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add UDP network connection for physics client <-> server.
also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever)
This commit is contained in:
erwincoumans
2016-11-04 13:15:10 -07:00
parent c2ca88bf44
commit 9708392322
52 changed files with 2104 additions and 214 deletions
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14
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -124,8 +124,11 @@ bool PhysicsClientSharedMemory::getJointInfo(int bodyUniqueId, int jointIndex, b
if (bodyJointsPtr && *bodyJointsPtr)
{
BodyJointInfoCache* bodyJoints = *bodyJointsPtr;
info = bodyJoints->m_jointInfo[jointIndex];
return true;
if ((jointIndex >= 0) && (jointIndex < bodyJoints->m_jointInfo.size()))
{
info = bodyJoints->m_jointInfo[jointIndex];
return true;
}
}
return false;
}
@@ -210,7 +213,7 @@ void PhysicsClientSharedMemory::processBodyJointInfo(int bodyUniqueId, const Sha
{
bParse::btBulletFile bf(
&this->m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0],
serverCmd.m_dataStreamArguments.m_streamChunkLength);
serverCmd.m_numDataStreamBytes);
bf.setFileDNAisMemoryDNA();
bf.parse(false);
@@ -291,16 +294,17 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
break;
}
case CMD_URDF_LOADING_COMPLETED: {
if (m_data->m_verboseOutput) {
b3Printf("Server loading the URDF OK\n");
}
if (serverCmd.m_dataStreamArguments.m_streamChunkLength > 0) {
if (serverCmd.m_numDataStreamBytes > 0) {
bParse::btBulletFile bf(
this->m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor,
serverCmd.m_dataStreamArguments.m_streamChunkLength);
serverCmd.m_numDataStreamBytes);
bf.setFileDNAisMemoryDNA();
bf.parse(false);
int bodyUniqueId = serverCmd.m_dataStreamArguments.m_bodyUniqueId;