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add single step simulation, using 'o' key. use 'i' key to suspend simulation first

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default background color a bit darker, to show debug lines
tweaked contact point rendering a bit
This commit is contained in:
erwin coumans
2016-08-19 10:30:02 -07:00
parent a68c9ca845
commit 62d5b7c5c0
9 changed files with 174 additions and 122 deletions
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207
examples/RoboticsLearning/b3RobotSimAPI.cpp
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@@ -7,15 +7,15 @@
//#include "../CommonInterfaces/CommonExampleInterface.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "../SharedMemory/PhysicsServerSharedMemory.h"
#include "../SharedMemory/PhysicsServerSharedMemory.h"
#include "../SharedMemory/PhysicsClientC_API.h"
#include "../SharedMemory/PhysicsDirectC_API.h"
#include "../SharedMemory/PhysicsDirect.h"
#include <string>
#include "../Utils/b3Clock.h"
#include "../MultiThreading/b3ThreadSupportInterface.h"
@@ -406,24 +406,27 @@ public:
struct b3RobotSimAPI_InternalData
{
//GUIHelperInterface* m_guiHelper;
PhysicsServerSharedMemory m_physicsServer;
b3PhysicsClientHandle m_physicsClient;
b3ThreadSupportInterface* m_threadSupport;
RobotSimArgs m_args[MAX_ROBOT_NUM_THREADS];
MultiThreadedOpenGLGuiHelper2* m_multiThreadedHelper;
PhysicsDirect* m_clientServerDirect;
bool m_useMultiThreading;
bool m_connected;
b3RobotSimAPI_InternalData()
:m_multiThreadedHelper(0),
:m_threadSupport(0),
m_multiThreadedHelper(0),
m_clientServerDirect(0),
m_physicsClient(0),
m_useMultiThreading(false),
m_connected(false)
{
}
@@ -464,6 +467,9 @@ b3RobotSimAPI::~b3RobotSimAPI()
void b3RobotSimAPI::processMultiThreadedGraphicsRequests()
{
if (0==m_data->m_multiThreadedHelper)
return;
switch (m_data->m_multiThreadedHelper->getCriticalSection()->getSharedParam(1))
{
case eRobotSimGUIHelperCreateCollisionShapeGraphicsObject:
@@ -563,27 +569,6 @@ void b3RobotSimAPI::processMultiThreadedGraphicsRequests()
}
}
#if 0
if (m_options == PHYSICS_SERVER_USE_RTC_CLOCK)
{
btClock rtc;
btScalar endTime = rtc.getTimeMilliseconds() + deltaTime*btScalar(800);
while (rtc.getTimeMilliseconds()<endTime)
{
m_physicsServer.processClientCommands();
}
} else
{
//for (int i=0;i<10;i++)
m_physicsServer.processClientCommands();
}
#endif
}
b3SharedMemoryStatusHandle b3RobotSimAPI::submitClientCommandAndWaitStatusMultiThreaded(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle)
@@ -733,94 +718,124 @@ bool b3RobotSimAPI::loadFile(const struct b3RobotSimLoadFileArgs& args, b3RobotS
bool b3RobotSimAPI::connect(GUIHelperInterface* guiHelper)
{
m_data->m_multiThreadedHelper = new MultiThreadedOpenGLGuiHelper2(guiHelper->getAppInterface(),guiHelper);
MultiThreadedOpenGLGuiHelper2* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper2(guiHelper->getAppInterface(),guiHelper);
m_data->m_threadSupport = createRobotSimThreadSupport(MAX_ROBOT_NUM_THREADS);
for (int i=0;i<m_data->m_threadSupport->getNumTasks();i++)
if (m_data->m_useMultiThreading)
{
RobotSimThreadLocalStorage* storage = (RobotSimThreadLocalStorage*) m_data->m_threadSupport->getThreadLocalMemory(i);
b3Assert(storage);
storage->threadId = i;
//storage->m_sharedMem = data->m_sharedMem;
}
m_data->m_multiThreadedHelper = new MultiThreadedOpenGLGuiHelper2(guiHelper->getAppInterface(), guiHelper);
MultiThreadedOpenGLGuiHelper2* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper2(guiHelper->getAppInterface(), guiHelper);
for (int w=0;w<MAX_ROBOT_NUM_THREADS;w++)
{
m_data->m_args[w].m_cs = m_data->m_threadSupport->createCriticalSection();
m_data->m_args[w].m_cs->setSharedParam(0,eRobotSimIsUnInitialized);
int numMoving = 0;
m_data->m_args[w].m_positions.resize(numMoving);
m_data->m_args[w].m_physicsServerPtr = &m_data->m_physicsServer;
int index = 0;
m_data->m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*) &m_data->m_args[w], w);
while (m_data->m_args[w].m_cs->getSharedParam(0)==eRobotSimIsUnInitialized)
m_data->m_threadSupport = createRobotSimThreadSupport(MAX_ROBOT_NUM_THREADS);
for (int i = 0; i < m_data->m_threadSupport->getNumTasks(); i++)
{
RobotSimThreadLocalStorage* storage = (RobotSimThreadLocalStorage*)m_data->m_threadSupport->getThreadLocalMemory(i);
b3Assert(storage);
storage->threadId = i;
//storage->m_sharedMem = data->m_sharedMem;
}
for (int w = 0; w < MAX_ROBOT_NUM_THREADS; w++)
{
m_data->m_args[w].m_cs = m_data->m_threadSupport->createCriticalSection();
m_data->m_args[w].m_cs->setSharedParam(0, eRobotSimIsUnInitialized);
int numMoving = 0;
m_data->m_args[w].m_positions.resize(numMoving);
m_data->m_args[w].m_physicsServerPtr = &m_data->m_physicsServer;
int index = 0;
m_data->m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*)&m_data->m_args[w], w);
while (m_data->m_args[w].m_cs->getSharedParam(0) == eRobotSimIsUnInitialized)
{
}
}
m_data->m_args[0].m_cs->setSharedParam(1, eRobotSimGUIHelperIdle);
m_data->m_multiThreadedHelper->setCriticalSection(m_data->m_args[0].m_cs);
bool serverConnected = m_data->m_physicsServer.connectSharedMemory(m_data->m_multiThreadedHelper);
b3Assert(serverConnected);
m_data->m_physicsClient = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
}
else
{
m_data->m_clientServerDirect = new PhysicsDirect();
bool connected = m_data->m_clientServerDirect->connect(guiHelper);
m_data->m_physicsClient = (b3PhysicsClientHandle)m_data->m_clientServerDirect;
}
m_data->m_args[0].m_cs->setSharedParam(1,eRobotSimGUIHelperIdle);
m_data->m_multiThreadedHelper->setCriticalSection(m_data->m_args[0].m_cs);
m_data->m_connected = m_data->m_physicsServer.connectSharedMemory( m_data->m_multiThreadedHelper);
b3Assert(m_data->m_connected);
m_data->m_physicsClient = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
int canSubmit = b3CanSubmitCommand(m_data->m_physicsClient);
b3Assert(canSubmit);
return m_data->m_connected && canSubmit;
//client connected
m_data->m_connected = b3CanSubmitCommand(m_data->m_physicsClient);
b3Assert(m_data->m_connected);
return m_data->m_connected && m_data->m_connected;
}
void b3RobotSimAPI::disconnect()
{
for (int i=0;i<MAX_ROBOT_NUM_THREADS;i++)
if (m_data->m_useMultiThreading)
{
m_data->m_args[i].m_cs->lock();
m_data->m_args[i].m_cs->setSharedParam(0,eRequestTerminateRobotSim);
m_data->m_args[i].m_cs->unlock();
for (int i = 0; i < MAX_ROBOT_NUM_THREADS; i++)
{
m_data->m_args[i].m_cs->lock();
m_data->m_args[i].m_cs->setSharedParam(0, eRequestTerminateRobotSim);
m_data->m_args[i].m_cs->unlock();
}
int numActiveThreads = MAX_ROBOT_NUM_THREADS;
while (numActiveThreads)
{
int arg0, arg1;
if (m_data->m_threadSupport->isTaskCompleted(&arg0, &arg1, 0))
{
numActiveThreads--;
printf("numActiveThreads = %d\n", numActiveThreads);
}
else
{
}
};
printf("stopping threads\n");
delete m_data->m_threadSupport;
m_data->m_threadSupport = 0;
}
int numActiveThreads = MAX_ROBOT_NUM_THREADS;
while (numActiveThreads)
{
int arg0,arg1;
if (m_data->m_threadSupport->isTaskCompleted(&arg0,&arg1,0))
{
numActiveThreads--;
printf("numActiveThreads = %d\n",numActiveThreads);
} else
{
}
};
printf("stopping threads\n");
delete m_data->m_threadSupport;
m_data->m_threadSupport = 0;
b3DisconnectSharedMemory(m_data->m_physicsClient);
m_data->m_physicsServer.disconnectSharedMemory(true);
m_data->m_connected = false;
}
void b3RobotSimAPI::debugDraw(int debugDrawMode)
{
if (m_data->m_clientServerDirect)
{
m_data->m_clientServerDirect->debugDraw(debugDrawMode);
}
}
void b3RobotSimAPI::renderScene()
{
if (m_data->m_multiThreadedHelper->m_childGuiHelper->getRenderInterface())
if (m_data->m_useMultiThreading)
{
m_data->m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->writeTransforms();
if (m_data->m_multiThreadedHelper->m_childGuiHelper->getRenderInterface())
{
m_data->m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->writeTransforms();
}
}
if (m_data->m_clientServerDirect)
{
m_data->m_clientServerDirect->renderScene();
}
m_data->m_physicsServer.renderScene();
}