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Merge remote-tracking branch 'upstream/master'

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This commit is contained in:
yunfeibai
2017-06-02 18:26:04 -07:00
parent 0a29c8d9af 518c7ec00e
commit bfcbb339cf
126 changed files with 111577 additions and 2758 deletions
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389
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -4,9 +4,7 @@
#include "PhysicsServerExample.h"
#ifdef B3_USE_MIDI
#include "RtMidi.h"
#endif//B3_USE_MIDI
#include "PhysicsServerSharedMemory.h"
#include "Bullet3Common/b3CommandLineArgs.h"
@@ -24,37 +22,26 @@
//@todo(erwincoumans) those globals are hacks for a VR demo, move this to Python/pybullet!
extern btVector3 gLastPickPos;
bool gEnablePicking=true;
bool gEnableTeleporting=true;
bool gEnableRendering= true;
bool gEnableSyncPhysicsRendering= true;
bool gEnableUpdateDebugDrawLines = true;
//extern btVector3 gLastPickPos;
btVector3 gVRTeleportPosLocal(0,0,0);
btQuaternion gVRTeleportOrnLocal(0,0,0,1);
extern btVector3 gVRTeleportPos1;
extern btQuaternion gVRTeleportOrn;
btScalar gVRTeleportRotZ = 0;
extern btVector3 gVRGripperPos;
extern btQuaternion gVRGripperOrn;
extern btVector3 gVRController2Pos;
extern btQuaternion gVRController2Orn;
extern btScalar gVRGripperAnalog;
extern btScalar gVRGripper2Analog;
extern bool gCloseToKuka;
extern bool gEnableRealTimeSimVR;
extern bool gCreateDefaultRobotAssets;
extern int gInternalSimFlags;
extern int gCreateObjectSimVR;
extern bool gResetSimulation;
extern int gEnableKukaControl;
int gGraspingController = -1;
extern btScalar simTimeScalingFactor;
bool gBatchUserDebugLines = true;
extern bool gVRGripperClosed;
const char* startFileNameVR = "0_VRDemoSettings.txt";
@@ -82,70 +69,20 @@ static void loadCurrentSettingsVR(b3CommandLineArgs& args)
};
//remember the settings (you don't want to re-tune again and again...)
static void saveCurrentSettingsVR()
static void saveCurrentSettingsVR(const btVector3& VRTeleportPos1)
{
FILE* f = fopen(startFileNameVR, "w");
if (f)
{
fprintf(f, "--camPosX= %f\n", gVRTeleportPos1[0]);
fprintf(f, "--camPosY= %f\n", gVRTeleportPos1[1]);
fprintf(f, "--camPosZ= %f\n", gVRTeleportPos1[2]);
fprintf(f, "--camPosX= %f\n", VRTeleportPos1[0]);
fprintf(f, "--camPosY= %f\n", VRTeleportPos1[1]);
fprintf(f, "--camPosZ= %f\n", VRTeleportPos1[2]);
fprintf(f, "--camRotZ= %f\n", gVRTeleportRotZ);
fclose(f);
}
};
#if B3_USE_MIDI
static float getParamf(float rangeMin, float rangeMax, int midiVal)
{
float v = rangeMin + (rangeMax - rangeMin)* (float(midiVal / 127.));
return v;
}
void midiCallback(double deltatime, std::vector< unsigned char > *message, void *userData)
{
unsigned int nBytes = message->size();
for (unsigned int i = 0; i<nBytes; i++)
std::cout << "Byte " << i << " = " << (int)message->at(i) << ", ";
if (nBytes > 0)
std::cout << "stamp = " << deltatime << std::endl;
if (nBytes > 2)
{
if (message->at(0) == 176)
{
if (message->at(1) == 16)
{
gVRTeleportRotZ= getParamf(-3.1415, 3.1415, message->at(2));
gVRTeleportOrn = btQuaternion(btVector3(0, 0, 1), gVRTeleportRotZ);
saveCurrentSettingsVR();
// b3Printf("gVRTeleportOrnLocal rotZ = %f\n", gVRTeleportRotZ);
}
if (message->at(1) == 32)
{
gCreateDefaultRobotAssets = 1;
}
for (int i = 0; i < 3; i++)
{
if (message->at(1) == i)
{
gVRTeleportPos1[i] = getParamf(-2, 2, message->at(2));
saveCurrentSettingsVR();
// b3Printf("gVRTeleportPos[%d] = %f\n", i,gVRTeleportPosLocal[i]);
}
}
}
}
}
#endif //B3_USE_MIDI
bool gDebugRenderToggle = false;
void MotionThreadFunc(void* userPtr,void* lsMemory);
void* MotionlsMemoryFunc();
@@ -186,6 +123,7 @@ enum MultiThreadedGUIHelperCommunicationEnums
eGUIDumpFramesToVideo,
eGUIHelperRemoveGraphicsInstance,
eGUIHelperChangeGraphicsInstanceRGBAColor,
eGUIHelperChangeGraphicsInstanceSpecularColor,
eGUIHelperSetVisualizerFlag,
};
@@ -291,7 +229,6 @@ struct MotionThreadLocalStorage
float clampedDeltaTime = 0.2;
extern int gMaxNumCmdPer1ms;
void MotionThreadFunc(void* userPtr,void* lsMemory)
@@ -325,16 +262,7 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
{
if (gMaxNumCmdPer1ms>0)
{
if (numCmdSinceSleep1ms>gMaxNumCmdPer1ms)
{
BT_PROFILE("usleep(10)");
b3Clock::usleep(10);
numCmdSinceSleep1ms = 0;
sleepClock.reset();
}
}
if (sleepClock.getTimeMilliseconds()>1)
{
sleepClock.reset();
@@ -600,7 +528,7 @@ struct ColorWidth
ATTRIBUTE_ALIGNED16( class )MultithreadedDebugDrawer : public btIDebugDraw
{
class GUIHelperInterface* m_guiHelper;
struct GUIHelperInterface* m_guiHelper;
int m_debugMode;
btAlignedObjectArray< btAlignedObjectArray<unsigned int> > m_sortedIndices;
@@ -991,6 +919,19 @@ public:
workerThreadWait();
}
double m_specularColor[3];
int m_graphicsInstanceChangeSpecular;
virtual void changeSpecularColor(int instanceUid, const double specularColor[3])
{
m_graphicsInstanceChangeSpecular = instanceUid;
m_specularColor[0] = specularColor[0];
m_specularColor[1] = specularColor[1];
m_specularColor[2] = specularColor[2];
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperChangeGraphicsInstanceSpecularColor);
workerThreadWait();
}
virtual Common2dCanvasInterface* get2dCanvasInterface()
{
return 0;
@@ -1229,9 +1170,7 @@ class PhysicsServerExample : public SharedMemoryCommon
MotionArgs m_args[MAX_MOTION_NUM_THREADS];
MultiThreadedOpenGLGuiHelper* m_multiThreadedHelper;
bool m_wantsShutdown;
#ifdef B3_USE_MIDI
RtMidiIn* m_midi;
#endif
bool m_isConnected;
btClock m_clock;
bool m_replay;
@@ -1243,7 +1182,7 @@ class PhysicsServerExample : public SharedMemoryCommon
public:
PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper, SharedMemoryInterface* sharedMem=0, int options=0);
PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper, CommandProcessorCreationInterface* commandProcessorCreator, SharedMemoryInterface* sharedMem=0, int options=0);
virtual ~PhysicsServerExample();
@@ -1434,43 +1373,54 @@ public:
if (window->isModifierKeyPressed(B3G_SHIFT))
shift=0.01;
btVector3 VRTeleportPos =this->m_physicsServer.getVRTeleportPosition();
if (key=='w' && state)
{
gVRTeleportPos1[0]+=shift;
saveCurrentSettingsVR();
VRTeleportPos[0]+=shift;
m_physicsServer.setVRTeleportPosition(VRTeleportPos);
saveCurrentSettingsVR(VRTeleportPos);
}
if (key=='s' && state)
{
gVRTeleportPos1[0]-=shift;
saveCurrentSettingsVR();
VRTeleportPos[0]-=shift;
m_physicsServer.setVRTeleportPosition(VRTeleportPos);
saveCurrentSettingsVR(VRTeleportPos);
}
if (key=='a' && state)
{
gVRTeleportPos1[1]-=shift;
saveCurrentSettingsVR();
VRTeleportPos[1]-=shift;
m_physicsServer.setVRTeleportPosition(VRTeleportPos);
saveCurrentSettingsVR(VRTeleportPos);
}
if (key=='d' && state)
{
gVRTeleportPos1[1]+=shift;
saveCurrentSettingsVR();
VRTeleportPos[1]+=shift;
m_physicsServer.setVRTeleportPosition(VRTeleportPos);
saveCurrentSettingsVR(VRTeleportPos);
}
if (key=='q' && state)
{
gVRTeleportPos1[2]+=shift;
saveCurrentSettingsVR();
VRTeleportPos[2]+=shift;
m_physicsServer.setVRTeleportPosition(VRTeleportPos);
saveCurrentSettingsVR(VRTeleportPos);
}
if (key=='e' && state)
{
gVRTeleportPos1[2]-=shift;
saveCurrentSettingsVR();
VRTeleportPos[2]-=shift;
m_physicsServer.setVRTeleportPosition(VRTeleportPos);
saveCurrentSettingsVR(VRTeleportPos);
}
if (key=='z' && state)
{
gVRTeleportRotZ+=shift;
gVRTeleportOrn = btQuaternion(btVector3(0, 0, 1), gVRTeleportRotZ);
saveCurrentSettingsVR();
btQuaternion VRTeleportOrn = btQuaternion(btVector3(0, 0, 1), gVRTeleportRotZ);
m_physicsServer.setVRTeleportOrientation(VRTeleportOrn);
saveCurrentSettingsVR(VRTeleportPos);
}
return false;
}
@@ -1490,33 +1440,33 @@ public:
setSharedMemoryKey(shmemKey);
}
if (args.GetCmdLineArgument("camPosX", gVRTeleportPos1[0]))
btVector3 vrTeleportPos = m_physicsServer.getVRTeleportPosition();
if (args.GetCmdLineArgument("camPosX", vrTeleportPos[0]))
{
printf("camPosX=%f\n", gVRTeleportPos1[0]);
printf("camPosX=%f\n", vrTeleportPos[0]);
}
if (args.GetCmdLineArgument("camPosY", gVRTeleportPos1[1]))
if (args.GetCmdLineArgument("camPosY", vrTeleportPos[1]))
{
printf("camPosY=%f\n", gVRTeleportPos1[1]);
printf("camPosY=%f\n", vrTeleportPos[1]);
}
if (args.GetCmdLineArgument("camPosZ", gVRTeleportPos1[2]))
if (args.GetCmdLineArgument("camPosZ", vrTeleportPos[2]))
{
printf("camPosZ=%f\n", gVRTeleportPos1[2]);
printf("camPosZ=%f\n", vrTeleportPos[2]);
}
m_physicsServer.setVRTeleportPosition(vrTeleportPos);
float camRotZ = 0.f;
if (args.GetCmdLineArgument("camRotZ", camRotZ))
{
printf("camRotZ = %f\n", camRotZ);
btQuaternion ornZ(btVector3(0, 0, 1), camRotZ);
gVRTeleportOrn = ornZ;
m_physicsServer.setVRTeleportOrientation(ornZ);
}
if (args.CheckCmdLineFlag("robotassets"))
{
gCreateDefaultRobotAssets = true;
}
if (args.CheckCmdLineFlag("realtimesimulation"))
{
@@ -1524,53 +1474,17 @@ public:
m_physicsServer.enableRealTimeSimulation(true);
}
if (args.CheckCmdLineFlag("norobotassets"))
{
gCreateDefaultRobotAssets = false;
}
}
};
#ifdef B3_USE_MIDI
static bool chooseMidiPort(RtMidiIn *rtmidi)
{
/*
std::cout << "\nWould you like to open a virtual input port? [y/N] ";
std::string keyHit;
std::getline( std::cin, keyHit );
if ( keyHit == "y" ) {
rtmidi->openVirtualPort();
return true;
}
*/
std::string portName;
unsigned int i = 0, nPorts = rtmidi->getPortCount();
if (nPorts == 0) {
std::cout << "No midi input ports available!" << std::endl;
return false;
}
if (nPorts > 0) {
std::cout << "\nOpening midi input port " << rtmidi->getPortName() << std::endl;
}
// std::getline( std::cin, keyHit ); // used to clear out stdin
rtmidi->openPort(i);
return true;
}
#endif //B3_USE_MIDI
PhysicsServerExample::PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper, SharedMemoryInterface* sharedMem, int options)
PhysicsServerExample::PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper,CommandProcessorCreationInterface* commandProcessorCreator, SharedMemoryInterface* sharedMem, int options)
:SharedMemoryCommon(helper),
m_physicsServer(sharedMem),
m_physicsServer(commandProcessorCreator,sharedMem,0),
m_wantsShutdown(false),
m_isConnected(false),
m_replay(false)
@@ -1579,14 +1493,7 @@ m_replay(false)
,m_tinyVrGui(0)
#endif
{
#ifdef B3_USE_MIDI
m_midi = new RtMidiIn();
chooseMidiPort(m_midi);
m_midi->setCallback(&midiCallback);
// Don't ignore sysex, timing, or active sensing messages.
m_midi->ignoreTypes(false, false, false);
#endif
m_multiThreadedHelper = helper;
// b3Printf("Started PhysicsServer\n");
}
@@ -1595,10 +1502,7 @@ m_replay(false)
PhysicsServerExample::~PhysicsServerExample()
{
#ifdef B3_USE_MIDI
delete m_midi;
m_midi = 0;
#endif
#ifdef BT_ENABLE_VR
delete m_tinyVrGui;
#endif
@@ -1776,22 +1680,22 @@ void PhysicsServerExample::updateGraphics()
if (flag==COV_ENABLE_VR_TELEPORTING)
{
gEnableTeleporting = enable;
gEnableTeleporting = (enable!=0);
}
if (flag == COV_ENABLE_VR_PICKING)
{
gEnablePicking = enable;
gEnablePicking = (enable!=0);
}
if (flag ==COV_ENABLE_SYNC_RENDERING_INTERNAL)
{
gEnableSyncPhysicsRendering = enable;
gEnableSyncPhysicsRendering = (enable!=0);
}
if (flag == COV_ENABLE_RENDERING)
{
gEnableRendering = enable;
gEnableRendering = (enable!=0);
}
m_multiThreadedHelper->m_childGuiHelper->setVisualizerFlag(m_multiThreadedHelper->m_visualizerFlag,m_multiThreadedHelper->m_visualizerEnable);
@@ -1813,6 +1717,13 @@ void PhysicsServerExample::updateGraphics()
}
case eGUIHelperRemoveAllGraphicsInstances:
{
#ifdef BT_ENABLE_VR
if (m_tinyVrGui)
{
delete m_tinyVrGui;
m_tinyVrGui=0;
}
#endif //BT_ENABLE_VR
m_multiThreadedHelper->m_childGuiHelper->removeAllGraphicsInstances();
if (m_multiThreadedHelper->m_childGuiHelper->getRenderInterface())
{
@@ -1837,6 +1748,13 @@ void PhysicsServerExample::updateGraphics()
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIHelperChangeGraphicsInstanceSpecularColor:
{
m_multiThreadedHelper->m_childGuiHelper->changeSpecularColor(m_multiThreadedHelper->m_graphicsInstanceChangeSpecular,m_multiThreadedHelper->m_specularColor);
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIHelperCopyCameraImageData:
{
@@ -2000,7 +1918,6 @@ extern int gDroppedSimulationSteps;
extern int gNumSteps;
extern double gDtInSec;
extern double gSubStep;
extern int gVRTrackingObjectUniqueId;
extern btTransform gVRTrackingObjectTr;
@@ -2199,33 +2116,23 @@ void PhysicsServerExample::drawUserDebugLines()
void PhysicsServerExample::renderScene()
{
btTransform vrTrans;
//gVRTeleportPos1 = gVRTeleportPosLocal;
//gVRTeleportOrn = gVRTeleportOrnLocal;
///little VR test to follow/drive Husky vehicle
if (gVRTrackingObjectUniqueId >= 0)
{
btTransform vrTrans;
vrTrans.setOrigin(gVRTeleportPosLocal);
vrTrans.setRotation(gVRTeleportOrnLocal);
vrTrans = vrTrans * gVRTrackingObjectTr;
gVRTeleportPos1 = vrTrans.getOrigin();
gVRTeleportOrn = vrTrans.getRotation();
}
B3_PROFILE("PhysicsServerExample::RenderScene");
drawUserDebugLines();
if (gEnableRealTimeSimVR)
if (m_physicsServer.isRealTimeSimulationEnabled())
{
static int frameCount=0;
//static btScalar prevTime = m_clock.getTimeSeconds();
static btScalar prevTime = m_clock.getTimeSeconds();
frameCount++;
static char line0[1024]={0};
static char line1[1024]={0};
#if 0
@@ -2233,7 +2140,8 @@ void PhysicsServerExample::renderScene()
int numFrames = 200;
static int count = 0;
count++;
if (0 == (count & 1))
{
btScalar curTime = m_clock.getTimeSeconds();
@@ -2274,14 +2182,13 @@ void PhysicsServerExample::renderScene()
{
b3Transform tr;tr.setIdentity();
tr.setOrigin(b3MakeVector3(gVRController2Pos[0],gVRController2Pos[1],gVRController2Pos[2]));
tr.setRotation(b3Quaternion(gVRController2Orn[0],gVRController2Orn[1],gVRController2Orn[2],gVRController2Orn[3]));
btVector3 VRController2Pos = m_physicsServer.getVRTeleportPosition();
btQuaternion VRController2Orn = m_physicsServer.getVRTeleportOrientation();
tr.setOrigin(b3MakeVector3(VRController2Pos[0],VRController2Pos[1],VRController2Pos[2]));
tr.setRotation(b3Quaternion(VRController2Orn[0],VRController2Orn[1],VRController2Orn[2],VRController2Orn[3]));
tr = tr*b3Transform(b3Quaternion(0,0,-SIMD_HALF_PI),b3MakeVector3(0,0,0));
b3Scalar dt = 0.01;
m_tinyVrGui->clearTextArea();
static char line0[1024];
static char line1[1024];
m_tinyVrGui->grapicalPrintf(line0,0,0,0,0,0,255);
m_tinyVrGui->grapicalPrintf(line1,0,16,255,255,255,255);
@@ -2296,8 +2203,8 @@ void PhysicsServerExample::renderScene()
btTransform tr2a, tr2;
tr2a.setIdentity();
tr2.setIdentity();
tr2.setOrigin(gVRTeleportPos1);
tr2a.setRotation(gVRTeleportOrn);
tr2.setOrigin(m_physicsServer.getVRTeleportPosition());
tr2a.setRotation(m_physicsServer.getVRTeleportOrientation());
btTransform trTotal = tr2*tr2a;
btTransform trInv = trTotal.inverse();
@@ -2360,9 +2267,8 @@ void PhysicsServerExample::renderScene()
if (m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->isVRCamera())
{
if (!gEnableRealTimeSimVR)
if (!m_physicsServer.isRealTimeSimulationEnabled())
{
gEnableRealTimeSimVR = true;
m_physicsServer.enableRealTimeSimulation(1);
}
}
@@ -2462,35 +2368,6 @@ btVector3 PhysicsServerExample::getRayTo(int x,int y)
}
extern int gSharedMemoryKey;
class CommonExampleInterface* PhysicsServerCreateFunc(struct CommonExampleOptions& options)
{
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);
}
if (options.m_option & PHYSICS_SERVER_ENABLE_COMMAND_LOGGING)
{
example->enableCommandLogging();
}
if (options.m_option & PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG)
{
example->replayFromLogFile();
}
return example;
}
void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orn[4])
@@ -2503,7 +2380,6 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
if (gGraspingController < 0)
{
gGraspingController = controllerId;
gEnableKukaControl = true;
}
btTransform trLocal;
@@ -2522,8 +2398,8 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
tr2.setOrigin(gVRTeleportPos1);
tr2a.setRotation(gVRTeleportOrn);
tr2.setOrigin(m_physicsServer.getVRTeleportPosition());
tr2a.setRotation(m_physicsServer.getVRTeleportOrientation());
btTransform trTotal = tr2*tr2a*trOrg*trLocal;
@@ -2533,8 +2409,7 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
{
if (button == 1 && state == 0)
{
//gResetSimulation = true;
gVRTeleportPos1 = gLastPickPos;
}
} else
{
@@ -2575,7 +2450,6 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
if (controllerId == gGraspingController)
{
gCreateObjectSimVR = 1;
}
else
{
@@ -2591,7 +2465,7 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
if (controllerId == gGraspingController && (button == 33))
{
gVRGripperClosed =(state!=0);
}
else
{
@@ -2661,25 +2535,18 @@ void PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[
tr2.setOrigin(gVRTeleportPos1);
tr2a.setRotation(gVRTeleportOrn);
tr2.setOrigin(m_physicsServer.getVRTeleportPosition());
tr2a.setRotation(m_physicsServer.getVRTeleportOrientation());
btTransform trTotal = tr2*tr2a*trOrg*trLocal;
if (controllerId == gGraspingController)
{
gVRGripperAnalog = analogAxis;
gVRGripperPos = trTotal.getOrigin();
gVRGripperOrn = trTotal.getRotation();
}
else
{
gVRGripper2Analog = analogAxis;
gVRController2Pos = trTotal.getOrigin();
gVRController2Orn = trTotal.getRotation();
m_args[0].m_vrControllerPos[controllerId] = trTotal.getOrigin();
m_args[0].m_vrControllerOrn[controllerId] = trTotal.getRotation();
}
@@ -2722,8 +2589,8 @@ void PhysicsServerExample::vrHMDMoveCallback(int controllerId, float pos[4], flo
tr2a.setIdentity();
btTransform tr2;
tr2.setIdentity();
tr2.setOrigin(gVRTeleportPos1);
tr2a.setRotation(gVRTeleportOrn);
tr2.setOrigin(m_physicsServer.getVRTeleportPosition());
tr2a.setRotation(m_physicsServer.getVRTeleportOrientation());
btTransform trTotal = tr2*tr2a*trOrg*trLocal;
@@ -2764,8 +2631,8 @@ void PhysicsServerExample::vrGenericTrackerMoveCallback(int controllerId, float
tr2a.setIdentity();
btTransform tr2;
tr2.setIdentity();
tr2.setOrigin(gVRTeleportPos1);
tr2a.setRotation(gVRTeleportOrn);
tr2.setOrigin(m_physicsServer.getVRTeleportPosition());
tr2a.setRotation(m_physicsServer.getVRTeleportOrientation());
btTransform trTotal = tr2*tr2a*trOrg*trLocal;
m_args[0].m_csGUI->lock();
@@ -2782,4 +2649,36 @@ void PhysicsServerExample::vrGenericTrackerMoveCallback(int controllerId, float
m_args[0].m_csGUI->unlock();
}
B3_STANDALONE_EXAMPLE(PhysicsServerCreateFunc)
extern int gSharedMemoryKey;
class CommonExampleInterface* PhysicsServerCreateFuncInternal(struct CommonExampleOptions& options)
{
MultiThreadedOpenGLGuiHelper* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper(options.m_guiHelper->getAppInterface(),options.m_guiHelper);
PhysicsServerExample* example = new PhysicsServerExample(guiHelperWrapper,
options.m_commandProcessorCreation,
options.m_sharedMem,
options.m_option);
if (gSharedMemoryKey>=0)
{
example->setSharedMemoryKey(gSharedMemoryKey);
}
if (options.m_option & PHYSICS_SERVER_ENABLE_COMMAND_LOGGING)
{
example->enableCommandLogging();
}
if (options.m_option & PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG)
{
example->replayFromLogFile();
}
return example;
}