From bfc85ff1fd1181dc875d27f5de9cd2a7d5b5d062 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Wed, 27 Jun 2018 23:43:42 -0700
Subject: [PATCH] PyBullet: TCP connection, optimized getVREvents to allow
 faster Windows -> Linux Vive tracking state communication.

---
 examples/SharedMemory/PhysicsClientTCP.cpp | 13 ++++-
 examples/SharedMemory/tcp/main.cpp         | 63 ++++++++++++++++------
 2 files changed, 57 insertions(+), 19 deletions(-)

diff --git a/examples/SharedMemory/PhysicsClientTCP.cpp b/examples/SharedMemory/PhysicsClientTCP.cpp
index f959325c0..8ac5b74f8 100644
--- a/examples/SharedMemory/PhysicsClientTCP.cpp
+++ b/examples/SharedMemory/PhysicsClientTCP.cpp
@@ -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);
diff --git a/examples/SharedMemory/tcp/main.cpp b/examples/SharedMemory/tcp/main.cpp
index 6c2df155d..234b2312e 100644
--- a/examples/SharedMemory/tcp/main.cpp
+++ b/examples/SharedMemory/tcp/main.cpp
@@ -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() );
 									}
 								}