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Merge pull request #970 from erwincoumans/master

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pybullet, physics-server version check, small cleanup of build scripts, use b3Clock RTC timeout instead of 1024*1024*1024 iterations,
This commit is contained in:
erwincoumans
2017-02-22 12:00:59 -08:00
committed by GitHub
parent 4c5958af1a aff3b13ebd
commit 8fd8d5151f
19 changed files with 203 additions and 126 deletions
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24
build3/premake4.lua
View File

@@ -71,6 +71,12 @@
description = "Don't build Extras"
}
newoption
{
trigger = "standalone-examples",
description = "Build standalone examples with reduced dependencies."
}
newoption
{
trigger = "no-clsocket",
@@ -249,17 +255,9 @@ end
include "../examples/ExampleBrowser"
include "../examples/OpenGLWindow"
include "../examples/ThirdPartyLibs/Gwen"
include "../examples/SimpleOpenGL3"
include "../examples/TinyRenderer"
include "../examples/HelloWorld"
include "../examples/BasicDemo"
include "../examples/InverseDynamics"
include "../examples/ExtendedTutorials"
include "../examples/SharedMemory"
include "../examples/ThirdPartyLibs/BussIK"
include "../examples/MultiThreading"
if _OPTIONS["lua"] then
include "../examples/ThirdPartyLibs/lua-5.2.3"
@@ -268,9 +266,17 @@ end
include "../examples/pybullet"
end
if _OPTIONS["standalone-examples"] then
include "../examples/SimpleOpenGL3"
include "../examples/TinyRenderer"
include "../examples/BasicDemo"
include "../examples/InverseDynamics"
include "../examples/ExtendedTutorials"
include "../examples/MultiThreading"
end
if not _OPTIONS["no-test"] then
include "../test/SharedMemory"
end
end

7
build_and_run_cmake.sh
View File

@@ -1,7 +0,0 @@
#!/bin/sh
rm CMakeCache.txt
mkdir build_cmake
cd build_cmake
cmake -DBUILD_PYBULLET=OFF -DCMAKE_BUILD_TYPE=Release ..
make -j12
examples/ExampleBrowser/App_ExampleBrowser

7
build_and_run_premake.sh
View File

@@ -1,7 +0,0 @@
#!/bin/sh
cd build3
./premake4_linux64 gmake
./premake4_osx gmake
cd gmake
make -j12 --double --enable_pybullet
../../bin/App_BulletExampleBrowser_gmake_x64_release

2
build_and_run_cmake_pybullet_double.sh → build_cmake_pybullet_double.sh
View File

@@ -2,7 +2,7 @@
rm CMakeCache.txt
mkdir build_cmake
cd build_cmake
cmake -DBUILD_PYBULLET=ON -DBUILD_PYBULLET_NUMPY=OFF -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release -G Xcode ..
cmake -DBUILD_PYBULLET=ON -DBUILD_PYBULLET_NUMPY=OFF -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release ..
make -j12
cd examples
cd pybullet

4
build_cmake_pybullet_win32.bat
View File

@@ -1,4 +0,0 @@
mkdir cm
cd cm
cmake -DBUILD_PYBULLET=ON -DCMAKE_BUILD_TYPE=Release -DUSE_DOUBLE_PRECISION=ON -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 ..
start .

5
build_visual_studio.bat
View File

@@ -1,5 +0,0 @@
cd build3
premake4 --targetdir="../bin" vs2010
start vs2010

24
examples/ExampleBrowser/ExampleEntries.cpp
View File

@@ -133,6 +133,17 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(1,"Inverted Pendulum PD","Keep an inverted pendulum up using open loop PD control", InvertedPendulumPDControlCreateFunc),
ExampleEntry(1,"MultiBody Soft Contact", "Using the error correction parameter (ERP) and constraint force mixing (CFM) values for contacts to simulate compliant contact.",MultiBodySoftContactCreateFunc,0),
ExampleEntry(0,"Physics Client-Server"),
ExampleEntry(1,"Physics Server", "Create a physics server that communicates with a physics client over shared memory. You can connect to the server using pybullet, a PhysicsClient or a UDP/TCP Bridge.",
PhysicsServerCreateFunc),
ExampleEntry(1, "Physics Client (Shared Mem)", "Create a physics client that can communicate with a physics server over shared memory.", PhysicsClientCreateFunc),
// ExampleEntry(1,"Physics Server (Logging)", "Create a physics server that communicates with a physics client over shared memory. It will log all commands to a file.",
// PhysicsServerCreateFunc,PHYSICS_SERVER_ENABLE_COMMAND_LOGGING),
// ExampleEntry(1,"Physics Server (Replay Log)", "Create a physics server that replay a command log from disk.",
// PhysicsServerCreateFunc,PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG),
//
// ExampleEntry(1, "Physics Client (Direct)", "Create a physics client that can communicate with a physics server directly in-process.", PhysicsClientCreateFunc,eCLIENTEXAMPLE_DIRECT),
ExampleEntry(0,"Inverse Dynamics"),
ExampleEntry(1,"Inverse Dynamics URDF", "Create a btMultiBody from URDF. Create an inverse MultiBodyTree model from that. Use either decoupled PD control or computed torque control using the inverse model to track joint position targets", InverseDynamicsExampleCreateFunc,BT_ID_LOAD_URDF),
@@ -251,19 +262,10 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(0,"Experiments"),
ExampleEntry(1,"Robot Control", "Create a physics client and server to create and control robots.",
PhysicsClientCreateFunc, eCLIENTEXAMPLE_SERVER),
ExampleEntry(1,"Physics Server", "Create a physics server that communicates with a physics client over shared memory",
PhysicsServerCreateFunc),
ExampleEntry(1,"Physics Server (RTC)", "Create a physics server that communicates with a physics client over shared memory. At each update, the Physics Server will continue calling 'stepSimulation' based on the real-time clock (RTC).",
PhysicsServerCreateFunc,PHYSICS_SERVER_USE_RTC_CLOCK),
ExampleEntry(1,"Physics Server (Logging)", "Create a physics server that communicates with a physics client over shared memory. It will log all commands to a file.",
PhysicsServerCreateFunc,PHYSICS_SERVER_ENABLE_COMMAND_LOGGING),
ExampleEntry(1,"Physics Server (Replay Log)", "Create a physics server that replay a command log from disk.",
PhysicsServerCreateFunc,PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG),
ExampleEntry(1, "Physics Client (Shared Mem)", "Create a physics client that can communicate with a physics server over shared memory.", PhysicsClientCreateFunc),
ExampleEntry(1, "Physics Client (Direct)", "Create a physics client that can communicate with a physics server directly in-process.", PhysicsClientCreateFunc,eCLIENTEXAMPLE_DIRECT),
ExampleEntry(1,"R2D2 Grasp","Load the R2D2 robot from URDF file and control it to grasp objects", R2D2GraspExampleCreateFunc, eROBOTIC_LEARN_GRASP),
ExampleEntry(1,"Kuka IK","Control a Kuka IIWA robot to follow a target using IK. This IK is not setup properly yet.", KukaGraspExampleCreateFunc,0),

10
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -1033,9 +1033,15 @@ int b3SubmitClientCommand(b3PhysicsClientHandle physClient, const b3SharedMemory
}
#include "../Utils/b3Clock.h"
b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHandle physClient, const b3SharedMemoryCommandHandle commandHandle)
{
int timeout = 1024 * 1024 * 1024;
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = 10;
b3SharedMemoryStatusHandle statusHandle = 0;
b3Assert(commandHandle);
b3Assert(physClient);
@@ -1043,7 +1049,7 @@ b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHan
{
b3SubmitClientCommand(physClient, commandHandle);
while ((statusHandle == 0) && (timeout-- > 0))
while ((statusHandle == 0) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
statusHandle = b3ProcessServerStatus(physClient);
}

8
examples/SharedMemory/PhysicsClientSharedMemory.cpp
View File

@@ -268,11 +268,13 @@ bool PhysicsClientSharedMemory::connect() {
command.m_type = CMD_REQUEST_BODY_INFO;
command.m_sdfRequestInfoArgs.m_bodyUniqueId = 37;
submitClientCommand(command);
int timeout = 1024 * 1024 * 1024;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = 10;
const SharedMemoryStatus* status = 0;
while ((status == 0) && (timeout-- > 0))
while ((status == 0) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
status = processServerStatus();

11
examples/SharedMemory/PhysicsClientTCP.cpp
View File

@@ -64,7 +64,14 @@ struct TcpNetworkedInternalData
m_tcpSocket.Initialize();
m_isConnected = m_tcpSocket.Open(m_hostName.c_str(),m_port);
if (m_isConnected)
{
m_tcpSocket.SetSendTimeout(5,0);
m_tcpSocket.SetReceiveTimeout(5,0);
}
int key = SHARED_MEMORY_MAGIC_NUMBER;
m_tcpSocket.Send((uint8*)&key,4);
return m_isConnected;
}
@@ -243,6 +250,8 @@ bool TcpNetworkedPhysicsProcessor::connect()
void TcpNetworkedPhysicsProcessor::disconnect()
{
const char msg[16]="disconnect";
m_data->m_tcpSocket.Send((const uint8 *)msg,10);
m_data->m_tcpSocket.Close();
m_data->m_isConnected = false;
}

14
examples/SharedMemory/PhysicsClientUDP.cpp
View File

@@ -464,26 +464,32 @@ bool UdpNetworkedPhysicsProcessor::processCommand(const struct SharedMemoryComma
printf("PhysicsClientUDP::processCommand\n");
}
// int sz = sizeof(SharedMemoryCommand);
int timeout = 1024 * 1024 * 1024;
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = 10;
m_data->m_cs->lock();
m_data->m_clientCmd = clientCmd;
m_data->m_hasCommand = true;
m_data->m_cs->unlock();
while (m_data->m_hasCommand && (timeout-- > 0))
while ((m_data->m_hasCommand) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
b3Clock::usleep(0);
}
#if 0
timeout = 1024 * 1024 * 1024;
bool hasStatus = false;
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = 10;
const SharedMemoryStatus* stat = 0;
while ((!hasStatus) && (timeout-- > 0))
while ((!hasStatus) && (clock.getTimeInSeconds() - startTime < timeOutInSeconds))
{
hasStatus = receiveStatus(serverStatusOut, bufferServerToClient, bufferSizeInBytes);
b3Clock::usleep(100);

57
examples/SharedMemory/PhysicsDirect.cpp
View File

@@ -4,7 +4,7 @@
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "SharedMemoryCommands.h"
#include "PhysicsCommandProcessorInterface.h"
#include "../Utils/b3Clock.h"
#include "LinearMath/btHashMap.h"
#include "LinearMath/btAlignedObjectArray.h"
@@ -137,8 +137,10 @@ bool PhysicsDirect::connect()
}
else
{
int timeout = 1024 * 1024 * 1024;
while ((!hasStatus) && (timeout-- > 0))
b3Clock clock;
double timeSec = clock.getTimeInSeconds();
while ((!hasStatus) && (clock.getTimeInSeconds()-timeSec <10 ))
{
const SharedMemoryStatus* stat = processServerStatus();
if (stat)
@@ -226,8 +228,11 @@ bool PhysicsDirect::processDebugLines(const struct SharedMemoryCommand& orgComma
bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
int timeout = 1024 * 1024 * 1024;
while ((!hasStatus) && (timeout-- > 0))
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = 10;
while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
const SharedMemoryStatus* stat = processServerStatus();
if (stat)
@@ -308,8 +313,11 @@ bool PhysicsDirect::processVisualShapeData(const struct SharedMemoryCommand& org
{
bool hasStatus = m_data->m_commandProcessor->processCommand(command, m_data->m_serverStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
int timeout = 1024 * 1024 * 1024;
while ((!hasStatus) && (timeout-- > 0))
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = 10;
while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
const SharedMemoryStatus* stat = processServerStatus();
if (stat)
@@ -359,8 +367,11 @@ bool PhysicsDirect::processOverlappingObjects(const struct SharedMemoryCommand&
{
bool hasStatus = m_data->m_commandProcessor->processCommand(command, m_data->m_serverStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
int timeout = 1024 * 1024 * 1024;
while ((!hasStatus) && (timeout-- > 0))
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = 10;
while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
const SharedMemoryStatus* stat = processServerStatus();
if (stat)
@@ -414,8 +425,11 @@ bool PhysicsDirect::processContactPointData(const struct SharedMemoryCommand& or
{
bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
int timeout = 1024 * 1024 * 1024;
while ((!hasStatus) && (timeout-- > 0))
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = 10;
while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
const SharedMemoryStatus* stat = processServerStatus();
if (stat)
@@ -475,8 +489,11 @@ bool PhysicsDirect::processCamera(const struct SharedMemoryCommand& orgCommand)
bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
int timeout = 1024 * 1024 * 1024;
while ((!hasStatus) && (timeout-- > 0))
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = 10;
while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
const SharedMemoryStatus* stat = processServerStatus();
if (stat)
@@ -735,8 +752,11 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
bool hasStatus = m_data->m_commandProcessor->processCommand(infoRequestCommand, infoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
int timeout = 1024 * 1024 * 1024;
while ((!hasStatus) && (timeout-- > 0))
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = 10;
while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
hasStatus = m_data->m_commandProcessor->receiveStatus(infoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
}
@@ -759,8 +779,11 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
bool hasStatus = m_data->m_commandProcessor->processCommand(infoRequestCommand, infoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
int timeout = 1024 * 1024 * 1024;
while ((!hasStatus) && (timeout-- > 0))
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = 10;
while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
hasStatus = m_data->m_commandProcessor->receiveStatus(infoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
}

6
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -1153,6 +1153,12 @@ public:
gCreateDefaultRobotAssets = true;
}
if (args.CheckCmdLineFlag("realtimesimulation"))
{
//gEnableRealTimeSimVR = true;
m_physicsServer.enableRealTimeSimulation(true);
}
if (args.CheckCmdLineFlag("norobotassets"))
{
gCreateDefaultRobotAssets = false;

2
examples/SharedMemory/SharedMemoryBlock.h
View File

@@ -1,9 +1,9 @@
#ifndef SHARED_MEMORY_BLOCK_H
#define SHARED_MEMORY_BLOCK_H
#define SHARED_MEMORY_MAGIC_NUMBER 64738
#define SHARED_MEMORY_MAX_COMMANDS 4
#include "SharedMemoryCommands.h"
struct SharedMemoryBlock

3
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -2,6 +2,9 @@
#define SHARED_MEMORY_PUBLIC_H
#define SHARED_MEMORY_KEY 12347
///increase the SHARED_MEMORY_MAGIC_NUMBER whenever incompatible changes are made in the structures
///my convention is year/month/day/rev
#define SHARED_MEMORY_MAGIC_NUMBER 201702220
enum EnumSharedMemoryClientCommand
{

100
examples/SharedMemory/tcp/main.cpp
View File

@@ -44,11 +44,8 @@ int main(int argc, char *argv[])
sm->setGuiHelper(&guiHelper);
int port = 6667;
if (parseArgs.GetCmdLineArgument("port",port))
{
printf("Using TCP port %d\n", port);
}
parseArgs.GetCmdLineArgument("port",port);
gVerboseNetworkMessagesServer = parseArgs.CheckCmdLineFlag("verbose");
#ifndef NO_SHARED_MEMORY
@@ -64,7 +61,9 @@ int main(int argc, char *argv[])
if (isPhysicsClientConnected)
{
printf("Starting TCP server using port %d\n", port);
CPassiveSocket socket;
CActiveSocket *pClient = NULL;
@@ -74,7 +73,7 @@ int main(int argc, char *argv[])
socket.Initialize();
socket.Listen("localhost", port);
socket.SetBlocking();
//socket.SetBlocking();
int curNumErr = 0;
@@ -89,7 +88,20 @@ int main(int argc, char *argv[])
int clientPort = socket.GetClientPort();
printf("connected from %s:%d\n", socket.GetClientAddr(),clientPort);
if (pClient->Receive(4))
{
int clientKey = *(int*)pClient->GetData();
if (clientKey==SHARED_MEMORY_MAGIC_NUMBER)
{
printf("Client version OK %d\n", clientKey);
} else
{
printf("Server version (%d) mismatches Client Version (%d)\n", SHARED_MEMORY_MAGIC_NUMBER,clientKey);
continue;
}
}
//----------------------------------------------------------------------
// Receive request from the client.
@@ -102,25 +114,27 @@ int main(int argc, char *argv[])
int maxLen = 4 + sizeof(SharedMemoryStatus)+SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE;
//heuristic to detect disconnected clients
CSimpleSocket::CSocketError err = pClient->GetSocketError();
if (err != CSimpleSocket::SocketSuccess)
{
b3Clock::usleep(100);
curNumErr++;
if (curNumErr>100)
{
printf("TCP Connection error = %d, curNumErr = %d\n", (int)err, curNumErr);
break;
}
}
if (pClient->Receive(maxLen))
{
//heuristic to detect disconnected clients
CSimpleSocket::CSocketError err = pClient->GetSocketError();
if (err != CSimpleSocket::SocketSuccess || !pClient->IsSocketValid())
{
b3Clock::usleep(100);
curNumErr++;
if (curNumErr>100)
{
printf("TCP Connection error = %d, curNumErr = %d\n", (int)err, curNumErr);
break;
}
}
curNumErr = 0;
char* msg2 = (char*) pClient->GetData();
int numBytesRec2 = pClient->GetBytesReceived();
@@ -132,9 +146,26 @@ int main(int argc, char *argv[])
bytesReceived[curSize+i] = msg2[i];
}
if (bytesReceived.size() == 4 || bytesReceived.size()==sizeof(SharedMemoryCommand))
if (bytesReceived.size() >= 4)
{
int numBytesRec = bytesReceived.size();
if (numBytesRec>=10)
{
if (strncmp(&bytesReceived[0],"disconnect",10)==0)
{
printf("Disconnect request received\n");
bytesReceived.clear();
break;
}
if (strncmp(&bytesReceived[0],"terminateserver",10)==0)
{
printf("Terminate server request received\n");
exitRequested = true;
bytesReceived.clear();
break;
}
}
if (gVerboseNetworkMessagesServer)
{
@@ -143,15 +174,6 @@ int main(int argc, char *argv[])
receivedData = true;
if (strncmp(&bytesReceived[0],"stop",4)==0)
{
printf("Stop request received\n");
exitRequested = true;
bytesReceived.clear();
break;
}
SharedMemoryCommand cmd;
SharedMemoryCommand* cmdPtr = 0;
@@ -233,12 +255,15 @@ int main(int argc, char *argv[])
pClient->Send( &packetData[0], packetData.size() );
}
}
bytesReceived.clear();
}
else
{
printf("received packet with unknown contents\n");
//likely an incomplete packet, let's append more bytes
//printf("received packet with unknown contents\n");
}
bytesReceived.clear();
}
}
@@ -256,7 +281,10 @@ int main(int argc, char *argv[])
socket.Close();
socket.Shutdown(CSimpleSocket::Both);
}
} else
{
printf("Error: cannot connect to shared memory physics server.");
}
delete sm;

9
examples/pybullet/pybullet.c
View File

@@ -377,10 +377,11 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
#if 0
if (statusType != CMD_BODY_INFO_COMPLETED) {
PyErr_SetString(SpamError, "b3InitSyncBodyInfoCommand failed.");
return NULL;
}
if (statusType != CMD_BODY_INFO_COMPLETED)
{
PyErr_SetString(SpamError, "b3InitSyncBodyInfoCommand failed.");
return NULL;
}
#endif
}

22
test/SharedMemory/CMakeLists.txt
View File

@@ -56,17 +56,19 @@ ENDIF()
../../examples/SharedMemory/PosixSharedMemory.h
../../examples/Utils/b3ResourcePath.cpp
../../examples/Utils/b3ResourcePath.h
../../examples/Utils/RobotLoggingUtil.cpp
../../examples/Utils/b3Clock.cpp
../../examples/Utils/b3Clock.h
../../examples/Utils/RobotLoggingUtil.cpp
../../examples/Utils/RobotLoggingUtil.h
../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
../../examples/SharedMemory/TinyRendererVisualShapeConverter.h
../../examples/OpenGLWindow/SimpleCamera.cpp
../../examples/OpenGLWindow/SimpleCamera.h
../../examples/TinyRenderer/geometry.cpp
../../examples/TinyRenderer/model.cpp
../../examples/TinyRenderer/tgaimage.cpp
../../examples/TinyRenderer/our_gl.cpp
../../examples/TinyRenderer/TinyRenderer.cpp
../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
../../examples/SharedMemory/TinyRendererVisualShapeConverter.h
../../examples/OpenGLWindow/SimpleCamera.cpp
../../examples/OpenGLWindow/SimpleCamera.h
../../examples/TinyRenderer/geometry.cpp
../../examples/TinyRenderer/model.cpp
../../examples/TinyRenderer/tgaimage.cpp
../../examples/TinyRenderer/our_gl.cpp
../../examples/TinyRenderer/TinyRenderer.cpp
../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp

14
test/SharedMemory/premake4.lua
View File

@@ -25,6 +25,8 @@ project ("Test_SharedMemoryPhysicsClient")
"../../examples/SharedMemory/Win32SharedMemory.h",
"../../examples/SharedMemory/PosixSharedMemory.cpp",
"../../examples/SharedMemory/PosixSharedMemory.h",
"../../examples/Utils/b3Clock.cpp",
"../../examples/Utils/b3Clock.h",
"../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ResourcePath.h",
}
@@ -49,6 +51,9 @@ project ("Test_PhysicsClientUDP")
defines { "WIN32" }
links {"Ws2_32","Winmm"}
end
if os.is("Linux") then
links {"pthread"}
end
defines {"PHYSICS_UDP"}
@@ -137,9 +142,6 @@ project ("Test_PhysicsClientTCP")
"../../examples/Utils/b3ResourcePath.h",
"../../examples/SharedMemory/PhysicsDirect.cpp",
"../../examples/Utils/b3Clock.cpp",
"../../examples/MultiThreading/b3PosixThreadSupport.cpp",
"../../examples/MultiThreading/b3Win32ThreadSupport.cpp",
"../../examples/MultiThreading/b3ThreadSupportInterface.cpp",
}
@@ -200,6 +202,8 @@ project ("Test_PhysicsServerLoopBack")
"../../examples/Utils/b3ResourcePath.h",
"../../examples/Utils/RobotLoggingUtil.cpp",
"../../examples/Utils/RobotLoggingUtil.h",
"../../examples/Utils/b3Clock.cpp",
"../../examples/Utils/b3Clock.h",
"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
@@ -275,7 +279,9 @@ project ("Test_PhysicsServerLoopBack")
"../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ResourcePath.h",
"../../examples/Utils/RobotLoggingUtil.cpp",
"../../examples/Utils/RobotLoggingUtil.h",
"../../examples/Utils/RobotLoggingUtil.h",
"../../examples/Utils/b3Clock.cpp",
"../../examples/Utils/b3Clock.h",
"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",