Merge pull request #1666 from erwincoumans/master

posix shared memory lsMemory release function

examples/ExampleBrowser/InProcessExampleBrowser.cpp

@@ -18,6 +18,8 @@
 
 void	ExampleBrowserThreadFunc(void* userPtr,void* lsMemory);
 void*	ExampleBrowserMemoryFunc();
+void ExampleBrowserMemoryReleaseFunc(void* ptr);
+
 
 #include <stdio.h>
 //#include "BulletMultiThreaded/PlatformDefinitions.h"
@@ -42,6 +44,7 @@ static b3ThreadSupportInterface* createExampleBrowserThreadSupport(int numThread
 	b3PosixThreadSupport::ThreadConstructionInfo constructionInfo("testThreads",
                                                                 ExampleBrowserThreadFunc,
                                                                 ExampleBrowserMemoryFunc,
+																ExampleBrowserMemoryReleaseFunc,
                                                                 numThreads);
     b3ThreadSupportInterface* threadSupport = new b3PosixThreadSupport(constructionInfo);
 
@@ -56,7 +59,7 @@ static b3ThreadSupportInterface* createExampleBrowserThreadSupport(int numThread
 
 b3ThreadSupportInterface* createExampleBrowserThreadSupport(int numThreads)
 {
-	b3Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("testThreads",ExampleBrowserThreadFunc,ExampleBrowserMemoryFunc,numThreads);
+	b3Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("testThreads",ExampleBrowserThreadFunc,ExampleBrowserMemoryFunc,ExampleBrowserMemoryReleaseFunc,numThreads);
 	b3Win32ThreadSupport* threadSupport = new b3Win32ThreadSupport(threadConstructionInfo);
 	return threadSupport;
 
@@ -303,6 +306,12 @@ void*	ExampleBrowserMemoryFunc()
 	return new ExampleBrowserThreadLocalStorage;
 }
 
+void ExampleBrowserMemoryReleaseFunc(void* ptr)
+{
+	ExampleBrowserThreadLocalStorage* p = (ExampleBrowserThreadLocalStorage*) ptr;
+	delete p;
+}
+
 
 
 

examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp

@@ -1032,6 +1032,11 @@ struct BulletMJCFImporterInternalData
 				//todo
 				break;
 			}
+			case URDF_GEOM_CDF:
+			{
+				//todo
+				break;
+			}
 			case URDF_GEOM_CYLINDER:
 			case URDF_GEOM_CAPSULE:
 			{
@@ -2541,6 +2546,11 @@ class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes( int linkI
 				}
 				break;
 			}
+			case URDF_GEOM_CDF:
+                        {
+                                //todo
+                                break;
+                        }
 			case URDF_GEOM_UNKNOWN:
                         {
 				break;

examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp

@@ -2,7 +2,8 @@
 
 #include "../../OpenGLWindow/GLInstancingRenderer.h"
 #include "../../OpenGLWindow/GLInstanceGraphicsShape.h"
-#include "btBulletDynamicsCommon.h"
+//#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btVector3.h"
 #include "../../OpenGLWindow/SimpleOpenGL3App.h"
 #include "Wavefront2GLInstanceGraphicsShape.h"
 #include "../../OpenGLWindow/GLInstancingRenderer.h"

examples/MultiThreading/MultiThreadingExample.cpp

@@ -21,7 +21,7 @@
 
 void	SampleThreadFunc(void* userPtr,void* lsMemory);
 void*	SamplelsMemoryFunc();
-
+void	SamplelsMemoryReleaseFunc(void* ptr);
 
 #include <stdio.h>
 //#include "BulletMultiThreaded/PlatformDefinitions.h"
@@ -34,6 +34,7 @@ b3ThreadSupportInterface* createThreadSupport(int numThreads)
 	b3PosixThreadSupport::ThreadConstructionInfo constructionInfo("testThreads",
                                                                 SampleThreadFunc,
                                                                 SamplelsMemoryFunc,
+								SamplelsMemoryReleaseFunc,
                                                                 numThreads);
     b3ThreadSupportInterface* threadSupport = new b3PosixThreadSupport(constructionInfo);
 
@@ -47,7 +48,7 @@ b3ThreadSupportInterface* createThreadSupport(int numThreads)
 
 b3ThreadSupportInterface* createThreadSupport(int numThreads)
 {
-	b3Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("testThreads",SampleThreadFunc,SamplelsMemoryFunc,numThreads);
+	b3Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("testThreads",SampleThreadFunc,SamplelsMemoryFunc,SamplelsMemoryReleaseFunc,numThreads);
 	b3Win32ThreadSupport* threadSupport = new b3Win32ThreadSupport(threadConstructionInfo);
 	return threadSupport;
 
@@ -155,7 +156,11 @@ void*	SamplelsMemoryFunc()
 	return new SampleThreadLocalStorage;
 }
 
-
+void    SamplelsMemoryReleaseFunc(void* ptr)
+{
+	SampleThreadLocalStorage* p = (SampleThreadLocalStorage*) ptr;
+	delete p;
+}
 
 
 

examples/MultiThreading/b3PosixThreadSupport.cpp

@@ -251,7 +251,8 @@ void b3PosixThreadSupport::startThreads(ThreadConstructionInfo& threadConstructi
 		spuStatus.m_mainSemaphore = m_mainSemaphore;
 		spuStatus.m_lsMemory = threadConstructionInfo.m_lsMemoryFunc();
 		spuStatus.m_userThreadFunc = threadConstructionInfo.m_userThreadFunc;
-        spuStatus.threadUsed = 0;
+		spuStatus.m_lsMemoryReleaseFunc = threadConstructionInfo.m_lsMemoryReleaseFunc;
+		spuStatus.threadUsed = 0;
 
 		printf("started thread %d \n",i);
 
@@ -277,7 +278,12 @@ void b3PosixThreadSupport::stopThreads()
             destroySem(spuStatus.startSemaphore);
             printf("semaphore destroyed\n");
 		checkPThreadFunction(pthread_join(spuStatus.thread,0));
-        delete spuStatus.m_lsMemory;
+        
+        if (spuStatus.m_lsMemoryReleaseFunc)
+        {
+            spuStatus.m_lsMemoryReleaseFunc( spuStatus.m_lsMemory);
+        }
+        
     }
 	printf("destroy main semaphore\n");
     destroySem(m_mainSemaphore);

examples/MultiThreading/b3PosixThreadSupport.h

@@ -35,6 +35,7 @@ subject to the following restrictions:
 
 typedef void (*b3PosixThreadFunc)(void* userPtr,void* lsMemory);
 typedef void* (*b3PosixlsMemorySetupFunc)();
+typedef void (*b3PosixlsMemoryReleaseFunc)(void* ptr);
 
 // b3PosixThreadSupport helps to initialize/shutdown libspe2, start/stop SPU tasks and communication
 class b3PosixThreadSupport : public b3ThreadSupportInterface
@@ -55,6 +56,8 @@ public:
 
 		b3PosixThreadFunc	m_userThreadFunc;
 		void*	m_userPtr; //for taskDesc etc
+		b3PosixlsMemoryReleaseFunc m_lsMemoryReleaseFunc;
+
 		void*	m_lsMemory; //initialized using PosixLocalStoreMemorySetupFunc
 
         pthread_t thread;
@@ -83,12 +86,14 @@ public:
 		ThreadConstructionInfo(const char* uniqueName,
 									b3PosixThreadFunc userThreadFunc,
 									b3PosixlsMemorySetupFunc	lsMemoryFunc,
+									b3PosixlsMemoryReleaseFunc        lsMemoryReleaseFunc,
 									int numThreads=1,
 									int threadStackSize=65535
 									)
 									:m_uniqueName(uniqueName),
 									m_userThreadFunc(userThreadFunc),
 									m_lsMemoryFunc(lsMemoryFunc),
+									m_lsMemoryReleaseFunc(lsMemoryReleaseFunc),
 									m_numThreads(numThreads),
 									m_threadStackSize(threadStackSize)
 		{
@@ -98,6 +103,8 @@ public:
 		const char*					m_uniqueName;
 		b3PosixThreadFunc			m_userThreadFunc;
 		b3PosixlsMemorySetupFunc	m_lsMemoryFunc;
+		b3PosixlsMemoryReleaseFunc	m_lsMemoryReleaseFunc;
+
 		int						m_numThreads;
 		int						m_threadStackSize;
 

examples/MultiThreading/b3Win32ThreadSupport.cpp

@@ -289,6 +289,7 @@ void b3Win32ThreadSupport::startThreads(const Win32ThreadConstructionInfo& threa
 		threadStatus.m_threadHandle = handle;
 		threadStatus.m_lsMemory = threadConstructionInfo.m_lsMemoryFunc();
 		threadStatus.m_userThreadFunc = threadConstructionInfo.m_userThreadFunc;
+		threadStatus.m_lsMemoryReleaseFunc = threadConstructionInfo.m_lsMemoryReleaseFunc;
 
 		printf("started %s thread %d with threadHandle %p\n",threadConstructionInfo.m_uniqueName,i,handle);
 		
@@ -313,7 +314,10 @@ void b3Win32ThreadSupport::stopThreads()
 			WaitForSingleObject(threadStatus.m_eventCompletetHandle, INFINITE);
 		}
 
-		delete threadStatus.m_lsMemory;
+		if (threadStatus.m_lsMemoryReleaseFunc)
+		{
+			threadStatus.m_lsMemoryReleaseFunc(threadStatus.m_lsMemory);
+		}
 		
 		threadStatus.m_userPtr = 0;
 		SetEvent(threadStatus.m_eventStartHandle);

examples/MultiThreading/b3Win32ThreadSupport.h

@@ -26,6 +26,7 @@ subject to the following restrictions:
 
 typedef void (*b3Win32ThreadFunc)(void* userPtr,void* lsMemory);
 typedef void* (*b3Win32lsMemorySetupFunc)();
+typedef void (*b3Win32lsMemoryReleaseFunc)(void*);
 
 
 ///b3Win32ThreadSupport helps to initialize/shutdown libspe2, start/stop SPU tasks and communication
@@ -43,6 +44,8 @@ public:
 		void*	m_userPtr; //for taskDesc etc
 		void*	m_lsMemory; //initialized using Win32LocalStoreMemorySetupFunc
 
+		b3Win32lsMemoryReleaseFunc  m_lsMemoryReleaseFunc;
+
 		void*	m_threadHandle; //this one is calling 'Win32ThreadFunc'
 
 		void*	m_eventStartHandle;
@@ -67,12 +70,14 @@ public:
 		Win32ThreadConstructionInfo(const char* uniqueName,
 									b3Win32ThreadFunc userThreadFunc,
 									b3Win32lsMemorySetupFunc	lsMemoryFunc,
+									b3Win32lsMemoryReleaseFunc  lsMemoryReleaseFunc,
 									int numThreads=1,
 									int threadStackSize=65535
 									)
 									:m_uniqueName(uniqueName),
 									m_userThreadFunc(userThreadFunc),
 									m_lsMemoryFunc(lsMemoryFunc),
+									m_lsMemoryReleaseFunc(lsMemoryReleaseFunc),
 									m_numThreads(numThreads),
 									m_threadStackSize(threadStackSize),
 									m_priority(0)
@@ -83,6 +88,7 @@ public:
 		const char*				m_uniqueName;
 		b3Win32ThreadFunc			m_userThreadFunc;
 		b3Win32lsMemorySetupFunc	m_lsMemoryFunc;
+		b3Win32lsMemoryReleaseFunc  m_lsMemoryReleaseFunc;
 		int						m_numThreads;
 		int						m_threadStackSize;
 		int						m_priority;

examples/SharedMemory/PhysicsClientUDP.cpp

@@ -11,6 +11,8 @@
 #include "../MultiThreading/b3ThreadSupportInterface.h"
 void	UDPThreadFunc(void* userPtr, void* lsMemory);
 void*	UDPlsMemoryFunc();
+void	UDPlsMemoryReleaseFunc(void* ptr);
+
 bool gVerboseNetworkMessagesClient = false;
 
 #ifndef _WIN32
@@ -21,6 +23,7 @@ b3ThreadSupportInterface* createUDPThreadSupport(int numThreads)
 	b3PosixThreadSupport::ThreadConstructionInfo constructionInfo("UDPThread",
 		UDPThreadFunc,
 		UDPlsMemoryFunc,
+		UDPlsMemoryReleaseFunc,
 		numThreads);
 	b3ThreadSupportInterface* threadSupport = new b3PosixThreadSupport(constructionInfo);
 
@@ -34,7 +37,7 @@ b3ThreadSupportInterface* createUDPThreadSupport(int numThreads)
 
 b3ThreadSupportInterface* createUDPThreadSupport(int numThreads)
 {
-	b3Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("UDPThread", UDPThreadFunc, UDPlsMemoryFunc, numThreads);
+	b3Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("UDPThread", UDPThreadFunc, UDPlsMemoryFunc,UDPlsMemoryReleaseFunc, numThreads);
 	b3Win32ThreadSupport* threadSupport = new b3Win32ThreadSupport(threadConstructionInfo);
 	return threadSupport;
 
@@ -436,6 +439,11 @@ void*	UDPlsMemoryFunc()
 	return new UDPThreadLocalStorage;
 }
 
+void	UDPlsMemoryReleaseFunc(void* ptr)
+{
+	UDPThreadLocalStorage* p = (UDPThreadLocalStorage*) ptr;
+	delete p;
+}
 
 
 

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -9693,10 +9693,13 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec,const
 void PhysicsServerCommandProcessor::resetSimulation()
 {
 	//clean up all data
+
+#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
 	if (m_data && m_data->m_dynamicsWorld)
 	{
 		m_data->m_dynamicsWorld->getWorldInfo().m_sparsesdf.Reset();
 	}
+#endif
 	if (m_data && m_data->m_guiHelper)
 	{
 		m_data->m_guiHelper->removeAllGraphicsInstances();

examples/SharedMemory/PhysicsServerExample.cpp

@@ -92,6 +92,7 @@ static void saveCurrentSettingsVR(const btVector3& VRTeleportPos1)
 bool gDebugRenderToggle  = false;
 void	MotionThreadFunc(void* userPtr,void* lsMemory);
 void*	MotionlsMemoryFunc();
+void	MotionlsMemoryReleaseFunc(void* ptr);
 #define MAX_MOTION_NUM_THREADS 1
 enum
 	{
@@ -150,6 +151,7 @@ b3ThreadSupportInterface* createMotionThreadSupport(int numThreads)
 	b3PosixThreadSupport::ThreadConstructionInfo constructionInfo("MotionThreads",
                                                                 MotionThreadFunc,
                                                                 MotionlsMemoryFunc,
+																MotionlsMemoryReleaseFunc,
                                                                 numThreads);
     b3ThreadSupportInterface* threadSupport = new b3PosixThreadSupport(constructionInfo);
 
@@ -163,7 +165,7 @@ b3ThreadSupportInterface* createMotionThreadSupport(int numThreads)
 
 b3ThreadSupportInterface* createMotionThreadSupport(int numThreads)
 {
-	b3Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("MotionThreads",MotionThreadFunc,MotionlsMemoryFunc,numThreads);
+	b3Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("MotionThreads",MotionThreadFunc,MotionlsMemoryFunc,MotionlsMemoryReleaseFunc,numThreads);
 	b3Win32ThreadSupport* threadSupport = new b3Win32ThreadSupport(threadConstructionInfo);
 	return threadSupport;
 
@@ -486,6 +488,12 @@ void*	MotionlsMemoryFunc()
 	return new MotionThreadLocalStorage;
 }
 
+void	MotionlsMemoryReleaseFunc(void* ptr)
+{
+	MotionThreadLocalStorage* p = (MotionThreadLocalStorage*) ptr;
+	delete p;
+}
+
 
 
 struct UserDebugDrawLine

examples/SharedMemory/PhysicsServerSharedMemory.cpp

@@ -170,7 +170,7 @@ bool PhysicsServerSharedMemory::connectSharedMemory( struct GUIHelperInterface*
                 }
             } else
             {
-                b3Error("Cannot connect to shared memory");
+                //b3Error("Cannot connect to shared memory");
                 m_data->m_areConnected[block] = false;
             }
         } while (counter++ < 10 && !m_data->m_areConnected[block]);

examples/SharedMemory/SharedMemoryCommands.h

@@ -23,7 +23,11 @@
 	typedef unsigned long long int smUint64_t;
 #endif
 
-#define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (8*1024*1024)
+#ifdef __APPLE__
+    #define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (512*1024)
+#else
+    #define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (8*1024*1024)
+#endif
 
 #define SHARED_MEMORY_SERVER_TEST_C
 #define MAX_DEGREE_OF_FREEDOM 128