 viewMatLeft = m_mat4eyePosLeft * m_mat4HMDPose * rotYtoZ;
m_app->m_instancingRenderer->getActiveCamera()->setVRCamera(viewMatLeft.get(),m_mat4ProjectionLeft.get());
m_app->m_instancingRenderer->updateCamera();
m_app->m_instancingRenderer->updateCamera(m_app->getUpAxis());
}
glBindFramebuffer( GL_FRAMEBUFFER, leftEyeDesc.m_nRenderFramebufferId );
@@ -1490,19 +1496,24 @@ void CMainApplication::RenderStereoTargets()
m_app->m_window->startRendering();
RenderScene( vr::Eye_Left );
DrawGridData gridUp;
gridUp.upAxis = m_app->getUpAxis();
m_app->drawGrid(gridUp);
sExample->stepSimulation(1./60.);
sExample->renderScene();
m_app->m_instancingRenderer->setRenderFrameBuffer((unsigned int)leftEyeDesc.m_nRenderFramebufferId);
m_app->m_instancingRenderer->renderScene();
sExample->renderScene();
//m_app->m_instancingRenderer->renderScene();
DrawGridData gridUp;
gridUp.upAxis = m_app->getUpAxis();
m_app->drawGrid(gridUp);
glBindFramebuffer( GL_FRAMEBUFFER, 0 );
@@ -1522,22 +1533,25 @@ void CMainApplication::RenderStereoTargets()
// Right Eye
RenderScene( vr::Eye_Right );
{
Matrix4 viewMatRight = m_mat4eyePosRight * m_mat4HMDPose * rotYtoZ;
m_app->m_instancingRenderer->getActiveCamera()->setVRCamera(viewMatRight.get(),m_mat4ProjectionRight.get());
m_app->m_instancingRenderer->updateCamera();
m_app->m_instancingRenderer->updateCamera(m_app->getUpAxis());
}
glBindFramebuffer( GL_FRAMEBUFFER, rightEyeDesc.m_nRenderFramebufferId );
glViewport(0, 0, m_nRenderWidth, m_nRenderHeight );
m_app->m_window->startRendering();
RenderScene( vr::Eye_Right );
m_app->drawGrid(gridUp);
m_app->m_instancingRenderer->setRenderFrameBuffer((unsigned int)rightEyeDesc.m_nRenderFramebufferId);
m_app->m_renderer->renderScene();
//m_app->m_renderer->renderScene();
sExample->renderScene();
m_app->drawGrid(gridUp);
glBindFramebuffer( GL_FRAMEBUFFER, 0 );

19
examples/StandaloneMain/main_opengl_single_example.cpp
View File

@@ -32,6 +32,7 @@ subject to the following restrictions:
#include "../ExampleBrowser/OpenGLGuiHelper.h"
CommonExampleInterface* example;
int gSharedMemoryKey=-1;
b3MouseMoveCallback prevMouseMoveCallback = 0;
static void OnMouseMove( float x, float y)
@@ -57,6 +58,20 @@ static void OnMouseDown(int button, int state, float x, float y) {
}
}
class LessDummyGuiHelper : public DummyGUIHelper
{
CommonGraphicsApp* m_app;
public:
virtual CommonGraphicsApp* getAppInterface()
{
return m_app;
}
LessDummyGuiHelper(CommonGraphicsApp* app)
:m_app(app)
{
}
};
int main(int argc, char* argv[])
{
@@ -69,11 +84,13 @@ int main(int argc, char* argv[])
app->m_window->setMouseMoveCallback((b3MouseMoveCallback)OnMouseMove);
OpenGLGuiHelper gui(app,false);
//LessDummyGuiHelper gui(app);
//DummyGUIHelper gui;
CommonExampleOptions options(&gui);
example = StandaloneExampleCreateFunc(options);
example->initPhysics();
example->initPhysics();
example->resetCamera();
do

14
examples/StandaloneMain/main_sw_tinyrenderer_single_example.cpp
View File

@@ -105,14 +105,20 @@ public:
}
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices)
virtual int registerTexture(const unsigned char* texels, int width, int height)
{
return -1;
}
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
{
int shapeIndex = OpenGLGuiHelper::registerGraphicsShape(vertices,numvertices,indices,numIndices);
int shapeIndex = OpenGLGuiHelper::registerGraphicsShape(vertices,numvertices,indices,numIndices,primitiveType, textureId);
if (shapeIndex>=0)
{
TinyRenderObjectData* swObj = new TinyRenderObjectData(m_rgbColorBuffer,m_depthBuffer);
float rgbaColor[4] = {1,1,1,1};
swObj->registerMeshShape(vertices,numvertices,indices,numIndices,rgbaColor);
float rgbaColor[4] = {1,1,1,1};
swObj->registerMeshShape(vertices,numvertices,indices,numIndices,rgbaColor);
//swObj->createCube(1,1,1);//MeshShape(vertices,numvertices,indices,numIndices);
m_swRenderObjects.insert(shapeIndex,swObj);
}

37
examples/StandaloneMain/main_tinyrenderer_single_example.cpp
View File

@@ -37,6 +37,12 @@ static btVector4 sMyColors[4] =
//btVector4(1,1,0,1),
};
struct TinyRendererTexture
{
const unsigned char* m_texels;
int m_width;
int m_height;
};
struct TinyRendererGUIHelper : public GUIHelperInterface
{
@@ -45,6 +51,7 @@ struct TinyRendererGUIHelper : public GUIHelperInterface
btHashMap<btHashInt,TinyRenderObjectData*> m_swRenderObjects;
btHashMap<btHashInt,int> m_swInstances;
btHashMap<btHashInt,TinyRendererTexture> m_textures;
int m_swWidth;
int m_swHeight;
@@ -151,7 +158,8 @@ struct TinyRendererGUIHelper : public GUIHelperInterface
if (gfxVertices.size() && indices.size())
{
int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0],gfxVertices.size(),&indices[0],indices.size());
int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0],gfxVertices.size(),&indices[0],indices.size(),
1,-1);
collisionShape->setUserIndex(shapeId);
}
}
@@ -249,18 +257,41 @@ struct TinyRendererGUIHelper : public GUIHelperInterface
virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld){}
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices)
virtual int registerTexture(const unsigned char* texels, int width, int height)
{
//do we need to make a copy?
int textureId = m_textures.size();
TinyRendererTexture t;
t.m_texels = texels;
t.m_width = width;
t.m_height = height;
this->m_textures.insert(textureId,t);
return textureId;
}
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
{
int shapeIndex = m_swRenderObjects.size();
TinyRenderObjectData* swObj = new TinyRenderObjectData(m_rgbColorBuffer,m_depthBuffer);
float rgbaColor[4] = {1,1,1,1};
swObj->registerMeshShape(vertices,numvertices,indices,numIndices,rgbaColor);
//if (textureId>=0)
//{
// swObj->registerMeshShape(vertices,numvertices,indices,numIndices,rgbaColor);
//} else
{
swObj->registerMeshShape(vertices,numvertices,indices,numIndices,rgbaColor);
}
//swObj->createCube(1,1,1);//MeshShape(vertices,numvertices,indices,numIndices);
m_swRenderObjects.insert(shapeIndex,swObj);
return shapeIndex;
}
virtual void removeAllGraphicsInstances()
{
}
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
{
int colIndex = m_colObjUniqueIndex++;

16
examples/pybullet/pybullet.c
View File

@@ -172,6 +172,8 @@ pybullet_loadURDF(PyObject* self, PyObject* args)
&startOrnX,&startOrnY,&startOrnZ, &startOrnW))
return NULL;
}
if (strlen(urdfFileName))
{
// printf("(%f, %f, %f) (%f, %f, %f, %f)\n", startPosX,startPosY,startPosZ,startOrnX, startOrnY,startOrnZ, startOrnW);
@@ -185,12 +187,16 @@ pybullet_loadURDF(PyObject* self, PyObject* args)
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType!=CMD_URDF_LOADING_COMPLETED)
{
PyErr_SetString(SpamError, "Cannot load URDF file.");
return NULL;
}
{
PyErr_SetString(SpamError, "Cannot load URDF file.");
return NULL;
}
bodyIndex = b3GetStatusBodyIndex(statusHandle);
}
} else
{
PyErr_SetString(SpamError, "Empty filename, method expects 1, 4 or 8 arguments.");
return NULL;
}
return PyLong_FromLong(bodyIndex);
}

2
test/SharedMemory/test.c
View File

@@ -106,7 +106,7 @@ void testSharedMemory(b3PhysicsClientHandle sm)
b3SharedMemoryCommandHandle command = b3LoadUrdfCommandInit(sm, urdfFileName);
//setting the initial position, orientation and other arguments are optional
startPosX =0;
startPosX =2;
startPosY =0;
startPosZ = 1;
ret = b3LoadUrdfCommandSetStartPosition(command, startPosX,startPosY,startPosZ);