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further work on shared memory API

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fix dependency of BulletDynamics to Bullet3Common (b3Printf)
This commit is contained in:
=
2015-08-02 14:00:43 -07:00
parent 19c5be5646
commit eb6663ed4b
15 changed files with 492 additions and 112 deletions
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46
examples/SharedMemory/PhysicsClient.cpp
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@@ -22,7 +22,7 @@ struct PhysicsClientSharedMemoryInternalData
SharedMemoryBlock* m_testBlock1;
btAlignedObjectArray<bParse::btBulletFile*> m_robotMultiBodyData;
btAlignedObjectArray<PoweredJointInfo> m_poweredJointInfo;
btAlignedObjectArray<b3JointInfo> m_jointInfo;
int m_counter;
bool m_serverLoadUrdfOK;
@@ -51,14 +51,14 @@ struct PhysicsClientSharedMemoryInternalData
};
int PhysicsClientSharedMemory::getNumPoweredJoints() const
int PhysicsClientSharedMemory::getNumJoints() const
{
return m_data->m_poweredJointInfo.size();
return m_data->m_jointInfo.size();
}
void PhysicsClientSharedMemory::getPoweredJointInfo(int index, PoweredJointInfo& info) const
void PhysicsClientSharedMemory::getJointInfo(int index, b3JointInfo& info) const
{
info = m_data->m_poweredJointInfo[index];
info = m_data->m_jointInfo[index];
}
@@ -147,7 +147,7 @@ bool PhysicsClientSharedMemory::processServerStatus(SharedMemoryStatus& serverSt
const SharedMemoryStatus& serverCmd =m_data->m_testBlock1->m_serverCommands[0];
hasStatus = true;
serverStatus = serverCmd;
EnumSharedMemoryServerStatus s = (EnumSharedMemoryServerStatus)serverCmd.m_type;
//consume the command
switch (serverCmd.m_type)
{
@@ -183,10 +183,9 @@ bool PhysicsClientSharedMemory::processServerStatus(SharedMemoryStatus& serverSt
}
for (int link=0;link<mb->m_numLinks;link++)
{
if ((mb->m_links[link].m_jointType == eRevoluteType)||
(mb->m_links[link].m_jointType == ePrismaticType))
{
PoweredJointInfo info;
b3JointInfo info;
info.m_flags = 0;
info.m_qIndex = qOffset;
info.m_uIndex = uOffset;
@@ -201,7 +200,12 @@ bool PhysicsClientSharedMemory::processServerStatus(SharedMemoryStatus& serverSt
info.m_jointName = mb->m_links[link].m_jointName;
info.m_jointType = mb->m_links[link].m_jointType;
}
m_data->m_poweredJointInfo.push_back(info);
if ((mb->m_links[link].m_jointType == eRevoluteType)||
(mb->m_links[link].m_jointType == ePrismaticType))
{
info.m_flags |= JOINT_HAS_MOTORIZED_POWER;
}
m_data->m_jointInfo.push_back(info);
}
qOffset+= mb->m_links[link].m_posVarCount;
uOffset+= mb->m_links[link].m_dofCount;
@@ -217,10 +221,9 @@ bool PhysicsClientSharedMemory::processServerStatus(SharedMemoryStatus& serverSt
}
for (int link=0;link<mb->m_numLinks;link++)
{
if ((mb->m_links[link].m_jointType == eRevoluteType)||
(mb->m_links[link].m_jointType == ePrismaticType))
{
PoweredJointInfo info;
b3JointInfo info;
info.m_flags = 0;
info.m_qIndex = qOffset;
info.m_uIndex = uOffset;
@@ -235,7 +238,12 @@ bool PhysicsClientSharedMemory::processServerStatus(SharedMemoryStatus& serverSt
info.m_jointName = mb->m_links[link].m_jointName;
info.m_jointType = mb->m_links[link].m_jointType;
}
m_data->m_poweredJointInfo.push_back(info);
if ((mb->m_links[link].m_jointType == eRevoluteType)||
(mb->m_links[link].m_jointType == ePrismaticType))
{
info.m_flags |= JOINT_HAS_MOTORIZED_POWER;
}
m_data->m_jointInfo.push_back(info);
}
qOffset+= mb->m_links[link].m_posVarCount;
uOffset+= mb->m_links[link].m_dofCount;
@@ -338,7 +346,7 @@ bool PhysicsClientSharedMemory::processServerStatus(SharedMemoryStatus& serverSt
}
default:
{
b3Error("Unknown server command\n");
b3Error("Unknown server status\n");
btAssert(0);
}
};
@@ -355,7 +363,11 @@ bool PhysicsClientSharedMemory::processServerStatus(SharedMemoryStatus& serverSt
{
m_data->m_waitingForServer = true;
}
}
} else
{
b3Printf("m_numServerStatus = %d, processed = %d\n", m_data->m_testBlock1->m_numServerCommands,
m_data->m_testBlock1->m_numProcessedServerCommands);
}
return hasStatus;
}
@@ -368,6 +380,8 @@ bool PhysicsClientSharedMemory::submitClientCommand(const SharedMemoryCommand& c
{
///at the moment we allow a maximum of 1 outstanding command, so we check for this
//once the server processed the command and returns a status, we clear the flag "m_data->m_waitingForServer" and allow submitting the next command
btAssert(!m_data->m_waitingForServer);
if (!m_data->m_waitingForServer)
{
m_data->m_testBlock1->m_clientCommands[0] = command;