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cmake Win32 fixes

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fixed some more warnings
added alignment macros to some classes
btPersistentManifold from 128 to 16 bytes aligned
prepare command to select collision filter mode (SIM_PARAM_UPDATE_COLLISION_FILTER_MODE)
This commit is contained in:
Erwin Coumans
2017-01-16 13:05:26 -08:00
parent 3dfcd27147
commit 93471a1c31
14 changed files with 50 additions and 28 deletions
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3
examples/SharedMemory/CMakeLists.txt
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@@ -86,7 +86,7 @@ INCLUDE_DIRECTORIES(
)
LINK_LIBRARIES(
Bullet3Common BulletWorldImporter BulletInverseDynamicsUtils BulletInverseDynamics BulletDynamics BulletCollision LinearMath BussIK
Bullet3Common BulletWorldImporter BulletFileLoader BulletInverseDynamicsUtils BulletInverseDynamics BulletDynamics BulletCollision LinearMath BussIK
)
IF (WIN32)
@@ -132,6 +132,7 @@ ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew
)
ADD_DEFINITIONS(-DB3_USE_STANDALONE_EXAMPLE)

17
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1247,7 +1247,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
util->m_mb = mb;
for (int i = 0; i < bufferSizeInBytes; i++)
{
bufferServerToClient[i] = 0xcc;
bufferServerToClient[i] = 0;//0xcc;
}
util->m_memSerializer = new btDefaultSerializer(bufferSizeInBytes ,(unsigned char*)bufferServerToClient);
//disable serialization of the collision objects (they are too big, and the client likely doesn't need them);
@@ -1686,7 +1686,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_SHADOW) != 0)
{
m_data->m_visualConverter.setShadow(clientCmd.m_requestPixelDataArguments.m_hasShadow);
m_data->m_visualConverter.setShadow((clientCmd.m_requestPixelDataArguments.m_hasShadow!=0));
}
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_AMBIENT_COEFF) != 0)
@@ -1909,7 +1909,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
b3Printf("Processed CMD_LOAD_SDF:%s", sdfArgs.m_sdfFileName);
}
bool useMultiBody=(clientCmd.m_updateFlags & URDF_ARGS_USE_MULTIBODY) ? sdfArgs.m_useMultiBody : true;
bool useMultiBody=(clientCmd.m_updateFlags & URDF_ARGS_USE_MULTIBODY) ? (sdfArgs.m_useMultiBody!=0) : true;
int flags = CUF_USE_SDF; //CUF_USE_URDF_INERTIA
bool completedOk = loadSdf(sdfArgs.m_sdfFileName,bufferServerToClient, bufferSizeInBytes, useMultiBody, flags);
@@ -1958,8 +1958,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
initialOrn[2] = urdfArgs.m_initialOrientation[2];
initialOrn[3] = urdfArgs.m_initialOrientation[3];
}
bool useMultiBody=(clientCmd.m_updateFlags & URDF_ARGS_USE_MULTIBODY) ? urdfArgs.m_useMultiBody : true;
bool useFixedBase = (clientCmd.m_updateFlags & URDF_ARGS_USE_FIXED_BASE) ? urdfArgs.m_useFixedBase: false;
bool useMultiBody=(clientCmd.m_updateFlags & URDF_ARGS_USE_MULTIBODY) ? (urdfArgs.m_useMultiBody!=0) : true;
bool useFixedBase = (clientCmd.m_updateFlags & URDF_ARGS_USE_FIXED_BASE) ? (urdfArgs.m_useFixedBase!=0): false;
int bodyUniqueId;
//load the actual URDF and send a report: completed or failed
bool completedOk = loadUrdf(urdfArgs.m_urdfFileName,
@@ -2596,6 +2596,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = clientCmd.m_physSimParamArgs.m_numSolverIterations;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_COLLISION_FILTER_MODE)
{
m_data->m_broadphaseCollisionFilterCallback->m_filterMode = clientCmd.m_physSimParamArgs.m_collisionFilterMode;
}
if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_USE_SPLIT_IMPULSE)
{
m_data->m_dynamicsWorld->getSolverInfo().m_splitImpulse = clientCmd.m_physSimParamArgs.m_useSplitImpulse;
@@ -4003,7 +4008,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
b3Printf("Processed CMD_LOAD_MJCF:%s", mjcfArgs.m_mjcfFileName);
}
bool useMultiBody=(clientCmd.m_updateFlags & URDF_ARGS_USE_MULTIBODY) ? mjcfArgs.m_useMultiBody : true;
bool useMultiBody=(clientCmd.m_updateFlags & URDF_ARGS_USE_MULTIBODY) ? (mjcfArgs.m_useMultiBody!=0) : true;
int flags = CUF_USE_MJCF;//CUF_USE_URDF_INERTIA
bool completedOk = loadMjcf(mjcfArgs.m_mjcfFileName,bufferServerToClient, bufferSizeInBytes, useMultiBody, flags);
if (completedOk)

2
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -1978,7 +1978,7 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
if (controllerId == gGraspingController && (button == 33))
{
gVRGripperClosed =state;
gVRGripperClosed =(state!=0);
}
else
{

2
examples/SharedMemory/SharedMemoryCommands.h
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@@ -313,6 +313,7 @@ enum EnumSimParamUpdateFlags
SIM_PARAM_UPDATE_INTERNAL_SIMULATION_FLAGS=64,
SIM_PARAM_UPDATE_USE_SPLIT_IMPULSE=128,
SIM_PARAM_UPDATE_SPLIT_IMPULSE_PENETRATION_THRESHOLD = 256,
SIM_PARAM_UPDATE_COLLISION_FILTER_MODE=512
};
enum EnumLoadBunnyUpdateFlags
@@ -341,6 +342,7 @@ struct SendPhysicsSimulationParameters
double m_splitImpulsePenetrationThreshold;
int m_internalSimFlags;
double m_defaultContactERP;
int m_collisionFilterMode;
};
struct LoadBunnyArgs