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Merge pull request #531 from erwincoumans/master

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add physics server loopback (same process, using shared memory) and direct (same process, directly executing commands not using shared memory)
This commit is contained in:
erwincoumans
2015-11-23 08:09:46 -08:00
parent 4db2665c52 b4701613c8
commit c755299861
24 changed files with 2916 additions and 2089 deletions
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11
examples/ExampleBrowser/CMakeLists.txt
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@@ -23,6 +23,17 @@ SET(App_ExampleBrowser_SRCS
../SharedMemory/PhysicsClientExample.cpp
../SharedMemory/PosixSharedMemory.cpp
../SharedMemory/Win32SharedMemory.cpp
../SharedMemory/PhysicsServerSharedMemory.cpp
../SharedMemory/PhysicsDirect.cpp
../SharedMemory/PhysicsDirect.h
../SharedMemory/PhysicsDirectC_API.cpp
../SharedMemory/PhysicsDirectC_API.h
../SharedMemory/PhysicsLoopBack.cpp
../SharedMemory/PhysicsLoopBack.h
../SharedMemory/PhysicsLoopBackC_API.cpp
../SharedMemory/PhysicsLoopBackC_API.h
../SharedMemory/PhysicsServerCommandProcessor.cpp
../SharedMemory/PhysicsServerCommandProcessor.h
../BasicDemo/BasicExample.cpp
../BasicDemo/BasicExample.h
../ForkLift/ForkLiftDemo.cpp

11
examples/ExampleBrowser/premake4.lua
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@@ -57,10 +57,21 @@
"../SharedMemory/PhysicsServerExample.cpp",
"../SharedMemory/PhysicsClientExample.cpp",
"../SharedMemory/PhysicsServer.cpp",
"../SharedMemory/PhysicsServerSharedMemory.cpp",
"../SharedMemory/PhysicsClientSharedMemory.cpp",
"../SharedMemory/PhysicsClient.cpp",
"../SharedMemory/PosixSharedMemory.cpp",
"../SharedMemory/Win32SharedMemory.cpp",
"../SharedMemory/PhysicsDirect.cpp",
"../SharedMemory/PhysicsDirect.h",
"../SharedMemory/PhysicsDirectC_API.cpp",
"../SharedMemory/PhysicsDirectC_API.h",
"../SharedMemory/PhysicsLoopBack.cpp",
"../SharedMemory/PhysicsLoopBack.h",
"../SharedMemory/PhysicsLoopBackC_API.cpp",
"../SharedMemory/PhysicsLoopBackC_API.h",
"../SharedMemory/PhysicsServerCommandProcessor.cpp",
"../SharedMemory/PhysicsServerCommandProcessor.h",
"../MultiThreading/MultiThreadingExample.cpp",
"../MultiThreading/b3PosixThreadSupport.cpp",
"../MultiThreading/b3Win32ThreadSupport.cpp",

75
examples/SharedMemory/BodyJointInfoUtility.h Normal file
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@@ -0,0 +1,75 @@
#ifndef BODY_JOINT_INFO_UTILITY_H
#define BODY_JOINT_INFO_UTILITY_H
#include "Bullet3Common/b3Logging.h"
namespace Bullet
{
class btMultiBodyDoubleData;
class btMultiBodyFloatData;
};
inline char* strDup(const char* const str)
{
#ifdef _WIN32
return _strdup(str);
#else
return strdup(str);
#endif
}
template <typename T, typename U> void addJointInfoFromMultiBodyData(const T* mb, U* bodyJoints, bool verboseOutput)
{
if (mb->m_baseName)
{
if (verboseOutput)
{
b3Printf("mb->m_baseName = %s\n", mb->m_baseName);
}
}
int qOffset = 7;
int uOffset = 6;
for (int link = 0; link < mb->m_numLinks; link++)
{
{
b3JointInfo info;
info.m_flags = 0;
info.m_jointIndex = link;
info.m_qIndex =
(0 < mb->m_links[link].m_posVarCount) ? qOffset : -1;
info.m_uIndex =
(0 < mb->m_links[link].m_dofCount) ? uOffset : -1;
if (mb->m_links[link].m_linkName) {
if (verboseOutput) {
b3Printf("mb->m_links[%d].m_linkName = %s\n", link,
mb->m_links[link].m_linkName);
}
info.m_linkName = strDup(mb->m_links[link].m_linkName);
}
if (mb->m_links[link].m_jointName) {
if (verboseOutput) {
b3Printf("mb->m_links[%d].m_jointName = %s\n", link,
mb->m_links[link].m_jointName);
}
info.m_jointName = strDup(mb->m_links[link].m_jointName);
}
info.m_jointType = mb->m_links[link].m_jointType;
if ((mb->m_links[link].m_jointType == eRevoluteType) ||
(mb->m_links[link].m_jointType == ePrismaticType)) {
info.m_flags |= JOINT_HAS_MOTORIZED_POWER;
}
bodyJoints->m_jointInfo.push_back(info);
}
qOffset += mb->m_links[link].m_posVarCount;
uOffset += mb->m_links[link].m_dofCount;
}
}
#endif //BODY_JOINT_INFO_UTILITY_H

8
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -8,7 +8,8 @@
#include "PhysicsClientC_API.h"
#include "PhysicsClient.h"
//#include "SharedMemoryCommands.h"
#include "PhysicsLoopBackC_API.h"
#include "PhysicsDirectC_API.h"
#include "PhysicsClientC_API.h"
struct MyMotorInfo2
@@ -444,7 +445,10 @@ void PhysicsClientExample::initPhysics()
m_selectedBody = -1;
m_prevSelectedBody = -1;
m_physicsClientHandle = b3ConnectSharedMemory(m_sharedMemoryKey);
//m_physicsClientHandle = b3ConnectSharedMemory(m_sharedMemoryKey);
m_physicsClientHandle = b3ConnectPhysicsLoopback(SHARED_MEMORY_KEY);
//m_physicsClientHandle = b3ConnectPhysicsDirect();
if (!b3CanSubmitCommand(m_physicsClientHandle))
{
b3Warning("Cannot connect to physics client");

132
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -10,26 +10,11 @@
#include "../../Extras/Serialize/BulletFileLoader/btBulletFile.h"
#include "../../Extras/Serialize/BulletFileLoader/autogenerated/bullet.h"
#include "SharedMemoryBlock.h"
#include "BodyJointInfoUtility.h"
// copied from btMultiBodyLink.h
enum JointType {
eRevoluteType = 0,
ePrismaticType = 1,
};
struct TmpFloat3 {
float m_x;
float m_y;
float m_z;
};
TmpFloat3 CreateTmpFloat3(float x, float y, float z) {
TmpFloat3 tmp;
tmp.m_x = x;
tmp.m_y = y;
tmp.m_z = z;
return tmp;
}
struct BodyJointInfoCache
{
@@ -72,14 +57,8 @@ struct PhysicsClientSharedMemoryInternalData {
bool canSubmitCommand() const;
};
static char* strDup(const char* const str)
{
#ifdef _WIN32
return _strdup(str);
#else
return strdup(str);
#endif
}
int PhysicsClientSharedMemory::getNumJoints(int bodyIndex) const
{
@@ -184,6 +163,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
EnumSharedMemoryServerStatus s = (EnumSharedMemoryServerStatus)serverCmd.m_type;
// consume the command
switch (serverCmd.m_type) {
case CMD_CLIENT_COMMAND_COMPLETED: {
if (m_data->m_verboseOutput) {
@@ -199,7 +179,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
if (serverCmd.m_dataStreamArguments.m_streamChunkLength > 0) {
bParse::btBulletFile bf(
this->m_data->m_testBlock1->m_bulletStreamDataServerToClient,
this->m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor,
serverCmd.m_dataStreamArguments.m_streamChunkLength);
bf.setFileDNAisMemoryDNA();
bf.parse(false);
@@ -209,98 +189,21 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
m_data->m_bodyJointMap.insert(bodyIndex,bodyJoints);
for (int i = 0; i < bf.m_multiBodies.size(); i++) {
int flag = bf.getFlags();
int qOffset = 7;
int uOffset = 6;
int flag = bf.getFlags();
if ((flag & bParse::FD_DOUBLE_PRECISION) != 0) {
Bullet::btMultiBodyDoubleData* mb =
(Bullet::btMultiBodyDoubleData*)bf.m_multiBodies[i];
if (mb->m_baseName) {
if (m_data->m_verboseOutput) {
b3Printf("mb->m_baseName = %s\n", mb->m_baseName);
}
}
for (int link = 0; link < mb->m_numLinks; link++) {
{
b3JointInfo info;
info.m_flags = 0;
info.m_jointIndex = link;
info.m_qIndex =
(0 < mb->m_links[link].m_posVarCount) ? qOffset : -1;
info.m_uIndex =
(0 < mb->m_links[link].m_dofCount) ? uOffset : -1;
if (mb->m_links[link].m_linkName) {
if (m_data->m_verboseOutput) {
b3Printf("mb->m_links[%d].m_linkName = %s\n", link,
mb->m_links[link].m_linkName);
}
info.m_linkName = strDup(mb->m_links[link].m_linkName);
}
if (mb->m_links[link].m_jointName) {
if (m_data->m_verboseOutput) {
b3Printf("mb->m_links[%d].m_jointName = %s\n", link,
mb->m_links[link].m_jointName);
}
info.m_jointName = strDup(mb->m_links[link].m_jointName);
}
info.m_jointType = mb->m_links[link].m_jointType;
if ((mb->m_links[link].m_jointType == eRevoluteType) ||
(mb->m_links[link].m_jointType == ePrismaticType)) {
info.m_flags |= JOINT_HAS_MOTORIZED_POWER;
}
bodyJoints->m_jointInfo.push_back(info);
}
qOffset += mb->m_links[link].m_posVarCount;
uOffset += mb->m_links[link].m_dofCount;
}
} else {
addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
} else
{
Bullet::btMultiBodyFloatData* mb =
(Bullet::btMultiBodyFloatData*)bf.m_multiBodies[i];
if (mb->m_baseName) {
if (m_data->m_verboseOutput) {
b3Printf("mb->m_baseName = %s\n", mb->m_baseName);
}
}
for (int link = 0; link < mb->m_numLinks; link++) {
{
b3JointInfo info;
info.m_flags = 0;
info.m_jointIndex = link;
info.m_qIndex =
(0 < mb->m_links[link].m_posVarCount) ? qOffset : -1;
info.m_uIndex =
(0 < mb->m_links[link].m_dofCount) ? uOffset : -1;
if (mb->m_links[link].m_linkName) {
if (m_data->m_verboseOutput) {
b3Printf("mb->m_links[%d].m_linkName = %s\n", link,
mb->m_links[link].m_linkName);
}
info.m_linkName = strDup(mb->m_links[link].m_linkName);
}
if (mb->m_links[link].m_jointName) {
if (m_data->m_verboseOutput) {
b3Printf("mb->m_links[%d].m_jointName = %s\n", link,
mb->m_links[link].m_jointName);
}
info.m_jointName = strDup(mb->m_links[link].m_jointName);
}
info.m_jointType = mb->m_links[link].m_jointType;
if ((mb->m_links[link].m_jointType == eRevoluteType) ||
(mb->m_links[link].m_jointType == ePrismaticType)) {
info.m_flags |= JOINT_HAS_MOTORIZED_POWER;
}
bodyJoints->m_jointInfo.push_back(info);
}
qOffset += mb->m_links[link].m_posVarCount;
uOffset += mb->m_links[link].m_dofCount;
}
addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
}
}
if (bf.ok()) {
@@ -406,6 +309,9 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
if (m_data->m_verboseOutput) {
b3Printf("CMD_RESET_SIMULATION_COMPLETED clean data\n");
}
m_data->m_debugLinesFrom.clear();
m_data->m_debugLinesTo.clear();
m_data->m_debugLinesColor.clear();
for (int i=0;i<m_data->m_bodyJointMap.size();i++)
{
BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap.getAtIndex(i);
@@ -437,12 +343,12 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
int numLines = serverCmd.m_sendDebugLinesArgs.m_numDebugLines;
float* linesFrom =
(float*)&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0];
(float*)&m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0];
float* linesTo =
(float*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0] +
(float*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0] +
numLines * 3 * sizeof(float));
float* linesColor =
(float*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0] +
(float*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0] +
2 * numLines * 3 * sizeof(float));
m_data->m_debugLinesFrom.resize(serverCmd.m_sendDebugLinesArgs.m_startingLineIndex +

330
examples/SharedMemory/PhysicsDirect.cpp Normal file
View File

@@ -0,0 +1,330 @@
#include "PhysicsDirect.h"
#include "PhysicsClientSharedMemory.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "SharedMemoryCommands.h"
#include "PhysicsServerCommandProcessor.h"
#include "LinearMath/btHashMap.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "../../Extras/Serialize/BulletFileLoader/btBulletFile.h"
#include "../../Extras/Serialize/BulletFileLoader/autogenerated/bullet.h"
#include "BodyJointInfoUtility.h"
struct BodyJointInfoCache2
{
btAlignedObjectArray<b3JointInfo> m_jointInfo;
};
struct PhysicsDirectInternalData
{
DummyGUIHelper m_noGfx;
SharedMemoryCommand m_command;
SharedMemoryStatus m_serverStatus;
bool m_hasStatus;
bool m_verboseOutput;
btAlignedObjectArray<TmpFloat3> m_debugLinesFrom;
btAlignedObjectArray<TmpFloat3> m_debugLinesTo;
btAlignedObjectArray<TmpFloat3> m_debugLinesColor;
btHashMap<btHashInt,BodyJointInfoCache2*> m_bodyJointMap;
char m_bulletStreamDataServerToClient[SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE];
PhysicsServerCommandProcessor* m_commandProcessor;
PhysicsDirectInternalData()
:m_hasStatus(false),
m_verboseOutput(false)
{
}
};
PhysicsDirect::PhysicsDirect()
{
m_data = new PhysicsDirectInternalData;
m_data->m_commandProcessor = new PhysicsServerCommandProcessor;
}
PhysicsDirect::~PhysicsDirect()
{
delete m_data->m_commandProcessor;
delete m_data;
}
// return true if connection succesfull, can also check 'isConnected'
bool PhysicsDirect::connect()
{
m_data->m_commandProcessor->setGuiHelper(&m_data->m_noGfx);
return true;
}
////todo: rename to 'disconnect'
void PhysicsDirect::disconnectSharedMemory()
{
m_data->m_commandProcessor->setGuiHelper(0);
}
bool PhysicsDirect::isConnected() const
{
return true;
}
// return non-null if there is a status, nullptr otherwise
const SharedMemoryStatus* PhysicsDirect::processServerStatus()
{
SharedMemoryStatus* stat = 0;
if (m_data->m_hasStatus)
{
stat = &m_data->m_serverStatus;
m_data->m_hasStatus = false;
}
return stat;
}
SharedMemoryCommand* PhysicsDirect::getAvailableSharedMemoryCommand()
{
return &m_data->m_command;
}
bool PhysicsDirect::canSubmitCommand() const
{
return true;
}
bool PhysicsDirect::processDebugLines(const struct SharedMemoryCommand& orgCommand)
{
SharedMemoryCommand command = orgCommand;
const SharedMemoryStatus& serverCmd = m_data->m_serverStatus;
do
{
bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
m_data->m_hasStatus = hasStatus;
if (hasStatus)
{
btAssert(m_data->m_serverStatus.m_type == CMD_DEBUG_LINES_COMPLETED);
if (m_data->m_verboseOutput)
{
b3Printf("Success receiving %d debug lines",
serverCmd.m_sendDebugLinesArgs.m_numDebugLines);
}
int numLines = serverCmd.m_sendDebugLinesArgs.m_numDebugLines;
float* linesFrom =
(float*)&m_data->m_bulletStreamDataServerToClient[0];
float* linesTo =
(float*)(&m_data->m_bulletStreamDataServerToClient[0] +
numLines * 3 * sizeof(float));
float* linesColor =
(float*)(&m_data->m_bulletStreamDataServerToClient[0] +
2 * numLines * 3 * sizeof(float));
m_data->m_debugLinesFrom.resize(serverCmd.m_sendDebugLinesArgs.m_startingLineIndex +
numLines);
m_data->m_debugLinesTo.resize(serverCmd.m_sendDebugLinesArgs.m_startingLineIndex +
numLines);
m_data->m_debugLinesColor.resize(
serverCmd.m_sendDebugLinesArgs.m_startingLineIndex + numLines);
for (int i = 0; i < numLines; i++)
{
TmpFloat3 from = CreateTmpFloat3(linesFrom[i * 3], linesFrom[i * 3 + 1],
linesFrom[i * 3 + 2]);
TmpFloat3 to =
CreateTmpFloat3(linesTo[i * 3], linesTo[i * 3 + 1], linesTo[i * 3 + 2]);
TmpFloat3 color = CreateTmpFloat3(linesColor[i * 3], linesColor[i * 3 + 1],
linesColor[i * 3 + 2]);
m_data
->m_debugLinesFrom[serverCmd.m_sendDebugLinesArgs.m_startingLineIndex + i] =
from;
m_data->m_debugLinesTo[serverCmd.m_sendDebugLinesArgs.m_startingLineIndex + i] =
to;
m_data->m_debugLinesColor[serverCmd.m_sendDebugLinesArgs.m_startingLineIndex +
i] = color;
}
if (serverCmd.m_sendDebugLinesArgs.m_numRemainingDebugLines > 0)
{
command.m_type = CMD_REQUEST_DEBUG_LINES;
command.m_requestDebugLinesArguments.m_startingLineIndex =
serverCmd.m_sendDebugLinesArgs.m_numDebugLines +
serverCmd.m_sendDebugLinesArgs.m_startingLineIndex;
}
}
} while (serverCmd.m_sendDebugLinesArgs.m_numRemainingDebugLines > 0);
return m_data->m_hasStatus;
}
bool PhysicsDirect::submitClientCommand(const struct SharedMemoryCommand& command)
{
if (command.m_type==CMD_REQUEST_DEBUG_LINES)
{
return processDebugLines(command);
}
bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
m_data->m_hasStatus = hasStatus;
if (hasStatus)
{
const SharedMemoryStatus& serverCmd = m_data->m_serverStatus;
switch (m_data->m_serverStatus.m_type)
{
case CMD_RESET_SIMULATION_COMPLETED:
{
m_data->m_debugLinesFrom.clear();
m_data->m_debugLinesTo.clear();
m_data->m_debugLinesColor.clear();
for (int i=0;i<m_data->m_bodyJointMap.size();i++)
{
BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap.getAtIndex(i);
if (bodyJointsPtr && *bodyJointsPtr)
{
BodyJointInfoCache2* bodyJoints = *bodyJointsPtr;
for (int j=0;j<bodyJoints->m_jointInfo.size();j++) {
if (bodyJoints->m_jointInfo[j].m_jointName)
{
free(bodyJoints->m_jointInfo[j].m_jointName);
}
if (bodyJoints->m_jointInfo[j].m_linkName)
{
free(bodyJoints->m_jointInfo[j].m_linkName);
}
}
delete (*bodyJointsPtr);
}
}
m_data->m_bodyJointMap.clear();
break;
}
case CMD_URDF_LOADING_COMPLETED:
{
if (serverCmd.m_dataStreamArguments.m_streamChunkLength > 0)
{
bParse::btBulletFile bf(
&m_data->m_bulletStreamDataServerToClient[0],
serverCmd.m_dataStreamArguments.m_streamChunkLength);
bf.setFileDNAisMemoryDNA();
bf.parse(false);
int bodyIndex = serverCmd.m_dataStreamArguments.m_bodyUniqueId;
BodyJointInfoCache2* bodyJoints = new BodyJointInfoCache2;
m_data->m_bodyJointMap.insert(bodyIndex,bodyJoints);
for (int i = 0; i < bf.m_multiBodies.size(); i++)
{
int flag = bf.getFlags();
if ((flag & bParse::FD_DOUBLE_PRECISION) != 0)
{
Bullet::btMultiBodyDoubleData* mb =
(Bullet::btMultiBodyDoubleData*)bf.m_multiBodies[i];
addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
} else
{
Bullet::btMultiBodyFloatData* mb =
(Bullet::btMultiBodyFloatData*)bf.m_multiBodies[i];
addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
}
}
if (bf.ok()) {
if (m_data->m_verboseOutput)
{
b3Printf("Received robot description ok!\n");
}
} else
{
b3Warning("Robot description not received");
}
}
break;
}
default:
{
// b3Error("Unknown server status type");
}
};
}
return hasStatus;
}
int PhysicsDirect::getNumJoints(int bodyIndex) const
{
BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyIndex];
if (bodyJointsPtr && *bodyJointsPtr)
{
BodyJointInfoCache2* bodyJoints = *bodyJointsPtr;
return bodyJoints->m_jointInfo.size();
}
btAssert(0);
return 0;
}
void PhysicsDirect::getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const
{
BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyIndex];
if (bodyJointsPtr && *bodyJointsPtr)
{
BodyJointInfoCache2* bodyJoints = *bodyJointsPtr;
info = bodyJoints->m_jointInfo[jointIndex];
}
}
///todo: move this out of the
void PhysicsDirect::setSharedMemoryKey(int key)
{
//m_data->m_physicsServer->setSharedMemoryKey(key);
//m_data->m_physicsClient->setSharedMemoryKey(key);
}
void PhysicsDirect::uploadBulletFileToSharedMemory(const char* data, int len)
{
//m_data->m_physicsClient->uploadBulletFileToSharedMemory(data,len);
}
int PhysicsDirect::getNumDebugLines() const
{
return m_data->m_debugLinesFrom.size();
}
const float* PhysicsDirect::getDebugLinesFrom() const
{
if (getNumDebugLines())
{
return &m_data->m_debugLinesFrom[0].m_x;
}
return 0;
}
const float* PhysicsDirect::getDebugLinesTo() const
{
if (getNumDebugLines())
{
return &m_data->m_debugLinesTo[0].m_x;
}
return 0;
}
const float* PhysicsDirect::getDebugLinesColor() const
{
if (getNumDebugLines())
{
return &m_data->m_debugLinesColor[0].m_x;
}
return 0;
}

62
examples/SharedMemory/PhysicsDirect.h Normal file
View File

@@ -0,0 +1,62 @@
#ifndef PHYSICS_DIRECT_H
#define PHYSICS_DIRECT_H
//#include "SharedMemoryCommands.h"
#include "PhysicsClient.h"
#include "LinearMath/btVector3.h"
///todo: the PhysicsClient API was designed with shared memory in mind,
///now it become more general we need to move out the shared memory specifics away
///for example naming [disconnectSharedMemory -> disconnect] [ move setSharedMemoryKey to shared memory specific subclass ]
///PhysicsDirect executes the commands directly, without transporting them or having a separate server executing commands
class PhysicsDirect : public PhysicsClient
{
protected:
struct PhysicsDirectInternalData* m_data;
bool processDebugLines(const struct SharedMemoryCommand& orgCommand);
public:
PhysicsDirect();
virtual ~PhysicsDirect();
// return true if connection succesfull, can also check 'isConnected'
virtual bool connect();
////todo: rename to 'disconnect'
virtual void disconnectSharedMemory();
virtual bool isConnected() const;
// return non-null if there is a status, nullptr otherwise
virtual const SharedMemoryStatus* processServerStatus();
virtual SharedMemoryCommand* getAvailableSharedMemoryCommand();
virtual bool canSubmitCommand() const;
virtual bool submitClientCommand(const struct SharedMemoryCommand& command);
virtual int getNumJoints(int bodyIndex) const;
virtual void getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const;
///todo: move this out of the
virtual void setSharedMemoryKey(int key);
void uploadBulletFileToSharedMemory(const char* data, int len);
virtual int getNumDebugLines() const;
virtual const float* getDebugLinesFrom() const;
virtual const float* getDebugLinesTo() const;
virtual const float* getDebugLinesColor() const;
};
#endif //PHYSICS_DIRECT_H

14
examples/SharedMemory/PhysicsDirectC_API.cpp Normal file
View File

@@ -0,0 +1,14 @@
#include "PhysicsDirectC_API.h"
#include "PhysicsDirect.h"
//think more about naming. The b3ConnectPhysicsLoopback
b3PhysicsClientHandle b3ConnectPhysicsDirect()
{
PhysicsDirect* direct = new PhysicsDirect();
bool connected = direct->connect();
return (b3PhysicsClientHandle )direct;
}

19
examples/SharedMemory/PhysicsDirectC_API.h Normal file
View File

@@ -0,0 +1,19 @@
#ifndef PHYSICS_DIRECT_C_API_H
#define PHYSICS_DIRECT_C_API_H
#include "PhysicsClientC_API.h"
#ifdef __cplusplus
extern "C" {
#endif
///think more about naming. Directly execute commands without transport (no shared memory, UDP, socket, grpc etc)
b3PhysicsClientHandle b3ConnectPhysicsDirect();
#ifdef __cplusplus
}
#endif
#endif //PHYSICS_DIRECT_C_API_H

2
examples/SharedMemory/PhysicsLoopBack.cpp
View File

@@ -1,5 +1,5 @@
#include "PhysicsLoopBack.h"
#include "PhysicsServer.h"
#include "PhysicsServerSharedMemory.h"
#include "PhysicsClientSharedMemory.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"

0
examples/SharedMemory/PhysicsLoopBackC_Api.cpp → examples/SharedMemory/PhysicsLoopBackC_API.cpp
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1927
examples/SharedMemory/PhysicsServer.cpp
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File diff suppressed because it is too large Load Diff

62
examples/SharedMemory/PhysicsServer.h
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@@ -1,66 +1,46 @@
#ifndef PHYSICS_SERVER_SHARED_MEMORY_H
#define PHYSICS_SERVER_SHARED_MEMORY_H
#ifndef PHYSICS_SERVER_H
#define PHYSICS_SERVER_H
#include "LinearMath/btVector3.h"
struct SharedMemLines
class PhysicsServer
{
btVector3 m_from;
btVector3 m_to;
btVector3 m_color;
};
class PhysicsServerSharedMemory
{
struct PhysicsServerInternalData* m_data;
protected:
void createJointMotors(class btMultiBody* body);
virtual void createEmptyDynamicsWorld();
virtual void deleteDynamicsWorld();
void releaseSharedMemory();
bool loadUrdf(const char* fileName, const class btVector3& pos, const class btQuaternion& orn,
bool useMultiBody, bool useFixedBase, int* bodyUniqueId);
public:
PhysicsServerSharedMemory();
virtual ~PhysicsServerSharedMemory();
virtual void setSharedMemoryKey(int key);
//todo: implement option to allocated shared memory from client
virtual bool connectSharedMemory( struct GUIHelperInterface* guiHelper);
virtual ~PhysicsServer();
virtual void setSharedMemoryKey(int key)=0;
virtual bool connectSharedMemory( struct GUIHelperInterface* guiHelper)=0;
virtual void disconnectSharedMemory (bool deInitializeSharedMemory);
virtual void disconnectSharedMemory (bool deInitializeSharedMemory)=0;
virtual void processClientCommands();
virtual void processClientCommands()=0;
bool supportsJointMotor(class btMultiBody* body, int linkIndex);
// virtual bool supportsJointMotor(class btMultiBody* body, int linkIndex)=0;
//@todo(erwincoumans) Should we have shared memory commands for picking objects?
///The pickBody method will try to pick the first body along a ray, return true if succeeds, false otherwise
virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
virtual void removePickingConstraint();
virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)=0;
virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)=0;
virtual void removePickingConstraint()=0;
//for physicsDebugDraw and renderScene are mainly for debugging purposes
//and for physics visualization. The idea is that physicsDebugDraw can also send wireframe
//to a physics client, over shared memory
void physicsDebugDraw(int debugDrawFlags);
void renderScene();
virtual void physicsDebugDraw(int debugDrawFlags)=0;
virtual void renderScene()=0;
void enableCommandLogging(bool enable, const char* fileName);
void replayFromLogFile(const char* fileName);
virtual void enableCommandLogging(bool enable, const char* fileName)=0;
virtual void replayFromLogFile(const char* fileName)=0;
};
#endif //PHYSICS_SERVER_EXAMPLESHARED_MEMORY_H
#endif //PHYSICS_SERVER_H

1812
examples/SharedMemory/PhysicsServerCommandProcessor.cpp Normal file
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File diff suppressed because it is too large Load Diff

53
examples/SharedMemory/PhysicsServerCommandProcessor.h Normal file
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@@ -0,0 +1,53 @@
#ifndef PHYSICS_SERVER_COMMAND_PROCESSOR_H
#define PHYSICS_SERVER_COMMAND_PROCESSOR_H
#include "LinearMath/btVector3.h"
struct SharedMemLines
{
btVector3 m_from;
btVector3 m_to;
btVector3 m_color;
};
///todo: naming. Perhaps PhysicsSdkCommandprocessor?
class PhysicsServerCommandProcessor
{
struct PhysicsServerCommandProcessorInternalData* m_data;
protected:
bool loadUrdf(const char* fileName, const class btVector3& pos, const class btQuaternion& orn,
bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes);
bool supportsJointMotor(class btMultiBody* body, int linkIndex);
public:
PhysicsServerCommandProcessor();
virtual ~PhysicsServerCommandProcessor();
void createJointMotors(class btMultiBody* body);
virtual void createEmptyDynamicsWorld();
virtual void deleteDynamicsWorld();
virtual bool processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes );
virtual void renderScene();
virtual void physicsDebugDraw(int debugDrawFlags);
virtual void setGuiHelper(struct GUIHelperInterface* guiHelper);
//@todo(erwincoumans) Should we have shared memory commands for picking objects?
///The pickBody method will try to pick the first body along a ray, return true if succeeds, false otherwise
virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
virtual void removePickingConstraint();
void enableCommandLogging(bool enable, const char* fileName);
void replayFromLogFile(const char* fileName);
};
#endif //PHYSICS_SERVER_COMMAND_PROCESSOR_H

2
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -5,7 +5,7 @@
#include "PhysicsServer.h"
#include "PhysicsServerSharedMemory.h"
#include "SharedMemoryCommon.h"

304
examples/SharedMemory/PhysicsServerSharedMemory.cpp Normal file
View File

@@ -0,0 +1,304 @@
#include "PhysicsServerSharedMemory.h"
#include "PosixSharedMemory.h"
#include "Win32SharedMemory.h"
#include "../CommonInterfaces/CommonRenderInterface.h"
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btTransform.h"
#include "Bullet3Common/b3Logging.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "SharedMemoryBlock.h"
#include "PhysicsServerCommandProcessor.h"
struct PhysicsServerSharedMemoryInternalData
{
///end handle management
SharedMemoryInterface* m_sharedMemory;
SharedMemoryBlock* m_testBlock1;
int m_sharedMemoryKey;
bool m_isConnected;
bool m_verboseOutput;
PhysicsServerCommandProcessor* m_commandProcessor;
PhysicsServerSharedMemoryInternalData()
:m_sharedMemory(0),
m_testBlock1(0),
m_sharedMemoryKey(SHARED_MEMORY_KEY),
m_isConnected(false),
m_verboseOutput(false),
m_commandProcessor(0)
{
}
SharedMemoryStatus& createServerStatus(int statusType, int sequenceNumber, int timeStamp)
{
SharedMemoryStatus& serverCmd =m_testBlock1->m_serverCommands[0];
serverCmd .m_type = statusType;
serverCmd.m_sequenceNumber = sequenceNumber;
serverCmd.m_timeStamp = timeStamp;
return serverCmd;
}
void submitServerStatus(SharedMemoryStatus& status)
{
m_testBlock1->m_numServerCommands++;
}
};
PhysicsServerSharedMemory::PhysicsServerSharedMemory()
{
m_data = new PhysicsServerSharedMemoryInternalData();
#ifdef _WIN32
m_data->m_sharedMemory = new Win32SharedMemoryServer();
#else
m_data->m_sharedMemory = new PosixSharedMemory();
#endif
m_data->m_commandProcessor = new PhysicsServerCommandProcessor;
m_data->m_commandProcessor ->createEmptyDynamicsWorld();
}
PhysicsServerSharedMemory::~PhysicsServerSharedMemory()
{
m_data->m_commandProcessor->deleteDynamicsWorld();
delete m_data->m_commandProcessor;
delete m_data;
}
void PhysicsServerSharedMemory::setSharedMemoryKey(int key)
{
m_data->m_sharedMemoryKey = key;
}
bool PhysicsServerSharedMemory::connectSharedMemory( struct GUIHelperInterface* guiHelper)
{
m_data->m_commandProcessor->setGuiHelper(guiHelper);
bool allowCreation = true;
if (m_data->m_isConnected)
{
b3Warning("connectSharedMemory, while already connected");
return m_data->m_isConnected;
}
int counter = 0;
do
{
m_data->m_testBlock1 = (SharedMemoryBlock*)m_data->m_sharedMemory->allocateSharedMemory(m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE,allowCreation);
if (m_data->m_testBlock1)
{
int magicId =m_data->m_testBlock1->m_magicId;
if (m_data->m_verboseOutput)
{
b3Printf("magicId = %d\n", magicId);
}
if (m_data->m_testBlock1->m_magicId !=SHARED_MEMORY_MAGIC_NUMBER)
{
InitSharedMemoryBlock(m_data->m_testBlock1);
if (m_data->m_verboseOutput)
{
b3Printf("Created and initialized shared memory block\n");
}
m_data->m_isConnected = true;
} else
{
m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE);
m_data->m_testBlock1 = 0;
m_data->m_isConnected = false;
}
} else
{
b3Error("Cannot connect to shared memory");
m_data->m_isConnected = false;
}
} while (counter++ < 10 && !m_data->m_isConnected);
if (!m_data->m_isConnected)
{
b3Error("Server cannot connect to shared memory.\n");
}
return m_data->m_isConnected;
}
void PhysicsServerSharedMemory::disconnectSharedMemory(bool deInitializeSharedMemory)
{
m_data->m_commandProcessor->setGuiHelper(0);
if (m_data->m_verboseOutput)
{
b3Printf("releaseSharedMemory1\n");
}
if (m_data->m_testBlock1)
{
if (m_data->m_verboseOutput)
{
b3Printf("m_testBlock1\n");
}
if (deInitializeSharedMemory)
{
m_data->m_testBlock1->m_magicId = 0;
if (m_data->m_verboseOutput)
{
b3Printf("De-initialized shared memory, magic id = %d\n",m_data->m_testBlock1->m_magicId);
}
}
btAssert(m_data->m_sharedMemory);
m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE);
}
if (m_data->m_sharedMemory)
{
if (m_data->m_verboseOutput)
{
b3Printf("m_sharedMemory\n");
}
delete m_data->m_sharedMemory;
m_data->m_sharedMemory = 0;
m_data->m_testBlock1 = 0;
}
}
void PhysicsServerSharedMemory::releaseSharedMemory()
{
if (m_data->m_verboseOutput)
{
b3Printf("releaseSharedMemory1\n");
}
if (m_data->m_testBlock1)
{
if (m_data->m_verboseOutput)
{
b3Printf("m_testBlock1\n");
}
m_data->m_testBlock1->m_magicId = 0;
if (m_data->m_verboseOutput)
{
b3Printf("magic id = %d\n",m_data->m_testBlock1->m_magicId);
}
btAssert(m_data->m_sharedMemory);
m_data->m_sharedMemory->releaseSharedMemory( m_data->m_sharedMemoryKey
, SHARED_MEMORY_SIZE);
}
if (m_data->m_sharedMemory)
{
if (m_data->m_verboseOutput)
{
b3Printf("m_sharedMemory\n");
}
delete m_data->m_sharedMemory;
m_data->m_sharedMemory = 0;
m_data->m_testBlock1 = 0;
}
}
void PhysicsServerSharedMemory::processClientCommands()
{
if (m_data->m_isConnected && m_data->m_testBlock1)
{
#if 0
m_data->m_commandProcessor->processLogCommand();
if (m_data->m_logPlayback)
{
if (m_data->m_testBlock1->m_numServerCommands>m_data->m_testBlock1->m_numProcessedServerCommands)
{
m_data->m_testBlock1->m_numProcessedServerCommands++;
}
//push a command from log file
bool hasCommand = m_data->m_logPlayback->processNextCommand(&m_data->m_testBlock1->m_clientCommands[0]);
if (hasCommand)
{
m_data->m_testBlock1->m_numClientCommands++;
}
}
#endif
///we ignore overflow of integer for now
if (m_data->m_testBlock1->m_numClientCommands> m_data->m_testBlock1->m_numProcessedClientCommands)
{
//until we implement a proper ring buffer, we assume always maximum of 1 outstanding commands
btAssert(m_data->m_testBlock1->m_numClientCommands==m_data->m_testBlock1->m_numProcessedClientCommands+1);
const SharedMemoryCommand& clientCmd =m_data->m_testBlock1->m_clientCommands[0];
m_data->m_testBlock1->m_numProcessedClientCommands++;
//todo, timeStamp
int timeStamp = 0;
SharedMemoryStatus& serverStatusOut = m_data->createServerStatus(CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED,clientCmd.m_sequenceNumber,timeStamp);
bool hasStatus = m_data->m_commandProcessor->processCommand(clientCmd, serverStatusOut,&m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
if (hasStatus)
{
m_data->submitServerStatus(serverStatusOut);
}
}
}
}
void PhysicsServerSharedMemory::renderScene()
{
m_data->m_commandProcessor->renderScene();
}
void PhysicsServerSharedMemory::physicsDebugDraw(int debugDrawFlags)
{
m_data->m_commandProcessor->physicsDebugDraw(debugDrawFlags);
}
bool PhysicsServerSharedMemory::pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
{
return m_data->m_commandProcessor->pickBody(rayFromWorld,rayToWorld);
}
bool PhysicsServerSharedMemory::movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
{
return m_data->m_commandProcessor->movePickedBody(rayFromWorld,rayToWorld);
}
void PhysicsServerSharedMemory::removePickingConstraint()
{
m_data->m_commandProcessor->removePickingConstraint();
}
void PhysicsServerSharedMemory::enableCommandLogging(bool enable, const char* fileName)
{
m_data->m_commandProcessor->enableCommandLogging(enable,fileName);
}
void PhysicsServerSharedMemory::replayFromLogFile(const char* fileName)
{
m_data->m_commandProcessor->replayFromLogFile(fileName);
}

52
examples/SharedMemory/PhysicsServerSharedMemory.h Normal file
View File

@@ -0,0 +1,52 @@
#ifndef PHYSICS_SERVER_SHARED_MEMORY_H
#define PHYSICS_SERVER_SHARED_MEMORY_H
#include "PhysicsServer.h"
class PhysicsServerSharedMemory : public PhysicsServer
{
struct PhysicsServerSharedMemoryInternalData* m_data;
protected:
void releaseSharedMemory();
public:
PhysicsServerSharedMemory();
virtual ~PhysicsServerSharedMemory();
virtual void setSharedMemoryKey(int key);
//todo: implement option to allocated shared memory from client
virtual bool connectSharedMemory( struct GUIHelperInterface* guiHelper);
virtual void disconnectSharedMemory (bool deInitializeSharedMemory);
virtual void processClientCommands();
//bool supportsJointMotor(class btMultiBody* body, int linkIndex);
//@todo(erwincoumans) Should we have shared memory commands for picking objects?
///The pickBody method will try to pick the first body along a ray, return true if succeeds, false otherwise
virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
virtual void removePickingConstraint();
//for physicsDebugDraw and renderScene are mainly for debugging purposes
//and for physics visualization. The idea is that physicsDebugDraw can also send wireframe
//to a physics client, over shared memory
void physicsDebugDraw(int debugDrawFlags);
void renderScene();
void enableCommandLogging(bool enable, const char* fileName);
void replayFromLogFile(const char* fileName);
};
#endif //PHYSICS_SERVER_EXAMPLESHARED_MEMORY_H

4
examples/SharedMemory/SharedMemoryBlock.h
View File

@@ -25,10 +25,12 @@ struct SharedMemoryBlock
//m_bulletStreamDataServerToClient is used to send (debug) data from server to client, for
//example to provide all details of a multibody including joint/link names, after loading a URDF file.
char m_bulletStreamDataServerToClient[SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE];
char m_bulletStreamDataServerToClientRefactor[SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE];
};
//http://stackoverflow.com/questions/24736304/unable-to-use-inline-in-declaration-get-error-c2054
#ifdef _WIN32
__inline

22
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -24,6 +24,7 @@
typedef unsigned long long int smUint64_t;
#endif
#define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (256*1024)
#define SHARED_MEMORY_SERVER_TEST_C
#define MAX_DEGREE_OF_FREEDOM 64
@@ -31,6 +32,27 @@
#define MAX_URDF_FILENAME_LENGTH 1024
#define MAX_FILENAME_LENGTH MAX_URDF_FILENAME_LENGTH
struct TmpFloat3
{
float m_x;
float m_y;
float m_z;
};
#ifdef _WIN32
__inline
#else
inline
#endif
TmpFloat3 CreateTmpFloat3(float x, float y, float z)
{
TmpFloat3 tmp;
tmp.m_x = x;
tmp.m_y = y;
tmp.m_z = z;
return tmp;
}
enum EnumUrdfArgsUpdateFlags
{
URDF_ARGS_FILE_NAME=1,

6
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -70,6 +70,12 @@ enum
COLLISION_SHAPE_TYPE_SPHERE
};
// copied from btMultiBodyLink.h
enum JointType {
eRevoluteType = 0,
ePrismaticType = 1,
};
struct b3JointInfo
{
char* m_linkName;

14
examples/SharedMemory/premake4.lua
View File

@@ -20,11 +20,25 @@ files {
"PhysicsClientSharedMemory.cpp",
"PhysicsClientExample.cpp",
"PhysicsServerExample.cpp",
"PhysicsServerSharedMemory.cpp",
"PhysicsServerSharedMemory.h",
"PhysicsServer.cpp",
"PhysicsServer.h",
"main.cpp",
"PhysicsClientC_API.cpp",
"PhysicsServer.cpp",
"PosixSharedMemory.cpp",
"Win32SharedMemory.cpp",
"PhysicsDirect.cpp",
"PhysicsDirect.h",
"PhysicsDirectC_API.cpp",
"PhysicsDirectC_API.h",
"PhysicsLoopBack.cpp",
"PhysicsLoopBack.h",
"PhysicsLoopBackC_API.cpp",
"PhysicsLoopBackC_API.h",
"PhysicsServerCommandProcessor.cpp",
"PhysicsServerCommandProcessor.h",
"../Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h",
"../Importers/ImportURDFDemo/MultiBodyCreationInterface.h",
"../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",

69
test/SharedMemory/premake4.lua
View File

@@ -26,7 +26,7 @@ project ("Test_SharedMemoryPhysicsClient")
"../../examples/Utils/b3ResourcePath.h",
}
project ("Test_PhysicsLoopBack")
project ("Test_PhysicsServerLoopBack")
language "C++"
kind "ConsoleApp"
@@ -49,10 +49,14 @@ project ("Test_PhysicsLoopBack")
"../../examples/SharedMemory/PhysicsClient.h",
"../../examples/SharedMemory/PhysicsServer.cpp",
"../../examples/SharedMemory/PhysicsServer.h",
"../../examples/SharedMemory/PhysicsServerSharedMemory.cpp",
"../../examples/SharedMemory/PhysicsServerSharedMemory.h",
"../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp",
"../../examples/SharedMemory/PhysicsServerCommandProcessor.h",
"../../examples/SharedMemory/PhysicsLoopBack.cpp",
"../../examples/SharedMemory/PhysicsLoopBack.h",
"../../examples/SharedMemory/PhysicsLoopBackC_Api.cpp",
"../../examples/SharedMemory/PhysicsLoopBackC_Api.h",
"../../examples/SharedMemory/PhysicsLoopBackC_API.cpp",
"../../examples/SharedMemory/PhysicsLoopBackC_API.h",
"../../examples/SharedMemory/PhysicsClientSharedMemory.cpp",
"../../examples/SharedMemory/PhysicsClientSharedMemory.h",
"../../examples/SharedMemory/PhysicsClientC_API.cpp",
@@ -79,3 +83,62 @@ project ("Test_PhysicsLoopBack")
"../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp",
}
project ("Test_PhysicsServerDirect")
language "C++"
kind "ConsoleApp"
includedirs {"../../src", "../../examples/SharedMemory",
"../../examples/ThirdPartyLibs"}
defines {"PHYSICS_SERVER_DIRECT"}
links {
"BulletFileLoader",
"BulletWorldImporter",
"Bullet3Common",
"BulletDynamics",
"BulletCollision",
"LinearMath"
}
files {
"test.c",
"../../examples/SharedMemory/PhysicsClient.cpp",
"../../examples/SharedMemory/PhysicsClient.h",
"../../examples/SharedMemory/PhysicsServer.cpp",
"../../examples/SharedMemory/PhysicsServer.h",
"../../examples/SharedMemory/PhysicsServerSharedMemory.cpp",
"../../examples/SharedMemory/PhysicsServerSharedMemory.h",
"../../examples/SharedMemory/PhysicsDirect.cpp",
"../../examples/SharedMemory/PhysicsDirect.h",
"../../examples/SharedMemory/PhysicsDirectC_API.cpp",
"../../examples/SharedMemory/PhysicsDirectC_API.h",
"../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp",
"../../examples/SharedMemory/PhysicsServerCommandProcessor.h",
"../../examples/SharedMemory/PhysicsClientSharedMemory.cpp",
"../../examples/SharedMemory/PhysicsClientSharedMemory.h",
"../../examples/SharedMemory/PhysicsClientC_API.cpp",
"../../examples/SharedMemory/PhysicsClientC_API.h",
"../../examples/SharedMemory/Win32SharedMemory.cpp",
"../../examples/SharedMemory/Win32SharedMemory.h",
"../../examples/SharedMemory/PosixSharedMemory.cpp",
"../../examples/SharedMemory/PosixSharedMemory.h",
"../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ResourcePath.h",
"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
"../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",
"../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp",
}

14
test/SharedMemory/test.c
View File

@@ -5,6 +5,11 @@
#include "PhysicsLoopBackC_API.h"
#endif //PHYSICS_LOOP_BACK
#ifdef PHYSICS_SERVER_DIRECT
#include "PhysicsDirectC_API.h"
#endif //PHYSICS_SERVER_DIRECT
#include "SharedMemoryPublic.h"
#include "Bullet3Common/b3Logging.h"
#include <string.h>
@@ -28,12 +33,17 @@ int main(int argc, char* argv[])
b3PhysicsClientHandle sm=0;
int bodyIndex = -1;
printf("hello world\n");
#ifdef PHYSICS_LOOP_BACK
sm = b3ConnectPhysicsLoopback(SHARED_MEMORY_KEY);
#else
sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
#endif
#ifdef PHYSICS_SERVER_DIRECT
sm = b3ConnectPhysicsDirect();
#else//PHYSICS_SERVER_DIRECT
sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
#endif //PHYSICS_SERVER_DIRECT