Add Extras/BulletRobotics, will be installed as 'Extra Libs' using CMake
Reduce size of command-logfile (used in PhysicsServer (Logging) and PhysicsServer (Log Replay)) Make Bullet3Common and BulletInverseDynamics part of core Bullet libraries (not optional)
This commit is contained in:
Erwin Coumans
@@ -392,7 +392,6 @@ IF(BUILD_EXTRAS)
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ENDIF(BUILD_EXTRAS)
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#Maya Dynamica plugin is moved to http://dynamica.googlecode.com
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SUBDIRS(src)
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@@ -425,7 +424,7 @@ ENDIF(INSTALL_LIBS)
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#INSTALL of other files requires CMake 2.6
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IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
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OPTION(INSTALL_EXTRA_LIBS "Set when you want extra libraries installed" OFF)
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OPTION(INSTALL_EXTRA_LIBS "Set when you want extra libraries installed" ON)
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ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
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OPTION(BUILD_UNIT_TESTS "Build Unit Tests" ON)
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@@ -437,9 +436,8 @@ ENDIF()
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set (BULLET_CONFIG_CMAKE_PATH lib${LIB_SUFFIX}/cmake/bullet )
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list (APPEND BULLET_LIBRARIES LinearMath)
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IF(BUILD_BULLET3)
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list (APPEND BULLET_LIBRARIES BulletInverseDynamics)
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ENDIF(BUILD_BULLET3)
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list (APPEND BULLET_LIBRARIES Bullet3Common)
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list (APPEND BULLET_LIBRARIES BulletInverseDynamics)
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list (APPEND BULLET_LIBRARIES BulletCollision)
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list (APPEND BULLET_LIBRARIES BulletDynamics)
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list (APPEND BULLET_LIBRARIES BulletSoftBody)
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188
Extras/BulletRobotics/CMakeLists.txt
Normal file
188
Extras/BulletRobotics/CMakeLists.txt
Normal file
@@ -0,0 +1,188 @@
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INCLUDE_DIRECTORIES(
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${BULLET_PHYSICS_SOURCE_DIR}/src
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${BULLET_PHYSICS_SOURCE_DIR}/examples
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${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
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${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
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${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
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)
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SET(BulletRobotics_SRCS
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../../examples/SharedMemory/IKTrajectoryHelper.cpp
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../../examples/SharedMemory/IKTrajectoryHelper.h
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../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
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../../examples/SharedMemory/TinyRendererVisualShapeConverter.h
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../../examples/OpenGLWindow/SimpleCamera.cpp
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../../examples/OpenGLWindow/SimpleCamera.h
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../../examples/TinyRenderer/geometry.cpp
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../../examples/TinyRenderer/model.cpp
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../../examples/TinyRenderer/tgaimage.cpp
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../../examples/TinyRenderer/our_gl.cpp
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../../examples/TinyRenderer/TinyRenderer.cpp
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../../examples/SharedMemory/InProcessMemory.cpp
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../../examples/SharedMemory/PhysicsClient.cpp
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../../examples/SharedMemory/PhysicsClient.h
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../../examples/SharedMemory/PhysicsServer.cpp
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../../examples/SharedMemory/PhysicsServer.h
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../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
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../../examples/SharedMemory/PhysicsServerSharedMemory.h
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../../examples/SharedMemory/PhysicsDirect.cpp
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../../examples/SharedMemory/PhysicsDirect.h
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../../examples/SharedMemory/PhysicsDirectC_API.cpp
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../../examples/SharedMemory/PhysicsDirectC_API.h
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../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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../../examples/SharedMemory/PhysicsServerCommandProcessor.h
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../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
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../../examples/SharedMemory/PhysicsClientSharedMemory.h
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../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp
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../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h
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../../examples/SharedMemory/PhysicsClientC_API.cpp
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../../examples/SharedMemory/PhysicsClientC_API.h
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../../examples/SharedMemory/SharedMemoryPublic.h
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../../examples/SharedMemory/Win32SharedMemory.cpp
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../../examples/SharedMemory/Win32SharedMemory.h
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../../examples/SharedMemory/PosixSharedMemory.cpp
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../../examples/SharedMemory/PosixSharedMemory.h
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../../examples/Utils/b3ResourcePath.cpp
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../../examples/Utils/b3ResourcePath.h
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../../examples/Utils/RobotLoggingUtil.cpp
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../../examples/Utils/RobotLoggingUtil.h
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../../examples/Utils/b3Clock.cpp
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../../examples/Utils/b3ResourcePath.cpp
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../../examples/Utils/b3ERPCFMHelper.hpp
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../../examples/Utils/b3ReferenceFrameHelper.hpp
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../../examples/Utils/ChromeTraceUtil.cpp
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../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp
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../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp
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../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
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../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
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../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
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../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
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../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
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../../examples/ThirdPartyLibs/BussIK/Jacobian.cpp
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../../examples/ThirdPartyLibs/BussIK/LinearR2.cpp
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../../examples/ThirdPartyLibs/BussIK/LinearR3.cpp
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../../examples/ThirdPartyLibs/BussIK/LinearR4.cpp
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../../examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp
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../../examples/ThirdPartyLibs/BussIK/Misc.cpp
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../../examples/ThirdPartyLibs/BussIK/Node.cpp
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../../examples/ThirdPartyLibs/BussIK/Tree.cpp
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../../examples/ThirdPartyLibs/BussIK/VectorRn.cpp
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../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
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../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
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../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
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../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
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../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
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../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
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../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
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../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
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../../examples/MultiThreading/b3PosixThreadSupport.cpp
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../../examples/MultiThreading/b3Win32ThreadSupport.cpp
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../../examples/MultiThreading/b3ThreadSupportInterface.cpp
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)
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IF(BUILD_CLSOCKET)
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ADD_DEFINITIONS(-DBT_ENABLE_CLSOCKET)
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ENDIF(BUILD_CLSOCKET)
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IF(WIN32)
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LINK_LIBRARIES(
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${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
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)
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IF(BUILD_ENET)
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ADD_DEFINITIONS(-DWIN32 -DBT_ENABLE_ENET)
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ENDIF(BUILD_ENET)
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IF(BUILD_CLSOCKET)
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ADD_DEFINITIONS(-DWIN32)
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ENDIF(BUILD_CLSOCKET)
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ELSE(WIN32)
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IF(BUILD_ENET)
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ADD_DEFINITIONS(-DHAS_SOCKLEN_T -DBT_ENABLE_ENET)
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ENDIF(BUILD_ENET)
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IF(BUILD_CLSOCKET)
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ADD_DEFINITIONS(${OSDEF})
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ENDIF(BUILD_CLSOCKET)
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ENDIF(WIN32)
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IF(BUILD_ENET)
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set(BulletRobotics_SRCS ${BulletRobotics_SRCS}
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../../examples/SharedMemory/PhysicsClientUDP.cpp
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../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp
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../../examples/SharedMemory/PhysicsClientUDP.h
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../../examples/SharedMemory/PhysicsClientUDP_C_API.h
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../../examples/ThirdPartyLibs/enet/win32.c
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../../examples/ThirdPartyLibs/enet/unix.c
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../../examples/ThirdPartyLibs/enet/callbacks.c
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../../examples/ThirdPartyLibs/enet/compress.c
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../../examples/ThirdPartyLibs/enet/host.c
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../../examples/ThirdPartyLibs/enet/list.c
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../../examples/ThirdPartyLibs/enet/packet.c
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../../examples/ThirdPartyLibs/enet/peer.c
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../../examples/ThirdPartyLibs/enet/protocol.c
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)
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ENDIF(BUILD_ENET)
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IF(BUILD_CLSOCKET)
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set(BulletRobotics_SRCS ${BulletRobotics_SRCS}
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../../examples/SharedMemory/PhysicsClientTCP.cpp
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../../examples/SharedMemory/PhysicsClientTCP.h
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../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp
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../../examples/SharedMemory/PhysicsClientTCP_C_API.h
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../../examples/ThirdPartyLibs/clsocket/src/SimpleSocket.cpp
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../../examples/ThirdPartyLibs/clsocket/src/ActiveSocket.cpp
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../../examples/ThirdPartyLibs/clsocket/src/PassiveSocket.cpp
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)
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ENDIF()
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ADD_DEFINITIONS(-DPHYSICS_SERVER_DIRECT)
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ADD_LIBRARY(BulletRobotics ${BulletRobotics_SRCS})
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SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES VERSION ${BULLET_VERSION})
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SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES SOVERSION ${BULLET_VERSION})
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IF (BUILD_SHARED_LIBS)
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TARGET_LINK_LIBRARIES(BulletRobotics BulletInverseDynamicsUtils BulletWorldImporter BulletFileLoader BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamics LinearMath Bullet3Common)
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ENDIF (BUILD_SHARED_LIBS)
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IF (INSTALL_EXTRA_LIBS)
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INSTALL(FILES
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../../examples/SharedMemory/PhysicsClientC_API.h
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../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h
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../../examples/SharedMemory/PhysicsClientSharedMemory2_C_API.h
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../../examples/SharedMemory/PhysicsDirectC_API.h
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../../examples/SharedMemory/PhysicsClientUDP_C_API.h
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../../examples/SharedMemory/PhysicsClientTCP_C_API.h
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../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h
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../../examples/SharedMemory/SharedMemoryPublic.h
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DESTINATION include/bullet
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)
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INSTALL(TARGETS
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BulletRobotics
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LIBRARY DESTINATION lib${LIB_SUFFIX}
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ARCHIVE DESTINATION lib${LIB_SUFFIX}
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)
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IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES FRAMEWORK true)
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SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES PUBLIC_HEADER "PhysicsClientC_API.h" )
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ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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ENDIF (INSTALL_EXTRA_LIBS)
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@@ -1,8 +1,6 @@
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SUBDIRS( obj2sdf Serialize ConvexDecomposition HACD GIMPACTUtils )
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SUBDIRS( InverseDynamics BulletRobotics obj2sdf Serialize ConvexDecomposition HACD GIMPACTUtils )
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IF(BUILD_BULLET3)
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SUBDIRS( InverseDynamics)
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ENDIF()
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#Maya Dynamica plugin is moved to http://dynamica.googlecode.com
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@@ -1,4 +1,4 @@
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mkdir build_cmake
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cd build_cmake
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cmake -DBUILD_PYBULLET=ON -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release -DPYTHON_INCLUDE_DIR=c:\python-3.5.2\include -DPYTHON_LIBRARY=c:\python-3.5.2\libs\python35.lib -DPYTHON_DEBUG_LIBRARY=c:\python-3.5.2\libs\python35_d.lib -G "Visual Studio 14 2015" ..
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cmake -DBUILD_PYBULLET=ON -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release -DPYTHON_INCLUDE_DIR=c:\python-3.5.3.amd64\include -DPYTHON_LIBRARY=c:\python-3.5.3.amd64\libs\python35.lib -DPYTHON_DEBUG_LIBRARY=c:\python-3.5.3.amd64\libs\python35_d.lib -G "Visual Studio 14 2015 Win64" ..
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start .
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@@ -324,4 +324,4 @@ IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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SET_TARGET_PROPERTIES(App_PhysicsServer_SharedMemory_VR PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
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ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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ENDIF(WIN32)
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ENDIF(WIN32 OR APPLE)
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@@ -15,7 +15,15 @@ B3_DECLARE_HANDLE(b3SharedMemoryStatusHandle);
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#include "PhysicsClientSharedMemory_C_API.h"
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#include "PhysicsClientSharedMemory2_C_API.h"
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#include "PhysicsDirectC_API.h"
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#ifdef BT_ENABLE_ENET
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#include "PhysicsClientUDP_C_API.h"
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#endif
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#ifdef BT_ENABLE_CLSOCKET
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#include "PhysicsClientTCP_C_API.h"
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#endif
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#include "SharedMemoryInProcessPhysicsC_API.h"
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#ifdef __cplusplus
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@@ -293,29 +293,108 @@ struct CommandLogger
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void logCommand(const SharedMemoryCommand& command)
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{
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btCommandChunk chunk;
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chunk.m_chunkCode = command.m_type;
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chunk.m_oldPtr = 0;
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chunk.m_dna_nr = 0;
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chunk.m_length = sizeof(SharedMemoryCommand);
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chunk.m_number = 1;
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fwrite((const char*)&chunk,sizeof(btCommandChunk), 1,m_file);
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fwrite((const char*)&command,sizeof(SharedMemoryCommand),1,m_file);
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if (m_file)
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{
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btCommandChunk chunk;
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chunk.m_chunkCode = command.m_type;
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chunk.m_oldPtr = 0;
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chunk.m_dna_nr = 0;
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chunk.m_length = sizeof(SharedMemoryCommand);
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chunk.m_number = 1;
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fwrite((const char*)&chunk,sizeof(btCommandChunk), 1,m_file);
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switch (command.m_type)
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{
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case CMD_LOAD_MJCF:
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{
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fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
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fwrite((const char*)&command.m_mjcfArguments , sizeof(MjcfArgs),1,m_file);
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break;
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}
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case CMD_REQUEST_BODY_INFO:
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{
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fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
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fwrite((const char*)&command.m_sdfRequestInfoArgs, sizeof(SdfRequestInfoArgs),1,m_file);
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break;
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}
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case CMD_REQUEST_VISUAL_SHAPE_INFO:
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{
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fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
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fwrite((const char*)&command.m_requestVisualShapeDataArguments, sizeof(RequestVisualShapeDataArgs),1,m_file);
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break;
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}
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case CMD_LOAD_URDF:
|
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{
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fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
|
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fwrite((const char*)&command.m_urdfArguments, sizeof(UrdfArgs),1,m_file);
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break;
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}
|
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case CMD_INIT_POSE:
|
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{
|
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fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
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fwrite((const char*)&command.m_initPoseArgs,sizeof(InitPoseArgs),1,m_file);
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break;
|
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};
|
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case CMD_REQUEST_ACTUAL_STATE:
|
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{
|
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fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
|
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fwrite((const char*)&command.m_requestActualStateInformationCommandArgument,
|
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sizeof(RequestActualStateArgs),1,m_file);
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break;
|
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};
|
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case CMD_SEND_DESIRED_STATE:
|
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{
|
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fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
|
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fwrite((const char*)&command.m_sendDesiredStateCommandArgument,sizeof(SendDesiredStateArgs),1,m_file);
|
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break;
|
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}
|
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case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS:
|
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{
|
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fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
|
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fwrite((const char*)&command.m_physSimParamArgs, sizeof(SendPhysicsSimulationParameters), 1,m_file);
|
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break;
|
||||
}
|
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case CMD_REQUEST_CONTACT_POINT_INFORMATION:
|
||||
{
|
||||
fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
|
||||
fwrite((const char*)&command.m_requestContactPointArguments,sizeof(RequestContactDataArgs),1,m_file);
|
||||
break;
|
||||
}
|
||||
case CMD_STEP_FORWARD_SIMULATION:
|
||||
case CMD_RESET_SIMULATION:
|
||||
case CMD_REQUEST_INTERNAL_DATA:
|
||||
{
|
||||
break;
|
||||
};
|
||||
default:
|
||||
{
|
||||
fwrite((const char*)&command,sizeof(SharedMemoryCommand),1,m_file);
|
||||
}
|
||||
|
||||
};
|
||||
}
|
||||
}
|
||||
|
||||
CommandLogger(const char* fileName)
|
||||
{
|
||||
m_file = fopen(fileName,"wb");
|
||||
unsigned char buf[15];
|
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buf[12] = 12;
|
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buf[13] = 13;
|
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buf[14] = 14;
|
||||
writeHeader(buf);
|
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fwrite(buf,12,1,m_file);
|
||||
if (m_file)
|
||||
{
|
||||
unsigned char buf[15];
|
||||
buf[12] = 12;
|
||||
buf[13] = 13;
|
||||
buf[14] = 14;
|
||||
writeHeader(buf);
|
||||
fwrite(buf,12,1,m_file);
|
||||
}
|
||||
}
|
||||
virtual ~CommandLogger()
|
||||
{
|
||||
fclose(m_file);
|
||||
if (m_file)
|
||||
{
|
||||
fclose(m_file);
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
@@ -355,28 +434,162 @@ struct CommandLogPlayback
|
||||
}
|
||||
bool processNextCommand(SharedMemoryCommand* cmd)
|
||||
{
|
||||
//for a little while, keep this flag to be able to read 'old' log files
|
||||
//#define BACKWARD_COMPAT
|
||||
#if BACKWARD_COMPAT
|
||||
SharedMemoryCommand unused;
|
||||
#endif//BACKWARD_COMPAT
|
||||
bool result = false;
|
||||
|
||||
if (m_file)
|
||||
{
|
||||
size_t s = 0;
|
||||
|
||||
int commandType = -1;
|
||||
|
||||
if (m_fileIs64bit)
|
||||
{
|
||||
bCommandChunkPtr8 chunk8;
|
||||
s = fread((void*)&chunk8,sizeof(bCommandChunkPtr8),1,m_file);
|
||||
commandType = chunk8.code;
|
||||
} else
|
||||
{
|
||||
bCommandChunkPtr4 chunk4;
|
||||
s = fread((void*)&chunk4,sizeof(bCommandChunkPtr4),1,m_file);
|
||||
commandType = chunk4.code;
|
||||
}
|
||||
|
||||
if (s==1)
|
||||
{
|
||||
s = fread(cmd,sizeof(SharedMemoryCommand),1,m_file);
|
||||
return (s==1);
|
||||
memset(cmd,0,sizeof(SharedMemoryCommand));
|
||||
cmd->m_type = commandType;
|
||||
|
||||
#ifdef BACKWARD_COMPAT
|
||||
s = fread(&unused,sizeof(SharedMemoryCommand),1,m_file);
|
||||
cmd->m_updateFlags = unused.m_updateFlags;
|
||||
#endif
|
||||
|
||||
|
||||
switch (commandType)
|
||||
{
|
||||
case CMD_LOAD_MJCF:
|
||||
{
|
||||
#ifdef BACKWARD_COMPAT
|
||||
cmd->m_mjcfArguments = unused.m_mjcfArguments;
|
||||
#else
|
||||
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
|
||||
fread(&cmd->m_mjcfArguments,sizeof(MjcfArgs),1,m_file);
|
||||
#endif
|
||||
result=true;
|
||||
break;
|
||||
}
|
||||
case CMD_REQUEST_BODY_INFO:
|
||||
{
|
||||
#ifdef BACKWARD_COMPAT
|
||||
cmd->m_sdfRequestInfoArgs = unused.m_sdfRequestInfoArgs;
|
||||
#else
|
||||
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
|
||||
fread(&cmd->m_sdfRequestInfoArgs,sizeof(SdfRequestInfoArgs),1,m_file);
|
||||
#endif
|
||||
result=true;
|
||||
break;
|
||||
}
|
||||
case CMD_REQUEST_VISUAL_SHAPE_INFO:
|
||||
{
|
||||
#ifdef BACKWARD_COMPAT
|
||||
cmd->m_requestVisualShapeDataArguments = unused.m_requestVisualShapeDataArguments;
|
||||
#else
|
||||
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
|
||||
fread(&cmd->m_requestVisualShapeDataArguments,sizeof(RequestVisualShapeDataArgs),1,m_file);
|
||||
#endif
|
||||
result=true;
|
||||
break;
|
||||
}
|
||||
case CMD_LOAD_URDF:
|
||||
{
|
||||
#ifdef BACKWARD_COMPAT
|
||||
cmd->m_urdfArguments = unused.m_urdfArguments;
|
||||
#else
|
||||
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
|
||||
fread(&cmd->m_urdfArguments,sizeof(UrdfArgs),1,m_file);
|
||||
#endif
|
||||
result=true;
|
||||
break;
|
||||
}
|
||||
case CMD_INIT_POSE:
|
||||
{
|
||||
#ifdef BACKWARD_COMPAT
|
||||
cmd->m_initPoseArgs = unused.m_initPoseArgs;
|
||||
#else
|
||||
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
|
||||
fread(&cmd->m_initPoseArgs,sizeof(InitPoseArgs),1,m_file);
|
||||
|
||||
#endif
|
||||
result=true;
|
||||
break;
|
||||
};
|
||||
case CMD_REQUEST_ACTUAL_STATE:
|
||||
{
|
||||
#ifdef BACKWARD_COMPAT
|
||||
cmd->m_requestActualStateInformationCommandArgument = unused.m_requestActualStateInformationCommandArgument;
|
||||
#else
|
||||
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
|
||||
fread(&cmd->m_requestActualStateInformationCommandArgument,sizeof(RequestActualStateArgs),1,m_file);
|
||||
#endif
|
||||
result=true;
|
||||
break;
|
||||
};
|
||||
case CMD_SEND_DESIRED_STATE:
|
||||
{
|
||||
#ifdef BACKWARD_COMPAT
|
||||
cmd->m_sendDesiredStateCommandArgument = unused.m_sendDesiredStateCommandArgument;
|
||||
#else
|
||||
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
|
||||
fread(&cmd->m_sendDesiredStateCommandArgument ,sizeof(SendDesiredStateArgs),1,m_file);
|
||||
|
||||
#endif
|
||||
result = true;
|
||||
break;
|
||||
}
|
||||
case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS:
|
||||
{
|
||||
#ifdef BACKWARD_COMPAT
|
||||
cmd->m_physSimParamArgs = unused.m_physSimParamArgs;
|
||||
#else
|
||||
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
|
||||
fread(&cmd->m_physSimParamArgs ,sizeof(SendPhysicsSimulationParameters),1,m_file);
|
||||
|
||||
#endif
|
||||
result = true;
|
||||
break;
|
||||
}
|
||||
case CMD_REQUEST_CONTACT_POINT_INFORMATION:
|
||||
{
|
||||
#ifdef BACKWARD_COMPAT
|
||||
cmd->m_requestContactPointArguments = unused.m_requestContactPointArguments;
|
||||
#else
|
||||
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
|
||||
fread(&cmd->m_requestContactPointArguments ,sizeof(RequestContactDataArgs),1,m_file);
|
||||
|
||||
#endif
|
||||
result = true;
|
||||
break;
|
||||
}
|
||||
case CMD_STEP_FORWARD_SIMULATION:
|
||||
case CMD_RESET_SIMULATION:
|
||||
case CMD_REQUEST_INTERNAL_DATA:
|
||||
{
|
||||
result=true;
|
||||
break;
|
||||
}
|
||||
default:
|
||||
{
|
||||
s = fread(cmd,sizeof(SharedMemoryCommand),1,m_file);
|
||||
result=(s==1);
|
||||
}
|
||||
};
|
||||
}
|
||||
}
|
||||
return false;
|
||||
return result;
|
||||
|
||||
}
|
||||
};
|
||||
@@ -3458,7 +3671,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
|
||||
serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = sdfInfoArgs.m_bodyUniqueId;
|
||||
serverStatusOut.m_dataStreamArguments.m_bodyName[0] = 0;
|
||||
|
||||
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_calculateJacobianArguments.m_bodyUniqueId);
|
||||
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(sdfInfoArgs.m_bodyUniqueId);
|
||||
if (bodyHandle)
|
||||
{
|
||||
strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName,bodyHandle->m_bodyName.c_str());
|
||||
|
||||
@@ -1,10 +1,10 @@
|
||||
|
||||
IF(BUILD_BULLET3)
|
||||
SUBDIRS( Bullet3OpenCL Bullet3Serialize/Bullet2FileLoader Bullet3Dynamics Bullet3Collision Bullet3Geometry Bullet3Common )
|
||||
SUBDIRS( BulletInverseDynamics )
|
||||
SUBDIRS( Bullet3OpenCL Bullet3Serialize/Bullet2FileLoader Bullet3Dynamics Bullet3Collision Bullet3Geometry )
|
||||
ENDIF(BUILD_BULLET3)
|
||||
|
||||
SUBDIRS( BulletSoftBody BulletCollision BulletDynamics LinearMath )
|
||||
|
||||
SUBDIRS( BulletInverseDynamics BulletSoftBody BulletCollision BulletDynamics LinearMath Bullet3Common)
|
||||
|
||||
|
||||
IF(INSTALL_LIBS)
|
||||
|
||||
Reference in New Issue
Block a user