Merge branch 'master' of git://github.com/bulletphysics/bullet3 into flipDepthImage
This commit is contained in:
Mat Kelcey
@@ -835,7 +835,7 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
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enqueueCommand(CMD_STEP_FORWARD_SIMULATION);
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if (m_options != eCLIENTEXAMPLE_SERVER)
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{
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enqueueCommand(CMD_REQUEST_DEBUG_LINES);
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//enqueueCommand(CMD_REQUEST_DEBUG_LINES);
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}
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}
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}
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@@ -855,3 +855,4 @@ class CommonExampleInterface* PhysicsClientCreateFunc(struct CommonExampleOpt
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}
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return example;
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}
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@@ -659,6 +659,8 @@ bool PhysicsClientSharedMemory::canSubmitCommand() const {
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}
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struct SharedMemoryCommand* PhysicsClientSharedMemory::getAvailableSharedMemoryCommand() {
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static int sequence = 0;
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m_data->m_testBlock1->m_clientCommands[0].m_sequenceNumber = sequence++;
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return &m_data->m_testBlock1->m_clientCommands[0];
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}
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@@ -10,7 +10,7 @@
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#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
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#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
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#include "BulletDynamics/Featherstone/btMultiBodyJointFeedback.h"
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#include "../CommonInterfaces/CommonRenderInterface.h"
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#include "btBulletDynamicsCommon.h"
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@@ -1756,10 +1756,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
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}
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case CMD_STEP_FORWARD_SIMULATION:
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{
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if (m_data->m_verboseOutput)
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{
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b3Printf("Step simulation request");
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b3Printf("CMD_STEP_FORWARD_SIMULATION clientCmd = %d\n", clientCmd.m_sequenceNumber);
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}
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///todo(erwincoumans) move this damping inside Bullet
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for (int i=0;i<m_data->m_bodyHandles.size();i++)
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@@ -1864,16 +1865,21 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
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case CMD_RESET_SIMULATION:
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{
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//clean up all data
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if (m_data && m_data->m_guiHelper && m_data->m_guiHelper->getRenderInterface())
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{
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m_data->m_guiHelper->getRenderInterface()->removeAllInstances();
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}
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if (m_data && m_data->m_guiHelper)
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{
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m_data->m_guiHelper->removeAllGraphicsInstances();
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}
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if (m_data)
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{
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m_data->m_visualConverter.resetAll();
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}
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deleteDynamicsWorld();
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createEmptyDynamicsWorld();
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m_data->exitHandles();
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m_data->initHandles();
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@@ -2058,6 +2064,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
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}
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case CMD_APPLY_EXTERNAL_FORCE:
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{
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if (m_data->m_verboseOutput)
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{
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b3Printf("CMD_APPLY_EXTERNAL_FORCE clientCmd = %d\n", clientCmd.m_sequenceNumber);
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}
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for (int i = 0; i < clientCmd.m_externalForceArguments.m_numForcesAndTorques; ++i)
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{
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InteralBodyData* body = m_data->getHandle(clientCmd.m_externalForceArguments.m_bodyUniqueIds[i]);
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@@ -1,5 +1,6 @@
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//todo(erwincoumans): re-use the upcoming b3RobotSimAPI here
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#include "PhysicsServerExample.h"
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@@ -9,11 +10,369 @@
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#include "SharedMemoryCommon.h"
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#include "../Utils/b3Clock.h"
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#include "../MultiThreading/b3ThreadSupportInterface.h"
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void MotionThreadFunc(void* userPtr,void* lsMemory);
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void* MotionlsMemoryFunc();
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#define MAX_MOTION_NUM_THREADS 1
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enum
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{
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numCubesX = 20,
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numCubesY = 20
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};
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enum TestExampleBrowserCommunicationEnums
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{
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eRequestTerminateMotion= 13,
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eMotionIsUnInitialized,
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eMotionIsInitialized,
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eMotionInitializationFailed,
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eMotionHasTerminated
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};
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enum MultiThreadedGUIHelperCommunicationEnums
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{
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eGUIHelperIdle= 13,
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eGUIHelperRegisterTexture,
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eGUIHelperRegisterGraphicsShape,
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eGUIHelperRegisterGraphicsInstance,
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eGUIHelperCreateCollisionShapeGraphicsObject,
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eGUIHelperCreateCollisionObjectGraphicsObject,
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eGUIHelperRemoveAllGraphicsInstances,
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};
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#include <stdio.h>
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//#include "BulletMultiThreaded/PlatformDefinitions.h"
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#ifndef _WIN32
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#include "../MultiThreading/b3PosixThreadSupport.h"
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b3ThreadSupportInterface* createMotionThreadSupport(int numThreads)
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{
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b3PosixThreadSupport::ThreadConstructionInfo constructionInfo("MotionThreads",
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MotionThreadFunc,
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MotionlsMemoryFunc,
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numThreads);
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b3ThreadSupportInterface* threadSupport = new b3PosixThreadSupport(constructionInfo);
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return threadSupport;
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}
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#elif defined( _WIN32)
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#include "../MultiThreading/b3Win32ThreadSupport.h"
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b3ThreadSupportInterface* createMotionThreadSupport(int numThreads)
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{
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b3Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("MotionThreads",MotionThreadFunc,MotionlsMemoryFunc,numThreads);
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b3Win32ThreadSupport* threadSupport = new b3Win32ThreadSupport(threadConstructionInfo);
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return threadSupport;
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}
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#endif
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struct MotionArgs
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{
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MotionArgs()
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:m_physicsServerPtr(0)
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{
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}
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b3CriticalSection* m_cs;
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PhysicsServerSharedMemory* m_physicsServerPtr;
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b3AlignedObjectArray<b3Vector3> m_positions;
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};
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struct MotionThreadLocalStorage
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{
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int threadId;
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};
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int skip = 0;
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void MotionThreadFunc(void* userPtr,void* lsMemory)
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{
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printf("MotionThreadFunc thread started\n");
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MotionThreadLocalStorage* localStorage = (MotionThreadLocalStorage*) lsMemory;
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MotionArgs* args = (MotionArgs*) userPtr;
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int workLeft = true;
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b3Clock clock;
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clock.reset();
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bool init = true;
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if (init)
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{
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args->m_cs->lock();
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args->m_cs->setSharedParam(0,eMotionIsInitialized);
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args->m_cs->unlock();
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do
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{
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//todo(erwincoumans): do we want some sleep to reduce CPU resources in this thread?
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#if 0
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double deltaTimeInSeconds = double(clock.getTimeMicroseconds())/1000000.;
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if (deltaTimeInSeconds<(1./260.))
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{
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skip++;
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if (deltaTimeInSeconds<.001)
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continue;
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}
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clock.reset();
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#endif
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args->m_physicsServerPtr->processClientCommands();
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} while (args->m_cs->getSharedParam(0)!=eRequestTerminateMotion);
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} else
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{
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args->m_cs->lock();
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args->m_cs->setSharedParam(0,eMotionInitializationFailed);
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args->m_cs->unlock();
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}
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printf("finished, #skip = %d\n",skip);
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skip=0;
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//do nothing
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}
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void* MotionlsMemoryFunc()
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{
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//don't create local store memory, just return 0
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return new MotionThreadLocalStorage;
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}
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class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
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{
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CommonGraphicsApp* m_app;
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b3CriticalSection* m_cs;
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public:
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GUIHelperInterface* m_childGuiHelper;
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const unsigned char* m_texels;
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int m_textureWidth;
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int m_textureHeight;
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int m_shapeIndex;
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const float* m_position;
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const float* m_quaternion;
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const float* m_color;
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const float* m_scaling;
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const float* m_vertices;
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int m_numvertices;
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const int* m_indices;
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int m_numIndices;
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int m_primitiveType;
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int m_textureId;
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int m_instanceId;
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MultiThreadedOpenGLGuiHelper(CommonGraphicsApp* app, GUIHelperInterface* guiHelper)
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:m_app(app)
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,m_cs(0),
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m_texels(0),
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m_textureId(-1)
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{
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m_childGuiHelper = guiHelper;;
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}
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virtual ~MultiThreadedOpenGLGuiHelper()
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{
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delete m_childGuiHelper;
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}
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void setCriticalSection(b3CriticalSection* cs)
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{
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m_cs = cs;
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}
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b3CriticalSection* getCriticalSection()
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{
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return m_cs;
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}
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virtual void createRigidBodyGraphicsObject(btRigidBody* body,const btVector3& color){}
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btCollisionObject* m_obj;
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btVector3 m_color2;
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virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj,const btVector3& color)
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{
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m_obj = obj;
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m_color2 = color;
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m_cs->lock();
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m_cs->setSharedParam(1,eGUIHelperCreateCollisionObjectGraphicsObject);
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m_cs->unlock();
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while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
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{
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}
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}
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btCollisionShape* m_colShape;
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virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
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{
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m_colShape = collisionShape;
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m_cs->lock();
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m_cs->setSharedParam(1,eGUIHelperCreateCollisionShapeGraphicsObject);
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m_cs->unlock();
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while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
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{
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}
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}
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virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)
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{
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//this check is to prevent a crash, in case we removed all graphics instances, but there are still physics objects.
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//the check will be obsolete, once we have a better/safer way of synchronizing physics->graphics transforms
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if ( m_childGuiHelper->getRenderInterface()->getTotalNumInstances()>0)
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{
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m_childGuiHelper->syncPhysicsToGraphics(rbWorld);
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||||
}
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||||
}
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||||
|
||||
virtual void render(const btDiscreteDynamicsWorld* rbWorld)
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||||
{
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||||
m_childGuiHelper->render(0);
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||||
}
|
||||
|
||||
virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld){}
|
||||
|
||||
virtual int registerTexture(const unsigned char* texels, int width, int height)
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||||
{
|
||||
m_texels = texels;
|
||||
m_textureWidth = width;
|
||||
m_textureHeight = height;
|
||||
|
||||
m_cs->lock();
|
||||
m_cs->setSharedParam(1,eGUIHelperRegisterTexture);
|
||||
m_cs->unlock();
|
||||
while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
|
||||
{
|
||||
}
|
||||
return m_textureId;
|
||||
}
|
||||
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
|
||||
{
|
||||
m_vertices = vertices;
|
||||
m_numvertices = numvertices;
|
||||
m_indices = indices;
|
||||
m_numIndices = numIndices;
|
||||
m_primitiveType = primitiveType;
|
||||
m_textureId = textureId;
|
||||
|
||||
m_cs->lock();
|
||||
m_cs->setSharedParam(1,eGUIHelperRegisterGraphicsShape);
|
||||
m_cs->unlock();
|
||||
while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
|
||||
{
|
||||
}
|
||||
return m_shapeIndex;
|
||||
}
|
||||
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
|
||||
{
|
||||
m_shapeIndex = shapeIndex;
|
||||
m_position = position;
|
||||
m_quaternion = quaternion;
|
||||
m_color = color;
|
||||
m_scaling = scaling;
|
||||
|
||||
m_cs->lock();
|
||||
m_cs->setSharedParam(1,eGUIHelperRegisterGraphicsInstance);
|
||||
m_cs->unlock();
|
||||
while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
|
||||
{
|
||||
}
|
||||
return m_instanceId;
|
||||
}
|
||||
|
||||
virtual void removeAllGraphicsInstances()
|
||||
{
|
||||
m_cs->lock();
|
||||
m_cs->setSharedParam(1,eGUIHelperRemoveAllGraphicsInstances);
|
||||
m_cs->unlock();
|
||||
while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
virtual Common2dCanvasInterface* get2dCanvasInterface()
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
virtual CommonParameterInterface* getParameterInterface()
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
virtual CommonRenderInterface* getRenderInterface()
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
virtual CommonGraphicsApp* getAppInterface()
|
||||
{
|
||||
return m_childGuiHelper->getAppInterface();
|
||||
}
|
||||
|
||||
|
||||
virtual void setUpAxis(int axis)
|
||||
{
|
||||
m_childGuiHelper->setUpAxis(axis);
|
||||
}
|
||||
virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)
|
||||
{
|
||||
}
|
||||
|
||||
virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* width, int* height, int* numPixelsCopied)
|
||||
{
|
||||
if (width)
|
||||
*width = 0;
|
||||
if (height)
|
||||
*height = 0;
|
||||
if (numPixelsCopied)
|
||||
*numPixelsCopied = 0;
|
||||
}
|
||||
|
||||
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
|
||||
{
|
||||
}
|
||||
|
||||
virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)
|
||||
{
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
class PhysicsServerExample : public SharedMemoryCommon
|
||||
{
|
||||
PhysicsServerSharedMemory m_physicsServer;
|
||||
|
||||
b3ThreadSupportInterface* m_threadSupport;
|
||||
MotionArgs m_args[MAX_MOTION_NUM_THREADS];
|
||||
MultiThreadedOpenGLGuiHelper* m_multiThreadedHelper;
|
||||
bool m_wantsShutdown;
|
||||
|
||||
bool m_isConnected;
|
||||
@@ -23,7 +382,7 @@ class PhysicsServerExample : public SharedMemoryCommon
|
||||
|
||||
public:
|
||||
|
||||
PhysicsServerExample(GUIHelperInterface* helper, SharedMemoryInterface* sharedMem=0, int options=0);
|
||||
PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper, SharedMemoryInterface* sharedMem=0, int options=0);
|
||||
|
||||
virtual ~PhysicsServerExample();
|
||||
|
||||
@@ -56,7 +415,7 @@ public:
|
||||
virtual bool wantsTermination();
|
||||
virtual bool isConnected();
|
||||
virtual void renderScene();
|
||||
virtual void exitPhysics(){}
|
||||
virtual void exitPhysics();
|
||||
|
||||
virtual void physicsDebugDraw(int debugFlags);
|
||||
|
||||
@@ -71,7 +430,6 @@ public:
|
||||
|
||||
if (!renderer)
|
||||
{
|
||||
btAssert(0);
|
||||
return false;
|
||||
}
|
||||
|
||||
@@ -91,7 +449,6 @@ public:
|
||||
|
||||
if (!renderer)
|
||||
{
|
||||
btAssert(0);
|
||||
return false;
|
||||
}
|
||||
|
||||
@@ -134,7 +491,7 @@ public:
|
||||
|
||||
};
|
||||
|
||||
PhysicsServerExample::PhysicsServerExample(GUIHelperInterface* helper, SharedMemoryInterface* sharedMem, int options)
|
||||
PhysicsServerExample::PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper, SharedMemoryInterface* sharedMem, int options)
|
||||
:SharedMemoryCommon(helper),
|
||||
m_physicsServer(sharedMem),
|
||||
m_wantsShutdown(false),
|
||||
@@ -142,6 +499,7 @@ m_isConnected(false),
|
||||
m_replay(false),
|
||||
m_options(options)
|
||||
{
|
||||
m_multiThreadedHelper = helper;
|
||||
b3Printf("Started PhysicsServer\n");
|
||||
}
|
||||
|
||||
@@ -165,22 +523,80 @@ void PhysicsServerExample::initPhysics()
|
||||
int upAxis = 2;
|
||||
m_guiHelper->setUpAxis(upAxis);
|
||||
|
||||
#if 0
|
||||
|
||||
createEmptyDynamicsWorld();
|
||||
|
||||
|
||||
//todo: create a special debug drawer that will cache the lines, so we can send the debug info over the wire
|
||||
btVector3 grav(0,0,0);
|
||||
grav[upAxis] = 0;//-9.8;
|
||||
this->m_dynamicsWorld->setGravity(grav);
|
||||
|
||||
#endif
|
||||
m_threadSupport = createMotionThreadSupport(MAX_MOTION_NUM_THREADS);
|
||||
|
||||
|
||||
|
||||
m_isConnected = m_physicsServer.connectSharedMemory( m_guiHelper);
|
||||
for (int i=0;i<m_threadSupport->getNumTasks();i++)
|
||||
{
|
||||
MotionThreadLocalStorage* storage = (MotionThreadLocalStorage*) m_threadSupport->getThreadLocalMemory(i);
|
||||
b3Assert(storage);
|
||||
storage->threadId = i;
|
||||
//storage->m_sharedMem = data->m_sharedMem;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
for (int w=0;w<MAX_MOTION_NUM_THREADS;w++)
|
||||
{
|
||||
m_args[w].m_cs = m_threadSupport->createCriticalSection();
|
||||
m_args[w].m_cs->setSharedParam(0,eMotionIsUnInitialized);
|
||||
int numMoving = 0;
|
||||
m_args[w].m_positions.resize(numMoving);
|
||||
m_args[w].m_physicsServerPtr = &m_physicsServer;
|
||||
int index = 0;
|
||||
|
||||
m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*) &this->m_args[w], w);
|
||||
while (m_args[w].m_cs->getSharedParam(0)==eMotionIsUnInitialized)
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
m_args[0].m_cs->setSharedParam(1,eGUIHelperIdle);
|
||||
m_multiThreadedHelper->setCriticalSection(m_args[0].m_cs);
|
||||
m_isConnected = m_physicsServer.connectSharedMemory( m_guiHelper);
|
||||
}
|
||||
|
||||
|
||||
void PhysicsServerExample::exitPhysics()
|
||||
{
|
||||
for (int i=0;i<MAX_MOTION_NUM_THREADS;i++)
|
||||
{
|
||||
m_args[i].m_cs->lock();
|
||||
m_args[i].m_cs->setSharedParam(0,eRequestTerminateMotion);
|
||||
m_args[i].m_cs->unlock();
|
||||
}
|
||||
int numActiveThreads = MAX_MOTION_NUM_THREADS;
|
||||
|
||||
while (numActiveThreads)
|
||||
{
|
||||
int arg0,arg1;
|
||||
if (m_threadSupport->isTaskCompleted(&arg0,&arg1,0))
|
||||
{
|
||||
numActiveThreads--;
|
||||
printf("numActiveThreads = %d\n",numActiveThreads);
|
||||
|
||||
} else
|
||||
{
|
||||
}
|
||||
};
|
||||
|
||||
printf("stopping threads\n");
|
||||
|
||||
delete m_threadSupport;
|
||||
m_threadSupport = 0;
|
||||
|
||||
//m_physicsServer.resetDynamicsWorld();
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
bool PhysicsServerExample::wantsTermination()
|
||||
{
|
||||
return m_wantsShutdown;
|
||||
@@ -190,6 +606,93 @@ bool PhysicsServerExample::wantsTermination()
|
||||
|
||||
void PhysicsServerExample::stepSimulation(float deltaTime)
|
||||
{
|
||||
//this->m_physicsServer.processClientCommands();
|
||||
|
||||
//check if any graphics related tasks are requested
|
||||
|
||||
switch (m_multiThreadedHelper->getCriticalSection()->getSharedParam(1))
|
||||
{
|
||||
case eGUIHelperCreateCollisionShapeGraphicsObject:
|
||||
{
|
||||
m_multiThreadedHelper->m_childGuiHelper->createCollisionShapeGraphicsObject(m_multiThreadedHelper->m_colShape);
|
||||
m_multiThreadedHelper->getCriticalSection()->lock();
|
||||
m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
|
||||
m_multiThreadedHelper->getCriticalSection()->unlock();
|
||||
|
||||
break;
|
||||
}
|
||||
case eGUIHelperCreateCollisionObjectGraphicsObject:
|
||||
{
|
||||
m_multiThreadedHelper->m_childGuiHelper->createCollisionObjectGraphicsObject(m_multiThreadedHelper->m_obj,
|
||||
m_multiThreadedHelper->m_color2);
|
||||
m_multiThreadedHelper->getCriticalSection()->lock();
|
||||
m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
|
||||
m_multiThreadedHelper->getCriticalSection()->unlock();
|
||||
break;
|
||||
}
|
||||
case eGUIHelperRegisterTexture:
|
||||
{
|
||||
|
||||
m_multiThreadedHelper->m_textureId = m_multiThreadedHelper->m_childGuiHelper->registerTexture(m_multiThreadedHelper->m_texels,
|
||||
m_multiThreadedHelper->m_textureWidth,m_multiThreadedHelper->m_textureHeight);
|
||||
|
||||
m_multiThreadedHelper->getCriticalSection()->lock();
|
||||
m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
|
||||
m_multiThreadedHelper->getCriticalSection()->unlock();
|
||||
|
||||
break;
|
||||
}
|
||||
case eGUIHelperRegisterGraphicsShape:
|
||||
{
|
||||
m_multiThreadedHelper->m_shapeIndex = m_multiThreadedHelper->m_childGuiHelper->registerGraphicsShape(
|
||||
m_multiThreadedHelper->m_vertices,
|
||||
m_multiThreadedHelper->m_numvertices,
|
||||
m_multiThreadedHelper->m_indices,
|
||||
m_multiThreadedHelper->m_numIndices,
|
||||
m_multiThreadedHelper->m_primitiveType,
|
||||
m_multiThreadedHelper->m_textureId);
|
||||
|
||||
m_multiThreadedHelper->getCriticalSection()->lock();
|
||||
m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
|
||||
m_multiThreadedHelper->getCriticalSection()->unlock();
|
||||
break;
|
||||
}
|
||||
case eGUIHelperRegisterGraphicsInstance:
|
||||
{
|
||||
m_multiThreadedHelper->m_instanceId = m_multiThreadedHelper->m_childGuiHelper->registerGraphicsInstance(
|
||||
m_multiThreadedHelper->m_shapeIndex,
|
||||
m_multiThreadedHelper->m_position,
|
||||
m_multiThreadedHelper->m_quaternion,
|
||||
m_multiThreadedHelper->m_color,
|
||||
m_multiThreadedHelper->m_scaling);
|
||||
|
||||
m_multiThreadedHelper->getCriticalSection()->lock();
|
||||
m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
|
||||
m_multiThreadedHelper->getCriticalSection()->unlock();
|
||||
break;
|
||||
}
|
||||
case eGUIHelperRemoveAllGraphicsInstances:
|
||||
{
|
||||
m_multiThreadedHelper->m_childGuiHelper->removeAllGraphicsInstances();
|
||||
int numRenderInstances = m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->getTotalNumInstances();
|
||||
b3Assert(numRenderInstances==0);
|
||||
|
||||
m_multiThreadedHelper->getCriticalSection()->lock();
|
||||
m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
|
||||
m_multiThreadedHelper->getCriticalSection()->unlock();
|
||||
break;
|
||||
}
|
||||
case eGUIHelperIdle:
|
||||
default:
|
||||
{
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
#if 0
|
||||
if (m_options == PHYSICS_SERVER_USE_RTC_CLOCK)
|
||||
{
|
||||
btClock rtc;
|
||||
@@ -201,15 +704,59 @@ void PhysicsServerExample::stepSimulation(float deltaTime)
|
||||
}
|
||||
} else
|
||||
{
|
||||
for (int i=0;i<10;i++)
|
||||
//for (int i=0;i<10;i++)
|
||||
m_physicsServer.processClientCommands();
|
||||
}
|
||||
#endif
|
||||
|
||||
{
|
||||
if (m_multiThreadedHelper->m_childGuiHelper->getRenderInterface())
|
||||
{
|
||||
m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->writeTransforms();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void PhysicsServerExample::renderScene()
|
||||
{
|
||||
///debug rendering
|
||||
//m_args[0].m_cs->lock();
|
||||
|
||||
m_physicsServer.renderScene();
|
||||
|
||||
if (m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->isVRCamera())
|
||||
{
|
||||
//some little experiment to add text/HUD to a VR camera (HTC Vive/Oculus Rift)
|
||||
|
||||
static int frameCount=0;
|
||||
frameCount++;
|
||||
char bla[1024];
|
||||
sprintf(bla,"VR sub-title text test, frame %d", frameCount/2);
|
||||
float pos[4];
|
||||
m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->getCameraTargetPosition(pos);
|
||||
btTransform viewTr;
|
||||
btScalar m[16];
|
||||
float mf[16];
|
||||
m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->getCameraViewMatrix(mf);
|
||||
for (int i=0;i<16;i++)
|
||||
{
|
||||
m[i] = mf[i];
|
||||
}
|
||||
viewTr.setFromOpenGLMatrix(m);
|
||||
btTransform viewTrInv = viewTr.inverse();
|
||||
float upMag = -.6;
|
||||
btVector3 side = viewTrInv.getBasis().getColumn(0);
|
||||
btVector3 up = viewTrInv.getBasis().getColumn(1);
|
||||
up+=0.35*side;
|
||||
m_guiHelper->getAppInterface()->drawText3D(bla,pos[0]+upMag*up[0],pos[1]+upMag*up[1],pos[2]+upMag*up[2],1);
|
||||
//btVector3 fwd = viewTrInv.getBasis().getColumn(2);
|
||||
sprintf(bla,"VR line 2 sub-title text test, frame %d", frameCount/2);
|
||||
upMag = -0.7;
|
||||
m_guiHelper->getAppInterface()->drawText3D(bla,pos[0]+upMag*up[0],pos[1]+upMag*up[1],pos[2]+upMag*up[2],1);
|
||||
}
|
||||
|
||||
//m_args[0].m_cs->unlock();
|
||||
}
|
||||
|
||||
void PhysicsServerExample::physicsDebugDraw(int debugDrawFlags)
|
||||
@@ -290,7 +837,13 @@ extern int gSharedMemoryKey;
|
||||
|
||||
class CommonExampleInterface* PhysicsServerCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
PhysicsServerExample* example = new PhysicsServerExample(options.m_guiHelper, options.m_sharedMem, options.m_option);
|
||||
|
||||
MultiThreadedOpenGLGuiHelper* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper(options.m_guiHelper->getAppInterface(),options.m_guiHelper);
|
||||
|
||||
PhysicsServerExample* example = new PhysicsServerExample(guiHelperWrapper,
|
||||
options.m_sharedMem,
|
||||
options.m_option);
|
||||
|
||||
if (gSharedMemoryKey>=0)
|
||||
{
|
||||
example->setSharedMemoryKey(gSharedMemoryKey);
|
||||
@@ -306,3 +859,5 @@ class CommonExampleInterface* PhysicsServerCreateFunc(struct CommonExampleOpt
|
||||
return example;
|
||||
|
||||
}
|
||||
|
||||
B3_STANDALONE_EXAMPLE(PhysicsServerCreateFunc)
|
||||
@@ -90,6 +90,11 @@ PhysicsServerSharedMemory::~PhysicsServerSharedMemory()
|
||||
delete m_data;
|
||||
}
|
||||
|
||||
void PhysicsServerSharedMemory::resetDynamicsWorld()
|
||||
{
|
||||
m_data->m_commandProcessor->deleteDynamicsWorld();
|
||||
m_data->m_commandProcessor ->createEmptyDynamicsWorld();
|
||||
}
|
||||
void PhysicsServerSharedMemory::setSharedMemoryKey(int key)
|
||||
{
|
||||
m_data->m_sharedMemoryKey = key;
|
||||
|
||||
@@ -43,6 +43,7 @@ public:
|
||||
void enableCommandLogging(bool enable, const char* fileName);
|
||||
void replayFromLogFile(const char* fileName);
|
||||
|
||||
void resetDynamicsWorld();
|
||||
|
||||
};
|
||||
|
||||
|
||||
@@ -15,7 +15,8 @@ links {
|
||||
|
||||
language "C++"
|
||||
|
||||
files {
|
||||
myfiles =
|
||||
{
|
||||
"PhysicsClient.cpp",
|
||||
"PhysicsClientSharedMemory.cpp",
|
||||
"PhysicsClientExample.cpp",
|
||||
@@ -24,7 +25,6 @@ files {
|
||||
"PhysicsServerSharedMemory.h",
|
||||
"PhysicsServer.cpp",
|
||||
"PhysicsServer.h",
|
||||
"main.cpp",
|
||||
"PhysicsClientC_API.cpp",
|
||||
"SharedMemoryCommands.h",
|
||||
"SharedMemoryPublic.h",
|
||||
@@ -76,11 +76,211 @@ files {
|
||||
"../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
|
||||
"../Importers/ImportColladaDemo/ColladaGraphicsInstance.h",
|
||||
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
|
||||
"../ThirdPartyLibs/tinyxml/tinystr.cpp",
|
||||
"../ThirdPartyLibs/tinyxml/tinyxml.cpp",
|
||||
"../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
|
||||
"../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
|
||||
"../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
|
||||
"../ThirdPartyLibs/stb_image/stb_image.cpp",
|
||||
"../ThirdPartyLibs/tinyxml/tinystr.cpp",
|
||||
"../ThirdPartyLibs/tinyxml/tinyxml.cpp",
|
||||
"../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
|
||||
"../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
|
||||
"../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
|
||||
"../ThirdPartyLibs/stb_image/stb_image.cpp",
|
||||
}
|
||||
|
||||
files {
|
||||
myfiles,
|
||||
"main.cpp",
|
||||
}
|
||||
|
||||
|
||||
files {
|
||||
"../MultiThreading/b3ThreadSupportInterface.cpp",
|
||||
"../MultiThreading/b3ThreadSupportInterface.h"
|
||||
}
|
||||
if os.is("Windows") then
|
||||
|
||||
files {
|
||||
"../MultiThreading/b3Win32ThreadSupport.cpp",
|
||||
"../MultiThreading/b3Win32ThreadSupport.h"
|
||||
}
|
||||
--links {"winmm"}
|
||||
--defines {"__WINDOWS_MM__", "WIN32"}
|
||||
end
|
||||
|
||||
if os.is("Linux") then
|
||||
files {
|
||||
"../MultiThreading/b3PosixThreadSupport.cpp",
|
||||
"../MultiThreading/b3PosixThreadSupport.h"
|
||||
}
|
||||
|
||||
links {"pthread"}
|
||||
end
|
||||
|
||||
if os.is("MacOSX") then
|
||||
files {
|
||||
"../MultiThreading/b3PosixThreadSupport.cpp",
|
||||
"../MultiThreading/b3PosixThreadSupport.h"
|
||||
}
|
||||
|
||||
links {"pthread"}
|
||||
--links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
|
||||
--defines {"__MACOSX_CORE__"}
|
||||
end
|
||||
|
||||
|
||||
project "App_SharedMemoryPhysics_GUI"
|
||||
|
||||
if _OPTIONS["ios"] then
|
||||
kind "WindowedApp"
|
||||
else
|
||||
kind "ConsoleApp"
|
||||
end
|
||||
defines {"B3_USE_STANDALONE_EXAMPLE"}
|
||||
|
||||
includedirs {"../../src"}
|
||||
|
||||
links {
|
||||
"BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common"
|
||||
}
|
||||
initOpenGL()
|
||||
initGlew()
|
||||
|
||||
language "C++"
|
||||
|
||||
files {
|
||||
myfiles,
|
||||
"../StandaloneMain/main_opengl_single_example.cpp",
|
||||
"../ExampleBrowser/OpenGLGuiHelper.cpp",
|
||||
"../ExampleBrowser/GL_ShapeDrawer.cpp",
|
||||
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
|
||||
}
|
||||
|
||||
if os.is("Linux") then initX11() end
|
||||
|
||||
if os.is("MacOSX") then
|
||||
links{"Cocoa.framework"}
|
||||
end
|
||||
|
||||
|
||||
files {
|
||||
"../MultiThreading/b3ThreadSupportInterface.cpp",
|
||||
"../MultiThreading/b3ThreadSupportInterface.h"
|
||||
}
|
||||
if os.is("Windows") then
|
||||
|
||||
files {
|
||||
"../MultiThreading/b3Win32ThreadSupport.cpp",
|
||||
"../MultiThreading/b3Win32ThreadSupport.h"
|
||||
}
|
||||
--links {"winmm"}
|
||||
--defines {"__WINDOWS_MM__", "WIN32"}
|
||||
end
|
||||
|
||||
if os.is("Linux") then
|
||||
files {
|
||||
"../MultiThreading/b3PosixThreadSupport.cpp",
|
||||
"../MultiThreading/b3PosixThreadSupport.h"
|
||||
}
|
||||
|
||||
links {"pthread"}
|
||||
end
|
||||
|
||||
if os.is("MacOSX") then
|
||||
files {
|
||||
"../MultiThreading/b3PosixThreadSupport.cpp",
|
||||
"../MultiThreading/b3PosixThreadSupport.h"
|
||||
}
|
||||
|
||||
links {"pthread"}
|
||||
--links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
|
||||
--defines {"__MACOSX_CORE__"}
|
||||
end
|
||||
|
||||
if os.is("Windows") then
|
||||
project "App_SharedMemoryPhysics_VR"
|
||||
--for now, only enable VR under Windows, until compilation issues are resolved on Mac/Linux
|
||||
defines {"B3_USE_STANDALONE_EXAMPLE","BT_ENABLE_VR"}
|
||||
|
||||
if _OPTIONS["ios"] then
|
||||
kind "WindowedApp"
|
||||
else
|
||||
kind "ConsoleApp"
|
||||
end
|
||||
|
||||
includedirs {
|
||||
".","../../src", "../ThirdPartyLibs",
|
||||
"../ThirdPartyLibs/openvr/headers",
|
||||
"../ThirdPartyLibs/openvr/samples/shared"
|
||||
}
|
||||
|
||||
links {
|
||||
"Bullet3Common", "BulletDynamics","BulletCollision", "LinearMath","OpenGL_Window","openvr_api"
|
||||
}
|
||||
|
||||
|
||||
language "C++"
|
||||
|
||||
|
||||
initOpenGL()
|
||||
initGlew()
|
||||
|
||||
|
||||
files
|
||||
{
|
||||
myfiles,
|
||||
"../StandaloneMain/hellovr_opengl_main.cpp",
|
||||
"../ExampleBrowser/OpenGLGuiHelper.cpp",
|
||||
"../ExampleBrowser/GL_ShapeDrawer.cpp",
|
||||
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
|
||||
"../ThirdPartyLibs/openvr/samples/shared/lodepng.cpp",
|
||||
"../ThirdPartyLibs/openvr/samples/shared/lodepng.h",
|
||||
"../ThirdPartyLibs/openvr/samples/shared/Matrices.cpp",
|
||||
"../ThirdPartyLibs/openvr/samples/shared/Matrices.h",
|
||||
"../ThirdPartyLibs/openvr/samples/shared/pathtools.cpp",
|
||||
"../ThirdPartyLibs/openvr/samples/shared/pathtools.h",
|
||||
"../ThirdPartyLibs/openvr/samples/shared/Vectors.h",
|
||||
}
|
||||
if os.is("Windows") then
|
||||
libdirs {"../ThirdPartyLibs/openvr/lib/win32"}
|
||||
end
|
||||
|
||||
if os.is("Linux") then initX11() end
|
||||
|
||||
if os.is("MacOSX") then
|
||||
links{"Cocoa.framework"}
|
||||
end
|
||||
|
||||
|
||||
files {
|
||||
"../MultiThreading/b3ThreadSupportInterface.cpp",
|
||||
"../MultiThreading/b3ThreadSupportInterface.h"
|
||||
}
|
||||
if os.is("Windows") then
|
||||
|
||||
files {
|
||||
"../MultiThreading/b3Win32ThreadSupport.cpp",
|
||||
"../MultiThreading/b3Win32ThreadSupport.h"
|
||||
}
|
||||
--links {"winmm"}
|
||||
--defines {"__WINDOWS_MM__", "WIN32"}
|
||||
end
|
||||
|
||||
if os.is("Linux") then
|
||||
files {
|
||||
"../MultiThreading/b3PosixThreadSupport.cpp",
|
||||
"../MultiThreading/b3PosixThreadSupport.h"
|
||||
}
|
||||
|
||||
links {"pthread"}
|
||||
end
|
||||
|
||||
if os.is("MacOSX") then
|
||||
files {
|
||||
"../MultiThreading/b3PosixThreadSupport.cpp",
|
||||
"../MultiThreading/b3PosixThreadSupport.h"
|
||||
}
|
||||
|
||||
links {"pthread"}
|
||||
--links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
|
||||
--defines {"__MACOSX_CORE__"}
|
||||
end
|
||||
|
||||
|
||||
end
|
||||
Reference in New Issue
Block a user