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Merge pull request #424 from erwincoumans/master

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some improvements for ExampleBrowser (--demo-name="Basic Example, shared memory experiment etc)
This commit is contained in:
erwincoumans
2015-07-12 15:09:28 -07:00
parent 51ec862582 a7fc45410b
commit 70837d2d0b
6 changed files with 37 additions and 10 deletions
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4
examples/ExampleBrowser/ExampleEntries.cpp
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@@ -254,6 +254,10 @@ void ExampleEntries::initExampleEntries()
{
m_data->m_allExamples.clear();
for (int i=0;i<gAdditionalRegisteredExamples.size();i++)
{
m_data->m_allExamples.push_back(gAdditionalRegisteredExamples[i]);
}

11
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
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@@ -724,6 +724,12 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
Gwen::Controls::TreeNode* curNode = tree;
MyMenuItemHander* handler2 = new MyMenuItemHander(-1);
char* demoNameFromCommandOption = 0;
args.GetCmdLineArgument("demo-name", demoNameFromCommandOption);
if (demoNameFromCommandOption) {
selectedDemo = -1;
}
tree->onReturnKeyDown.Add(handler2, &MyMenuItemHander::onButtonD);
int firstAvailableDemoIndex=-1;
Gwen::Controls::TreeNode* firstNode=0;
@@ -759,7 +765,10 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
}
if (demoNameFromCommandOption && strcmp(gAllExamples->getExampleName(d), demoNameFromCommandOption) == 0) {
firstAvailableDemoIndex = d;
firstNode = pNode;
}
MyMenuItemHander* handler = new MyMenuItemHander(d);
pNode->onNamePress.Add(handler, &MyMenuItemHander::onButtonA);

7
examples/SharedMemory/PhysicsClient.cpp
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@@ -341,6 +341,13 @@ void PhysicsClient::createClientCommand()
{
m_testBlock1->m_clientCommands[0].m_type =CMD_LOAD_URDF;
sprintf(m_testBlock1->m_clientCommands[0].m_urdfArguments.m_urdfFileName,"r2d2.urdf");
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_initialPosition[0] = 0.0;
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_initialPosition[1] = 0.0;
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_initialPosition[2] = 0.0;
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_initialOrientation[0] = 0.0;
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_initialOrientation[1] = 0.0;
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_initialOrientation[2] = 0.0;
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_initialOrientation[3] = 1.0;
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_useFixedBase = false;
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_useMultiBody = true;

21
examples/SharedMemory/PhysicsServer.cpp
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@@ -12,7 +12,7 @@
#include "../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h"
#include "SharedMemoryCommon.h"
const char* blaatnaam = "basename";
//const char* blaatnaam = "basename";
struct UrdfLinkNameMapUtil
{
btMultiBody* m_mb;
@@ -274,14 +274,19 @@ void PhysicsServer::stepSimulation(float deltaTime)
}
case CMD_LOAD_URDF:
{
b3Printf("Processed CMD_LOAD_URDF:%s",clientCmd.m_urdfArguments.m_urdfFileName);
//load the actual URDF and send a report: completed or failed
const UrdfArgs& urdfArgs = clientCmd.m_urdfArguments;
b3Printf("Processed CMD_LOAD_URDF:%s", urdfArgs.m_urdfFileName);
bool completedOk = loadUrdf(clientCmd.m_urdfArguments.m_urdfFileName,
btVector3(0,0,0), btQuaternion(0,0,0,1),clientCmd.m_urdfArguments.m_useMultiBody,clientCmd.m_urdfArguments.m_useFixedBase);
//load the actual URDF and send a report: completed or failed
bool completedOk = loadUrdf(urdfArgs.m_urdfFileName,
btVector3(urdfArgs.m_initialPosition[0],
urdfArgs.m_initialPosition[1],
urdfArgs.m_initialPosition[2]),
btQuaternion(urdfArgs.m_initialOrientation[0],
urdfArgs.m_initialOrientation[1],
urdfArgs.m_initialOrientation[2],
urdfArgs.m_initialOrientation[3]),
urdfArgs.m_useMultiBody, urdfArgs.m_useFixedBase);
SharedMemoryCommand& serverCmd =m_testBlock1->m_serverCommands[0];
if (completedOk)

2
examples/SharedMemory/SharedMemoryCommands.h
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@@ -44,6 +44,8 @@ enum SharedMemoryClientCommand
struct UrdfArgs
{
char m_urdfFileName[MAX_URDF_FILENAME_LENGTH];
double m_initialPosition[3];
double m_initialOrientation[4];
bool m_useMultiBody;
bool m_useFixedBase;
};

2
src/BulletDynamics/Featherstone/btMultiBody.h
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@@ -65,7 +65,7 @@ public:
);
~btMultiBody();
virtual ~btMultiBody();
void setupFixed(int linkIndex,
btScalar mass,