quick draft implementation for SharedMemoryInProcessPhysicsC_API

examples/ExampleBrowser/CMakeLists.txt

@@ -29,6 +29,7 @@ SET(App_ExampleBrowser_SRCS
 	../SharedMemory/PhysicsDirect.h
 	../SharedMemory/PhysicsDirectC_API.cpp
 	../SharedMemory/PhysicsDirectC_API.h
+	../SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
 	../SharedMemory/PhysicsLoopBack.cpp
 	../SharedMemory/PhysicsLoopBack.h
 	../SharedMemory/PhysicsLoopBackC_API.cpp

examples/ExampleBrowser/InProcessExampleBrowser.cpp

@@ -71,6 +71,9 @@ struct ExampleBrowserThreadLocalStorage
 enum TestExampleBrowserCommunicationEnums
 {
 	eRequestTerminateExampleBrowser = 13,
+	eExampleBrowserIsUnInitialized,
+	eExampleBrowserIsInitialized,
+	eExampleBrowserInitializationFailed,
 	eExampleBrowserHasTerminated
 };
 
@@ -94,6 +97,11 @@ void	ExampleBrowserThreadFunc(void* userPtr,void* lsMemory)
 	clock.reset();
 	if (init)
 	{
+		
+		args->m_cs->lock();
+		args->m_cs->setSharedParam(0,eExampleBrowserIsInitialized);
+		args->m_cs->unlock();
+
 		do 
 		{
 			float deltaTimeInSeconds = clock.getTimeMicroseconds()/1000000.f;
@@ -101,7 +109,13 @@ void	ExampleBrowserThreadFunc(void* userPtr,void* lsMemory)
 			exampleBrowser->update(deltaTimeInSeconds);
 
 		} while (!exampleBrowser->requestedExit() && (args->m_cs->getSharedParam(0)!=eRequestTerminateExampleBrowser));
+	} else
+	{
+		args->m_cs->lock();
+		args->m_cs->setSharedParam(0,eExampleBrowserInitializationFailed);
+		args->m_cs->unlock();
 	}
+
 	delete exampleBrowser;
 	args->m_cs->lock();
 	args->m_cs->setSharedParam(0,eExampleBrowserHasTerminated);
@@ -153,7 +167,7 @@ btInProcessExampleBrowserInternalData* btCreateInProcessExampleBrowser(int argc,
 
 
 	data->m_args.m_cs = data->m_threadSupport->createCriticalSection();
-	data->m_args.m_cs->setSharedParam(0,100);
+	data->m_args.m_cs->setSharedParam(0,eExampleBrowserIsUnInitialized);
  	data->m_args.m_argc = argc;
  	data->m_args.m_argv = argv2;
 
@@ -163,6 +177,10 @@ btInProcessExampleBrowserInternalData* btCreateInProcessExampleBrowser(int argc,
 		data->m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*) &data->m_args, i);
 	}
 
+	while (data->m_args.m_cs->getSharedParam(0)==eExampleBrowserIsUnInitialized)
+	{
+	}
+
 	return data;
 }
 

examples/ExampleBrowser/premake4.lua

@@ -1,5 +1,5 @@
 	
-		project "App_ExampleBrowser"
+		project "BulletExampleBrowserLib"
 
 		hasCL = findOpenCL("clew")
 	
@@ -13,7 +13,7 @@
 
 		language "C++"
 				
-		kind "ConsoleApp"
+		kind "StaticLib"
 
   	includedirs {
                 ".",
@@ -30,26 +30,20 @@
 	end
 
 			
-		links{"gwen", "OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","Bullet3Common"}
 		initOpenGL()
 		initGlew()
 
-		if (hasCL) then
-			links {
-				"Bullet3OpenCL_clew",
-				"Bullet3Dynamics",
-				"Bullet3Collision",
-				"Bullet3Geometry",
-				"Bullet3Common",
-			}
-		end
-		
 		defines {"INCLUDE_CLOTH_DEMOS"}
 			
 
 
 		files {
-		"*.cpp",
+		"OpenGLExampleBrowser.cpp",
+		"OpenGLGuiHelper.cpp",
+		"InProcessExampleBrowser.cpp",
+		"GL_ShapeDrawer.cpp",
+		"OpenGLExampleBrowser.cpp",
+		"../Utils/b3Clock.cpp",
 		"*.h",
 		"GwenGUISupport/*.cpp",
 		"GwenGUISupport/*.h",
@@ -60,6 +54,7 @@
 		"../SharedMemory/PhysicsServer.cpp",
 		"../SharedMemory/PhysicsServerSharedMemory.cpp",
 		"../SharedMemory/PhysicsClientSharedMemory.cpp",
+		"../SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp",
 		"../SharedMemory/PhysicsClient.cpp",
 		"../SharedMemory/PosixSharedMemory.cpp",
 		"../SharedMemory/Win32SharedMemory.cpp",
@@ -109,7 +104,6 @@
 		"../ThirdPartyLibs/stb_image/*",
 		"../ThirdPartyLibs/Wavefront/tiny_obj_loader.*",
 		"../ThirdPartyLibs/tinyxml/*",
-		"../Utils/b3Clock.*",
 		"../Utils/b3ResourcePath.*",
 		"../GyroscopicDemo/GyroscopicSetup.cpp",
 		"../GyroscopicDemo/GyroscopicSetup.h",
@@ -149,8 +143,41 @@ if os.is("Linux") then
 	initX11()
 end
 
-if os.is("MacOSX") then
-	links{"Cocoa.framework"}
-end
-
 			
+project "App_BulletExampleBrowser"
+
+	language "C++"
+
+	kind "ConsoleApp"
+
+	hasCL = findOpenCL("clew")
+
+	links{"BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","Bullet3Common"}
+	initOpenGL()
+	initGlew()
+
+  	includedirs {
+                ".",
+                "../../src",
+                "../ThirdPartyLibs",
+                }
+
+
+	if os.is("MacOSX") then
+		links{"Cocoa.framework"}
+	end
+
+		if (hasCL) then
+			links {
+				"Bullet3OpenCL_clew",
+				"Bullet3Dynamics",
+				"Bullet3Collision",
+				"Bullet3Geometry",
+				"Bullet3Common",
+			}
+		end
+
+	files {
+	"main.cpp",
+	"ExampleEntries.cpp",
+	}

examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp

@@ -0,0 +1,41 @@
+
+#include "SharedMemoryInProcessPhysicsC_API.h"
+#include "PhysicsClientSharedMemory.h"
+#include"ExampleBrowser/InProcessExampleBrowser.h"
+
+
+class InProcessPhysicsClientSharedMemory : public PhysicsClientSharedMemory
+{
+	btInProcessExampleBrowserInternalData* m_data;
+public:
+
+	InProcessPhysicsClientSharedMemory(int argc, char* argv[])
+	{
+		int newargc = argc+2;
+		char** newargv = (char**)malloc(sizeof(void*)*newargc);
+		for (int i=0;i<argc;i++)
+		newargv[i] = argv[i];
+
+		char* t0 = (char*)"--logtostderr";
+		char* t1 = (char*)"--start_demo_name=Physics Server";
+		newargv[argc] = t0;
+		newargv[argc+1] = t1;
+		m_data = btCreateInProcessExampleBrowser(newargc,newargv);
+	}
+
+	virtual ~InProcessPhysicsClientSharedMemory()
+	{
+		btShutDownExampleBrowser(m_data);
+	}
+
+};
+
+b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnect(int argc, char* argv[])
+{
+	
+	InProcessPhysicsClientSharedMemory* cl = new InProcessPhysicsClientSharedMemory(argc, argv);
+    cl->setSharedMemoryKey(SHARED_MEMORY_KEY);
+    cl->connect();
+	return (b3PhysicsClientHandle ) cl;
+}
+

examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h

@@ -0,0 +1,19 @@
+
+#ifndef IN_PROCESS_PHYSICS_C_API_H
+#define IN_PROCESS_PHYSICS_C_API_H
+
+#include "PhysicsClientC_API.h"
+
+#ifdef __cplusplus
+extern "C" { 
+#endif
+
+
+///think more about naming. The b3ConnectPhysicsLoopback
+b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnect(int argc, char* argv[]);
+    
+#ifdef __cplusplus
+}
+#endif
+
+#endif //IN_PROCESS_PHYSICS_C_API_H

examples/Utils/b3Clock.cpp

@@ -68,6 +68,7 @@ b3Clock::b3Clock()
 	reset();
 }
 
+
 b3Clock::~b3Clock()
 {
 	delete m_data;

test/SharedMemory/premake4.lua

@@ -141,4 +141,52 @@ project ("Test_PhysicsServerLoopBack")
 		}
 		
 
-	
+project ("Test_PhysicsServerInProcessExampleBrowser")
+
+		language "C++"
+		kind "ConsoleApp"
+
+		includedirs {"../../src", "../../examples",
+		"../../examples/ThirdPartyLibs"}
+		defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
+--		links {
+--			"BulletExampleBrowserLib",
+--			"BulletFileLoader",
+--			"BulletWorldImporter",
+--			"Bullet3Common",
+--			"BulletDynamics", 
+--			"BulletCollision", 
+--			"LinearMath"
+--		}
+	hasCL = findOpenCL("clew")
+
+	links{"BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","Bullet3Common"}
+	initOpenGL()
+	initGlew()
+
+  	includedirs {
+                ".",
+                "../../src",
+                "../ThirdPartyLibs",
+                }
+
+
+	if os.is("MacOSX") then
+		links{"Cocoa.framework"}
+	end
+
+		if (hasCL) then
+			links {
+				"Bullet3OpenCL_clew",
+				"Bullet3Dynamics",
+				"Bullet3Collision",
+				"Bullet3Geometry",
+				"Bullet3Common",
+			}
+		end
+
+		files {
+			"test.c",
+			"../../examples/ExampleBrowser/ExampleEntries.cpp",
+			}
+			

test/SharedMemory/test.c

@@ -9,6 +9,9 @@
 #include "SharedMemory/PhysicsDirectC_API.h"
 #endif //PHYSICS_SERVER_DIRECT
 
+#ifdef PHYSICS_IN_PROCESS_EXAMPLE_BROWSER
+#include "SharedMemory/SharedMemoryInProcessPhysicsC_API.h"
+#endif//PHYSICS_IN_PROCESS_EXAMPLE_BROWSER
 
 #include "SharedMemory/SharedMemoryPublic.h"
 #include "Bullet3Common/b3Logging.h"
@@ -17,6 +20,7 @@
 
 #include <stdio.h>
 
+
 int main(int argc, char* argv[])
 {
 	int i, dofCount , posVarCount, ret ,numJoints ;
@@ -40,7 +44,11 @@ int main(int argc, char* argv[])
 
 #ifdef PHYSICS_SERVER_DIRECT
 	sm = b3ConnectPhysicsDirect();
-#else//PHYSICS_SERVER_DIRECT
+#endif
+
+#ifdef PHYSICS_IN_PROCESS_EXAMPLE_BROWSER
+	sm = b3CreateInProcessPhysicsServerAndConnect(argc,argv);
+#else
 	sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
 #endif //PHYSICS_SERVER_DIRECT
 	
@@ -61,8 +69,8 @@ int main(int argc, char* argv[])
 			b3SharedMemoryCommandHandle command = b3LoadUrdfCommandInit(sm, urdfFileName);
 			
             //setting the initial position, orientation and other arguments are optional
-            startPosX =2;
+            startPosX =0;
-            startPosY =3;
+            startPosY =0;
             startPosZ = 1;
             ret = b3LoadUrdfCommandSetStartPosition(command, startPosX,startPosY,startPosZ);
             statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);