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Replace large timeout (1024*1024*1024) using real-time clock timeout (10 seconds default)

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Change SHARED_MEMORY_MAGIC_NUMBER to make sure server/client are using the same version (shared memory)
add --realtimesimulation to physics server (GUI, VR)
remove --G Xcode from build_cmake_pybullet_double.sh
This commit is contained in:
Erwin Coumans
2017-02-22 09:33:30 -08:00
parent 35b92c43d3
commit bd30ba30ce
13 changed files with 172 additions and 80 deletions
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57
examples/SharedMemory/PhysicsDirect.cpp
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@@ -4,7 +4,7 @@
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "SharedMemoryCommands.h"
#include "PhysicsCommandProcessorInterface.h"
#include "../Utils/b3Clock.h"
#include "LinearMath/btHashMap.h"
#include "LinearMath/btAlignedObjectArray.h"
@@ -137,8 +137,10 @@ bool PhysicsDirect::connect()
}
else
{
int timeout = 1024 * 1024 * 1024;
while ((!hasStatus) && (timeout-- > 0))
b3Clock clock;
double timeSec = clock.getTimeInSeconds();
while ((!hasStatus) && (clock.getTimeInSeconds()-timeSec <10 ))
{
const SharedMemoryStatus* stat = processServerStatus();
if (stat)
@@ -226,8 +228,11 @@ bool PhysicsDirect::processDebugLines(const struct SharedMemoryCommand& orgComma
bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
int timeout = 1024 * 1024 * 1024;
while ((!hasStatus) && (timeout-- > 0))
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = 10;
while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
const SharedMemoryStatus* stat = processServerStatus();
if (stat)
@@ -308,8 +313,11 @@ bool PhysicsDirect::processVisualShapeData(const struct SharedMemoryCommand& org
{
bool hasStatus = m_data->m_commandProcessor->processCommand(command, m_data->m_serverStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
int timeout = 1024 * 1024 * 1024;
while ((!hasStatus) && (timeout-- > 0))
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = 10;
while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
const SharedMemoryStatus* stat = processServerStatus();
if (stat)
@@ -359,8 +367,11 @@ bool PhysicsDirect::processOverlappingObjects(const struct SharedMemoryCommand&
{
bool hasStatus = m_data->m_commandProcessor->processCommand(command, m_data->m_serverStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
int timeout = 1024 * 1024 * 1024;
while ((!hasStatus) && (timeout-- > 0))
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = 10;
while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
const SharedMemoryStatus* stat = processServerStatus();
if (stat)
@@ -414,8 +425,11 @@ bool PhysicsDirect::processContactPointData(const struct SharedMemoryCommand& or
{
bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
int timeout = 1024 * 1024 * 1024;
while ((!hasStatus) && (timeout-- > 0))
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = 10;
while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
const SharedMemoryStatus* stat = processServerStatus();
if (stat)
@@ -475,8 +489,11 @@ bool PhysicsDirect::processCamera(const struct SharedMemoryCommand& orgCommand)
bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
int timeout = 1024 * 1024 * 1024;
while ((!hasStatus) && (timeout-- > 0))
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = 10;
while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
const SharedMemoryStatus* stat = processServerStatus();
if (stat)
@@ -735,8 +752,11 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
bool hasStatus = m_data->m_commandProcessor->processCommand(infoRequestCommand, infoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
int timeout = 1024 * 1024 * 1024;
while ((!hasStatus) && (timeout-- > 0))
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = 10;
while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
hasStatus = m_data->m_commandProcessor->receiveStatus(infoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
}
@@ -759,8 +779,11 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
bool hasStatus = m_data->m_commandProcessor->processCommand(infoRequestCommand, infoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
int timeout = 1024 * 1024 * 1024;
while ((!hasStatus) && (timeout-- > 0))
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = 10;
while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
hasStatus = m_data->m_commandProcessor->receiveStatus(infoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
}