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fix shadowmap crash on some Intel GPUs, see https://github.com/bulletphysics/bullet3/issues/4

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remove targetdir from all libraries in premake, so it is much easier to create a separate folder for all binary+lib
transmit the serialized btMultiBody data back from server to client, after the server loads a URDF file. This includes base+link+joint names
tweak the serialization routines, so it is easier to skip pointers and to serialize directly to a shared memory buffer
also tweak the serialization code to allow to process data without 'DNA' schema data (assuming file-DNA = memory DNA)
This commit is contained in:
erwincoumans
2015-07-10 22:20:06 -07:00
parent f6f76901fd
commit 6c9ce344ea
35 changed files with 340 additions and 120 deletions
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59
examples/SharedMemory/PhysicsServer.cpp
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@@ -1,4 +1,6 @@
#include "PhysicsServer.h"
#include "PosixSharedMemory.h"
@@ -10,7 +12,16 @@
#include "../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h"
#include "SharedMemoryCommon.h"
const char* blaatnaam = "basename";
struct UrdfLinkNameMapUtil
{
btMultiBody* m_mb;
btDefaultSerializer* m_memSerializer;
UrdfLinkNameMapUtil():m_mb(0),m_memSerializer(0)
{
}
};
class PhysicsServer : public SharedMemoryCommon
{
@@ -19,7 +30,8 @@ class PhysicsServer : public SharedMemoryCommon
btAlignedObjectArray<btJointFeedback*> m_jointFeedbacks;
btAlignedObjectArray<btBulletWorldImporter*> m_worldImporters;
btAlignedObjectArray<UrdfLinkNameMapUtil*> m_urdfLinkNameMapper;
btAlignedObjectArray<std::string*> m_strings;
bool m_wantsShutdown;
public:
@@ -155,6 +167,44 @@ bool PhysicsServer::loadUrdf(const char* fileName, const btVector3& pos, const b
{
if (mb)
{
UrdfLinkNameMapUtil* util = new UrdfLinkNameMapUtil;
m_urdfLinkNameMapper.push_back(util);
util->m_mb = mb;
util->m_memSerializer = new btDefaultSerializer(SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE,(unsigned char*)m_testBlock1->m_bulletStreamDataServerToClient);
//disable serialization of the collision objects (they are too big, and the client likely doesn't need them);
util->m_memSerializer->m_skipPointers.insert(mb->getBaseCollider(),0);
for (int i=0;i<mb->getNumLinks();i++)
{
//disable serialization of the collision objects
util->m_memSerializer->m_skipPointers.insert(mb->getLink(i).m_collider,0);
int urdfLinkIndex = creation.m_mb2urdfLink[i];
std::string* linkName = new std::string(u2b.getLinkName(urdfLinkIndex).c_str());
m_strings.push_back(linkName);
util->m_memSerializer->registerNameForPointer(linkName->c_str(),linkName->c_str());
mb->getLink(i).m_linkName = linkName->c_str();
std::string* jointName = new std::string(u2b.getJointName(urdfLinkIndex).c_str());
m_strings.push_back(jointName);
util->m_memSerializer->registerNameForPointer(jointName->c_str(),jointName->c_str());
mb->getLink(i).m_jointName = jointName->c_str();
}
std::string* baseName = new std::string(u2b.getLinkName(u2b.getRootLinkIndex()));
m_strings.push_back(baseName);
util->m_memSerializer->registerNameForPointer(baseName->c_str(),baseName->c_str());
mb->setBaseName(baseName->c_str());
util->m_memSerializer->insertHeader();
int len = mb->calculateSerializeBufferSize();
btChunk* chunk = util->m_memSerializer->allocate(len,1);
const char* structType = mb->serialize(chunk->m_oldPtr, util->m_memSerializer);
util->m_memSerializer->finalizeChunk(chunk,structType,BT_MULTIBODY_CODE,mb);
return true;
} else
{
@@ -236,6 +286,10 @@ void PhysicsServer::stepSimulation(float deltaTime)
if (completedOk)
{
if (this->m_urdfLinkNameMapper.size())
{
serverCmd.m_dataStreamArguments.m_streamChunkLength = m_urdfLinkNameMapper.at(m_urdfLinkNameMapper.size()-1)->m_memSerializer->getCurrentBufferSize();
}
serverCmd.m_type =CMD_URDF_LOADING_COMPLETED;
} else
{
@@ -243,6 +297,9 @@ void PhysicsServer::stepSimulation(float deltaTime)
}
m_testBlock1->m_numServerCommands++;
break;
}
case CMD_REQUEST_ACTUAL_STATE: