Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

expose PyBullet.SHARED_MEMORY_SERVER

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

51
examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
View File

@@ -7,7 +7,7 @@
#include <stdio.h>
#include <string.h>
#include "PhysicsServerExampleBullet2.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "../CommonInterfaces/CommonExampleInterface.h"
#include "InProcessMemory.h"
@@ -158,15 +158,19 @@ class InProcessPhysicsClientExistingExampleBrowser : public PhysicsClientSharedM
b3Clock m_clock;
unsigned long long int m_prevTime;
public:
InProcessPhysicsClientExistingExampleBrowser (struct GUIHelperInterface* guiHelper)
InProcessPhysicsClientExistingExampleBrowser (struct GUIHelperInterface* guiHelper, bool useInProcessMemory, bool skipGraphicsUpdate)
{
m_sharedMem = new InProcessMemory;
m_sharedMem=0;
CommonExampleOptions options(guiHelper);
options.m_sharedMem = m_sharedMem;
m_physicsServerExample = PhysicsServerCreateFuncBullet2(options);
if (useInProcessMemory)
{
m_sharedMem = new InProcessMemory;
options.m_sharedMem = m_sharedMem;
}
options.m_skipGraphicsUpdate = skipGraphicsUpdate;
m_physicsServerExample = PhysicsServerCreateFuncBullet2(options);
m_physicsServerExample ->initPhysics();
m_physicsServerExample ->resetCamera();
setSharedMemoryInterface(m_sharedMem);
@@ -251,9 +255,36 @@ int b3InProcessMouseButtonCallback(b3PhysicsClientHandle clientHandle, int butto
B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect(void* guiHelperPtr)
{
static DummyGUIHelper noGfx;
GUIHelperInterface* guiHelper = (GUIHelperInterface*) guiHelperPtr;
InProcessPhysicsClientExistingExampleBrowser* cl = new InProcessPhysicsClientExistingExampleBrowser(guiHelper);
//InProcessPhysicsClientFromGuiHelper* cl = new InProcessPhysicsClientFromGuiHelper(guiHelper);
if (!guiHelper)
{
guiHelper = &noGfx;
}
bool useInprocessMemory = true;
bool skipGraphicsUpdate = false;
InProcessPhysicsClientExistingExampleBrowser* cl = new InProcessPhysicsClientExistingExampleBrowser(guiHelper,useInprocessMemory,skipGraphicsUpdate);
cl->connect();
return (b3PhysicsClientHandle ) cl;
}
B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect2(void* guiHelperPtr)
{
static DummyGUIHelper noGfx;
GUIHelperInterface* guiHelper = (GUIHelperInterface*) guiHelperPtr;
if (!guiHelper)
{
guiHelper = &noGfx;
}
bool useInprocessMemory = false;
bool skipGraphicsUpdate = true;
InProcessPhysicsClientExistingExampleBrowser* cl = new InProcessPhysicsClientExistingExampleBrowser(guiHelper, useInprocessMemory, skipGraphicsUpdate);
cl->connect();
return (b3PhysicsClientHandle ) cl;
}