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fixes in shared memory client/server: check for valid pointers

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2015-09-09 15:14:47 -07:00
parent e4b5f4730d
commit d72cda101c
2 changed files with 33 additions and 14 deletions
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39
examples/SharedMemory/PhysicsClientExample.cpp
View File

@@ -203,6 +203,7 @@ void MyCallback(int buttonId, bool buttonState, void* userPtr)
command.m_requestDebugLinesArguments.m_debugMode = btIDebugDraw::DBG_DrawWireframe;//:DBG_DrawConstraints; command.m_requestDebugLinesArguments.m_debugMode = btIDebugDraw::DBG_DrawWireframe;//:DBG_DrawConstraints;
command.m_requestDebugLinesArguments.m_startingLineIndex = 0; command.m_requestDebugLinesArguments.m_startingLineIndex = 0;
cl->enqueueCommand(command); cl->enqueueCommand(command);
break; break;
} }
@@ -271,14 +272,16 @@ void PhysicsClientExample::createButtons()
{ {
bool isTrigger = false; bool isTrigger = false;
createButton("Load URDF",CMD_LOAD_URDF, isTrigger); if (m_guiHelper && m_guiHelper->getParameterInterface())
createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION, isTrigger); {
createButton("Send Bullet Stream",CMD_SEND_BULLET_DATA_STREAM, isTrigger); createButton("Load URDF",CMD_LOAD_URDF, isTrigger);
createButton("Get State",CMD_REQUEST_ACTUAL_STATE, isTrigger); createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION, isTrigger);
createButton("Send Desired State",CMD_SEND_DESIRED_STATE, isTrigger); createButton("Send Bullet Stream",CMD_SEND_BULLET_DATA_STREAM, isTrigger);
createButton("Create Box Collider",CMD_CREATE_BOX_COLLISION_SHAPE,isTrigger); createButton("Get State",CMD_REQUEST_ACTUAL_STATE, isTrigger);
createButton("Reset Simulation",CMD_RESET_SIMULATION,isTrigger); createButton("Send Desired State",CMD_SEND_DESIRED_STATE, isTrigger);
createButton("Create Box Collider",CMD_CREATE_BOX_COLLISION_SHAPE,isTrigger);
createButton("Reset Simulation",CMD_RESET_SIMULATION,isTrigger);
}
} }
void PhysicsClientExample::initPhysics() void PhysicsClientExample::initPhysics()
@@ -292,7 +295,15 @@ void PhysicsClientExample::initPhysics()
} else } else
{ {
/* MyCallback(CMD_LOAD_URDF, true, this);
MyCallback(CMD_STEP_FORWARD_SIMULATION,true,this);
MyCallback(CMD_STEP_FORWARD_SIMULATION,true,this);
MyCallback(CMD_RESET_SIMULATION,true,this);
// MyCallback(CMD_LOAD_URDF, true, this);
// MyCallback(CMD_STEP_FORWARD_SIMULATION,true,this);
// MyCallback(CMD_RESET_SIMULATION,true,this);
/*
m_userCommandRequests.push_back(CMD_LOAD_URDF); m_userCommandRequests.push_back(CMD_LOAD_URDF);
m_userCommandRequests.push_back(CMD_REQUEST_ACTUAL_STATE); m_userCommandRequests.push_back(CMD_REQUEST_ACTUAL_STATE);
m_userCommandRequests.push_back(CMD_SEND_DESIRED_STATE); m_userCommandRequests.push_back(CMD_SEND_DESIRED_STATE);
@@ -353,7 +364,10 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
SliderParams slider(motorName,&motorInfo->m_velTarget); SliderParams slider(motorName,&motorInfo->m_velTarget);
slider.m_minVal=-4; slider.m_minVal=-4;
slider.m_maxVal=4; slider.m_maxVal=4;
if (m_guiHelper && m_guiHelper->getParameterInterface())
{
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
m_numMotors++; m_numMotors++;
} }
} }
@@ -393,8 +407,11 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
//for the CMD_RESET_SIMULATION we need to do something special: clear the GUI sliders //for the CMD_RESET_SIMULATION we need to do something special: clear the GUI sliders
if (command.m_type==CMD_RESET_SIMULATION) if (command.m_type==CMD_RESET_SIMULATION)
{ {
m_guiHelper->getParameterInterface()->removeAllParameters(); if (m_guiHelper->getParameterInterface())
m_numMotors=0; {
m_guiHelper->getParameterInterface()->removeAllParameters();
}
m_numMotors=0;
createButtons(); createButtons();
} }

8
examples/SharedMemory/PhysicsServer.cpp
View File

@@ -1080,9 +1080,11 @@ void PhysicsServerSharedMemory::processClientCommands()
case CMD_RESET_SIMULATION: case CMD_RESET_SIMULATION:
{ {
//clean up all data //clean up all data
if (m_data && m_data->m_guiHelper && m_data->m_guiHelper->getRenderInterface())
m_data->m_guiHelper->getRenderInterface()->removeAllInstances(); {
deleteDynamicsWorld(); m_data->m_guiHelper->getRenderInterface()->removeAllInstances();
}
deleteDynamicsWorld();
createEmptyDynamicsWorld(); createEmptyDynamicsWorld();
SharedMemoryStatus& serverCmd =m_data->createServerStatus(CMD_CLIENT_COMMAND_COMPLETED,clientCmd.m_sequenceNumber,timeStamp); SharedMemoryStatus& serverCmd =m_data->createServerStatus(CMD_CLIENT_COMMAND_COMPLETED,clientCmd.m_sequenceNumber,timeStamp);