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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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39
examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
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@@ -5,7 +5,7 @@
#include "PhysicsClientSharedMemory.h"
#include"../ExampleBrowser/InProcessExampleBrowser.h"
#include "Bullet3Common/b3Logging.h"
class InProcessPhysicsClientSharedMemoryMainThread : public PhysicsClientSharedMemory
{
btInProcessExampleBrowserMainThreadInternalData* m_data;
@@ -39,18 +39,33 @@ public:
// return non-null if there is a status, nullptr otherwise
virtual const struct SharedMemoryStatus* processServerStatus()
{
if (btIsExampleBrowserMainThreadTerminated(m_data))
{
PhysicsClientSharedMemory::disconnectSharedMemory();
}
unsigned long int ms = m_clock.getTimeMilliseconds();
if (ms>20)
{
m_clock.reset();
btUpdateInProcessExampleBrowserMainThread(m_data);
{
if (btIsExampleBrowserMainThreadTerminated(m_data))
{
PhysicsClientSharedMemory::disconnectSharedMemory();
}
}
b3Clock::usleep(0);
return PhysicsClientSharedMemory::processServerStatus();
{
unsigned long int ms = m_clock.getTimeMilliseconds();
if (ms>20)
{
B3_PROFILE("m_clock.reset()");
m_clock.reset();
btUpdateInProcessExampleBrowserMainThread(m_data);
}
}
{
b3Clock::usleep(0);
}
const SharedMemoryStatus* stat = 0;
{
stat = PhysicsClientSharedMemory::processServerStatus();
}
return stat;
}