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expose PyBullet.SHARED_MEMORY_SERVER

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connect from 1 different PyBullet client using PyBullet.SHARED_MEMORY)
(don't use more than 1 other client to submit commands in parallel)
This commit is contained in:
Erwin Coumans
2018-05-07 15:57:36 -07:00
parent ab4b663800
commit 7383843b24
6 changed files with 120 additions and 21 deletions
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28
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -708,7 +708,8 @@ public:
int m_primitiveType;
int m_textureId;
int m_instanceId;
bool m_skipGraphicsUpdate;
void mainThreadRelease()
{
BT_PROFILE("mainThreadRelease");
@@ -725,7 +726,14 @@ public:
void workerThreadWait()
{
BT_PROFILE("workerThreadWait");
BT_PROFILE("workerThreadWait");
if (m_skipGraphicsUpdate)
{
getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
m_cs->unlock();
return;
}
m_cs2->lock();
m_cs->unlock();
m_cs2->unlock();
@@ -740,7 +748,7 @@ public:
}
}
MultiThreadedOpenGLGuiHelper(CommonGraphicsApp* app, GUIHelperInterface* guiHelper)
MultiThreadedOpenGLGuiHelper(CommonGraphicsApp* app, GUIHelperInterface* guiHelper, int skipGraphicsUpdate)
:
//m_app(app),
m_cs(0),
@@ -750,7 +758,10 @@ public:
m_debugDraw(0),
m_uidGenerator(0),
m_texels(0),
m_textureId(-1)
m_shapeIndex(-1),
m_textureId(-1),
m_instanceId(-1),
m_skipGraphicsUpdate(skipGraphicsUpdate)
{
m_childGuiHelper = guiHelper;
@@ -971,6 +982,7 @@ public:
m_getShapeIndex_instance = instance;
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperGetShapeIndexFromInstance);
getShapeIndex_shapeIndex=-1;
workerThreadWait();
return getShapeIndex_shapeIndex;
}
@@ -1205,6 +1217,7 @@ public:
m_cs->lock();
m_cs->setSharedParam(1, eGUIUserDebugAddText);
m_resultUserDebugTextUid=-1;
workerThreadWait();
return m_resultUserDebugTextUid;
@@ -1237,6 +1250,7 @@ public:
m_cs->lock();
m_cs->setSharedParam(1, eGUIUserDebugAddParameter);
m_userDebugParamUid=-1;
workerThreadWait();
return m_userDebugParamUid;
@@ -1265,6 +1279,7 @@ public:
m_tmpLine.m_trackingVisualShapeIndex = trackingVisualShapeIndex;
m_cs->lock();
m_cs->setSharedParam(1, eGUIUserDebugAddLine);
m_resultDebugLineUid=-1;
workerThreadWait();
return m_resultDebugLineUid;
}
@@ -1729,9 +1744,6 @@ void PhysicsServerExample::initPhysics()
m_guiHelper->setUpAxis(upAxis);
m_threadSupport = createMotionThreadSupport(MAX_MOTION_NUM_THREADS);
@@ -3226,7 +3238,7 @@ extern int gSharedMemoryKey;
class CommonExampleInterface* PhysicsServerCreateFuncInternal(struct CommonExampleOptions& options)
{
MultiThreadedOpenGLGuiHelper* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper(options.m_guiHelper->getAppInterface(),options.m_guiHelper);
MultiThreadedOpenGLGuiHelper* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper(options.m_guiHelper->getAppInterface(),options.m_guiHelper, options.m_skipGraphicsUpdate);
PhysicsServerExample* example = new PhysicsServerExample(guiHelperWrapper,