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Split Bullet/src/LinearMath/btSerializer.cpp into btSerializer64.cpp to make it easier to rebuild serialization structure.

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Add several MSVC optimization flags to cmake.
Bump up VERSION because serialization format changed
Expose btScalar& jointMaxForce, btScalar& jointMaxVelocity to 'getJointInfo2' API, add backwards compatibility to examples\Importers\ImportURDFDemo\URDFImporterInterface::getJointInfo.

pybullet: expose 4 more fields to getJointInfo: jointLowerLimit/jointUpperLimit/jointMaxForce/jointMaxVelocity
fix performance issue in CMD_ACTUAL_STATE_UPDATE_COMPLETED
This commit is contained in:
Erwin Coumans
2017-03-26 13:06:46 -07:00
parent ed6530264f
commit 7503418c72
32 changed files with 1412 additions and 1026 deletions
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33
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -23,7 +23,6 @@
#include "../CommonInterfaces/CommonParameterInterface.h"
//@todo(erwincoumans) those globals are hacks for a VR demo, move this to Python/pybullet!
extern btVector3 gLastPickPos;
@@ -309,27 +308,27 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
do
{
BT_PROFILE("loop");
{
BT_PROFILE("usleep(0)");
b3Clock::usleep(0);
}
if (gMaxNumCmdPer1ms>0)
{
if (numCmdSinceSleep1ms>gMaxNumCmdPer1ms)
if (gMaxNumCmdPer1ms>0)
{
BT_PROFILE("usleep(10)");
b3Clock::usleep(10);
numCmdSinceSleep1ms = 0;
sleepClock.reset();
if (numCmdSinceSleep1ms>gMaxNumCmdPer1ms)
{
BT_PROFILE("usleep(10)");
b3Clock::usleep(10);
numCmdSinceSleep1ms = 0;
sleepClock.reset();
}
}
if (sleepClock.getTimeMilliseconds()>1)
{
sleepClock.reset();
numCmdSinceSleep1ms = 0;
}
}
if (sleepClock.getTimeMilliseconds()>1)
{
sleepClock.reset();
numCmdSinceSleep1ms = 0;
}
unsigned long long int curTime = clock.getTimeMicroseconds();
@@ -344,7 +343,7 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
deltaTimeInSeconds+= dt;
{
//process special controller commands, such as
//VR controller button press/release and controller motion
@@ -449,7 +448,6 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
args->m_csGUI->unlock();
{
BT_PROFILE("stepSimulationRealTime");
args->m_physicsServerPtr->stepSimulationRealTime(deltaTimeInSeconds, args->m_sendVrControllerEvents,numSendVrControllers, keyEvents, args->m_sendKeyEvents.size());
}
deltaTimeInSeconds = 0;
@@ -487,7 +485,6 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
args->m_csGUI->unlock();
{
BT_PROFILE("processClientCommands");
args->m_physicsServerPtr->processClientCommands();
numCmdSinceSleep1ms++;
}