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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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This commit is contained in:
erwincoumans
2018-07-01 14:42:48 -07:00
parent 0d8564db22 bfc85ff1fd
commit 98fc4b1510
13 changed files with 76 additions and 77 deletions
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13
examples/SharedMemory/PhysicsClientTCP.cpp
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@@ -181,8 +181,17 @@ bool TcpNetworkedPhysicsProcessor::processCommand(const struct SharedMemoryComma
}
else
{
sz = sizeof(SharedMemoryCommand);
data = (unsigned char*)&clientCmd;
if (clientCmd.m_type == CMD_REQUEST_VR_EVENTS_DATA)
{
sz = 3 * sizeof(int) + sizeof(smUint64_t) + 16;
data = (unsigned char*)&clientCmd;
}
else
{
sz = sizeof(SharedMemoryCommand);
data = (unsigned char*)&clientCmd;
}
}
m_data->m_tcpSocket.Send((const uint8 *)data,sz);

6
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -5197,7 +5197,6 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
}
b3PluginArguments args;
args.m_ints[0] = eSetPDControl;
args.m_ints[1] = bodyUniqueId;
//find the joint motors and apply the desired velocity and maximum force/torque
{
@@ -5250,6 +5249,11 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
args.m_ints[2] = link;
args.m_numInts = 3;
args.m_numFloats = 5;
args.m_ints[0] = eSetPDControl;
if (args.m_floats[4] < B3_EPSILON) {
args.m_ints[0] = eRemovePDControl;
}
m_data->m_pluginManager.executePluginCommand(m_data->m_pdControlPlugin, &args);
}
}

1
examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
View File

@@ -107,7 +107,6 @@ B3_SHARED_API int executePluginCommand_pdControlPlugin(struct b3PluginContext* c
if (arguments->m_numInts != 3)
return -1;
switch (arguments->m_ints[0])
{
case eSetPDControl:

63
examples/SharedMemory/tcp/main.cpp
View File

@@ -184,11 +184,16 @@ int main(int argc, char *argv[])
cmdPtr = &cmd;
cmd.m_type = *(int*)&bytesReceived[0];
}
if (numBytesRec == sizeof(SharedMemoryCommand))
{
cmdPtr = (SharedMemoryCommand*)&bytesReceived[0];
}
else
{
cmdPtr = (SharedMemoryCommand*)&bytesReceived[0];
}
if (cmdPtr)
{
SharedMemoryStatus serverStatus;
@@ -207,7 +212,7 @@ int main(int argc, char *argv[])
}
if (gVerboseNetworkMessagesServer)
{
printf("buffer.size = %d\n", buffer.size());
//printf("buffer.size = %d\n", buffer.size());
printf("serverStatus.m_numDataStreamBytes = %d\n", serverStatus.m_numDataStreamBytes);
}
if (hasStatus)
@@ -234,25 +239,49 @@ int main(int argc, char *argv[])
}
else
{
//create packetData with [int packetSizeInBytes, status, streamBytes)
packetData.resize(4 + sizeof(SharedMemoryStatus) + serverStatus.m_numDataStreamBytes);
int sz = packetData.size();
int curPos = 0;
MySerializeInt(sz, &packetData[curPos]);
curPos += 4;
for (int i = 0; i < sizeof(SharedMemoryStatus); i++)
if (cmdPtr->m_type == CMD_REQUEST_VR_EVENTS_DATA)
{
packetData[i + curPos] = statBytes[i];
int headerSize = 16+5 * sizeof(int) + sizeof(smUint64_t) + sizeof(char*) + sizeof(b3VRControllerEvent)*serverStatus.m_sendVREvents.m_numVRControllerEvents;
packetData.resize(4 + headerSize);
int sz = packetData.size();
int curPos = 0;
MySerializeInt(sz, &packetData[curPos]);
curPos += 4;
for (int i = 0; i < headerSize; i++)
{
packetData[i + curPos] = statBytes[i];
}
curPos += headerSize;
pClient->Send(&packetData[0], packetData.size());
}
curPos += sizeof(SharedMemoryStatus);
for (int i = 0; i < serverStatus.m_numDataStreamBytes; i++)
else
{
packetData[i + curPos] = buffer[i];
//create packetData with [int packetSizeInBytes, status, streamBytes)
packetData.resize(4 + sizeof(SharedMemoryStatus) + serverStatus.m_numDataStreamBytes);
int sz = packetData.size();
int curPos = 0;
if (gVerboseNetworkMessagesServer)
{
//printf("buffer.size = %d\n", buffer.size());
printf("serverStatus packed size = %d\n", sz);
}
MySerializeInt(sz, &packetData[curPos]);
curPos += 4;
for (int i = 0; i < sizeof(SharedMemoryStatus); i++)
{
packetData[i + curPos] = statBytes[i];
}
curPos += sizeof(SharedMemoryStatus);
for (int i = 0; i < serverStatus.m_numDataStreamBytes; i++)
{
packetData[i + curPos] = buffer[i];
}
pClient->Send(&packetData[0], packetData.size());
}
pClient->Send( &packetData[0], packetData.size() );
}
}