Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

fix very rare threading issue, let main thread compute the UID for user debug items

Browse Source 
add collision model to cartpole.urdf
This commit is contained in:
erwincoumans
2017-10-09 22:40:53 -07:00
parent 6b4f69f733
commit e5d4c73c40
2 changed files with 16 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
data/cartpole.urdf
View File

@@ -62,6 +62,12 @@
<mass value="10"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
<collision>
<geometry>
<box size="0.05 0.05 1.0"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.5"/>
</collision>
</link>
<joint name="cart_to_pole" type="continuous">

15
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -1131,7 +1131,7 @@ public:
btAlignedObjectArray<UserDebugText> m_userDebugText;
UserDebugText m_tmpText;
int m_resultUserDebugTextUid;
virtual int addUserDebugText3D( const char* txt, const double positionXYZ[3], const double orientation[4], const double textColorRGB[3], double size, double lifeTime, int trackingVisualShapeIndex, int optionFlags)
{
@@ -1165,7 +1165,7 @@ public:
m_cs->setSharedParam(1, eGUIUserDebugAddText);
workerThreadWait();
return m_userDebugText[m_userDebugText.size()-1].m_itemUniqueId;
return m_resultUserDebugTextUid;
}
btAlignedObjectArray<UserDebugParameter*> m_userDebugParams;
@@ -1183,6 +1183,7 @@ public:
}
return 0;
}
int m_userDebugParamUid;
virtual int addUserDebugParameter(const char* txt, double rangeMin, double rangeMax, double startValue)
{
@@ -1196,13 +1197,13 @@ public:
m_cs->setSharedParam(1, eGUIUserDebugAddParameter);
workerThreadWait();
return (*m_userDebugParams[m_userDebugParams.size()-1]).m_itemUniqueId;
return m_userDebugParamUid;
}
btAlignedObjectArray<UserDebugDrawLine> m_userDebugLines;
UserDebugDrawLine m_tmpLine;
int m_resultDebugLineUid;
virtual int addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime , int trackingVisualShapeIndex)
{
m_tmpLine.m_lifeTime = lifeTime;
@@ -1223,7 +1224,7 @@ public:
m_cs->lock();
m_cs->setSharedParam(1, eGUIUserDebugAddLine);
workerThreadWait();
return m_userDebugLines[m_userDebugLines.size()-1].m_itemUniqueId;
return m_resultDebugLineUid;
}
int m_removeDebugItemUid;
@@ -2171,6 +2172,7 @@ void PhysicsServerExample::updateGraphics()
B3_PROFILE("eGUIUserDebugAddText");
m_multiThreadedHelper->m_userDebugText.push_back(m_multiThreadedHelper->m_tmpText);
m_multiThreadedHelper->m_resultUserDebugTextUid = m_multiThreadedHelper->m_userDebugText[m_multiThreadedHelper->m_userDebugText.size()-1].m_itemUniqueId;
m_multiThreadedHelper->mainThreadRelease();
break;
}
@@ -2190,6 +2192,8 @@ void PhysicsServerExample::updateGraphics()
m_multiThreadedHelper->m_childGuiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
m_multiThreadedHelper->m_userDebugParamUid = (*m_multiThreadedHelper->m_userDebugParams[m_multiThreadedHelper->m_userDebugParams.size()-1]).m_itemUniqueId;
//also add actual menu
m_multiThreadedHelper->mainThreadRelease();
break;
@@ -2199,6 +2203,7 @@ void PhysicsServerExample::updateGraphics()
B3_PROFILE("eGUIUserDebugAddLine");
m_multiThreadedHelper->m_userDebugLines.push_back(m_multiThreadedHelper->m_tmpLine);
m_multiThreadedHelper->m_resultDebugLineUid = m_multiThreadedHelper->m_userDebugLines[m_multiThreadedHelper->m_userDebugLines.size()-1].m_itemUniqueId;
m_multiThreadedHelper->mainThreadRelease();
break;
}