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small improvement to the shared memory physics server/client

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2015-05-28 17:49:55 -07:00
parent 82576d0bee
commit 7abefca6f1
4 changed files with 96 additions and 22 deletions
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59
examples/SharedMemory/PhysicsServer.cpp
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@@ -3,6 +3,10 @@
#include "../CommonInterfaces/CommonMultiBodyBase.h"
#include "PosixSharedMemory.h"
#include "../Importers/ImportURDFDemo/MyURDFImporter.h"
#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
@@ -21,6 +25,9 @@ public:
virtual void stepSimulation(float deltaTime);
bool loadUrdf(const char* fileName, const btVector3& pos, const btQuaternion& orn,
bool useMultiBody, bool useFixedBase);
virtual void resetCamera()
{
float dist = 1;
@@ -53,6 +60,8 @@ PhysicsServer::~PhysicsServer()
void PhysicsServer::initPhysics()
{
createEmptyDynamicsWorld();
m_testBlock1 = (SharedMemoryExampleData*) m_sharedMemory->allocateSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
// btAssert(m_testBlock1);
@@ -77,9 +86,34 @@ void PhysicsServer::initPhysics()
}
}
bool PhysicsServer::loadUrdf(const char* fileName, const btVector3& pos, const btQuaternion& orn,
bool useMultiBody, bool useFixedBase)
{
MyURDFImporter u2b(m_guiHelper);
bool loadOk = u2b.loadURDF(fileName);
if (loadOk)
{
b3Printf("loaded %s OK!", fileName);
btTransform tr;
tr.setIdentity();
tr.setOrigin(pos);
tr.setRotation(orn);
int rootLinkIndex = u2b.getRootLinkIndex();
// printf("urdf root link index = %d\n",rootLinkIndex);
MyMultiBodyCreator creation(m_guiHelper);
bool m_useMultiBody = true;
ConvertURDF2Bullet(u2b,creation, tr,m_dynamicsWorld,useMultiBody,u2b.getPathPrefix());
btMultiBody* mb = creation.getBulletMultiBody();
return false;
}
}
void PhysicsServer::stepSimulation(float deltaTime)
{
if (m_testBlock1)
{
///we ignore overflow of integer for now
@@ -89,20 +123,31 @@ void PhysicsServer::stepSimulation(float deltaTime)
//until we implement a proper ring buffer, we assume always maximum of 1 outstanding commands
btAssert(m_testBlock1->m_numClientCommands==m_testBlock1->m_numProcessedClientCommands+1);
const SharedMemoryCommand& clientCmd =m_testBlock1->m_clientCommands[0];
//consume the command
switch (m_testBlock1->m_clientCommands[0])
switch (clientCmd.m_type)
{
case CMD_LOAD_URDF:
{
b3Printf("Processed CMD_LOAD_URDF");
b3Printf("Processed CMD_LOAD_URDF:%s",clientCmd.m_urdfArguments.m_urdfFileName);
//load the actual URDF and send a report: completed or failed
m_testBlock1->m_serverCommands[0] =CMD_URDF_LOADING_COMPLETED;
m_testBlock1->m_numServerCommands++;
//CMD_URDF_LOADING_COMPLETED,
//CMD_URDF_LOADING_FAILED,
bool completedOk = loadUrdf(clientCmd.m_urdfArguments.m_urdfFileName,
btVector3(0,0,0), btQuaternion(0,0,0,1),true,true );
SharedMemoryCommand& serverCmd =m_testBlock1->m_serverCommands[0];
if (completedOk)
{
serverCmd.m_type =CMD_URDF_LOADING_COMPLETED;
} else
{
serverCmd.m_type =CMD_URDF_LOADING_FAILED;
}
m_testBlock1->m_numServerCommands++;
}
default:
{