fixes for RemoteGUIHelper

examples/CommonInterfaces/CommonGUIHelperInterface.h

@@ -32,7 +32,7 @@ struct GUIHelperInterface
 	virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape) = 0;
 
 	virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld) = 0;
-
+	virtual void syncPhysicsToGraphics2(const btDiscreteDynamicsWorld* rbWorld) {}
 	virtual void syncPhysicsToGraphics2(const GUISyncPosition* positions, int numPositions) {}
 	
 	virtual void render(const btDiscreteDynamicsWorld* rbWorld) = 0;

examples/ExampleBrowser/premake4.lua

@@ -116,6 +116,15 @@ project "App_BulletExampleBrowser"
 		"../SharedMemory/SharedMemoryCommandProcessor.cpp",
 		"../SharedMemory/SharedMemoryCommandProcessor.h",
 		"../SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp",
+		"../SharedMemory/GraphicsClientExample.cpp",
+		"../SharedMemory/GraphicsClientExample.h",
+		"../SharedMemory/GraphicsServerExample.cpp",
+		"../SharedMemory/GraphicsServerExample.h",
+		"../SharedMemory/GraphicsSharedMemoryBlock.h",
+		"../SharedMemory/GraphicsSharedMemoryCommands.h",
+		"../SharedMemory/GraphicsSharedMemoryPublic.h",
+		"../SharedMemory/RemoteGUIHelper.cpp",
+		"../SharedMemory/RemoteGUIHelper.h",
 		"../SharedMemory/PhysicsClient.cpp",
 		"../SharedMemory/PosixSharedMemory.cpp",
 		"../SharedMemory/Win32SharedMemory.cpp",

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -7717,7 +7717,7 @@ bool PhysicsServerCommandProcessor::processForwardDynamicsCommand(const struct S
 	}
 	serverCmd.m_type = CMD_STEP_FORWARD_SIMULATION_COMPLETED;
 
-	syncPhysicsToGraphics();
+	syncPhysicsToGraphics2();
 	return hasStatus;
 }
 
@@ -11569,6 +11569,13 @@ void PhysicsServerCommandProcessor::syncPhysicsToGraphics()
 	m_data->m_guiHelper->syncPhysicsToGraphics(m_data->m_dynamicsWorld);
 }
 
+
+void PhysicsServerCommandProcessor::syncPhysicsToGraphics2()
+{
+        m_data->m_guiHelper->syncPhysicsToGraphics2(m_data->m_dynamicsWorld);
+}
+
+
 void PhysicsServerCommandProcessor::renderScene(int renderFlags)
 {
 	if (m_data->m_guiHelper)

examples/SharedMemory/PhysicsServerCommandProcessor.h

@@ -138,6 +138,7 @@ public:
 	virtual void physicsDebugDraw(int debugDrawFlags);
 	virtual void setGuiHelper(struct GUIHelperInterface* guiHelper);
 	virtual void syncPhysicsToGraphics();
+	virtual void syncPhysicsToGraphics2();
 
 	//@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

examples/SharedMemory/PhysicsServerExample.cpp

@@ -821,41 +821,11 @@ public:
 		{
 			m_childGuiHelper->syncPhysicsToGraphics(rbWorld);
 		}
-		{
-
-			b3AlignedObjectArray<GUISyncPosition> updatedPositions;
-
-			int numCollisionObjects = rbWorld->getNumCollisionObjects();
-			{
-				B3_PROFILE("write all InstanceTransformToCPU2");
-				for (int i = 0; i < numCollisionObjects; i++)
-				{
-					//B3_PROFILE("writeSingleInstanceTransformToCPU");
-					btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
-					btCollisionShape* collisionShape = colObj->getCollisionShape();
-
-					btVector3 pos = colObj->getWorldTransform().getOrigin();
-					btQuaternion orn = colObj->getWorldTransform().getRotation();
-					int index = colObj->getUserIndex();
-					if (index >= 0)
-					{
-						GUISyncPosition p;
-						p.m_graphicsInstanceId = index;
-						for (int q = 0; q < 4; q++)
-						{
-							p.m_pos[q] = pos[q];
-							p.m_orn[q] = orn[q];
-						}
-						updatedPositions.push_back(p);
-					}
-				}
 	}
 	
-			if (updatedPositions.size())
+	virtual void syncPhysicsToGraphics2(const btDiscreteDynamicsWorld* rbWorld)
 	{
-				syncPhysicsToGraphics2(&updatedPositions[0], updatedPositions.size());
+		 m_childGuiHelper->syncPhysicsToGraphics2(rbWorld);
-			}
-		}
 	}
 
 	virtual void syncPhysicsToGraphics2(const GUISyncPosition* positions, int numPositions)

examples/SharedMemory/RemoteGUIHelper.cpp

@@ -12,6 +12,7 @@
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 #include "BulletCollision/CollisionShapes/btCollisionShape.h"
 #include "Bullet3Common/b3AlignedObjectArray.h"
+#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
 
 struct RemoteGUIHelperInternalData
 {
@@ -282,6 +283,44 @@ void RemoteGUIHelper::syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWor
 {
 }
 
+void RemoteGUIHelper::syncPhysicsToGraphics2(const btDiscreteDynamicsWorld* rbWorld)
+{
+                       b3AlignedObjectArray<GUISyncPosition> updatedPositions;
+
+                        int numCollisionObjects = rbWorld->getNumCollisionObjects();
+                        {
+                                B3_PROFILE("write all InstanceTransformToCPU2");
+                                for (int i = 0; i < numCollisionObjects; i++)
+                                {
+                                        //B3_PROFILE("writeSingleInstanceTransformToCPU");
+                                        btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
+                                        btCollisionShape* collisionShape = colObj->getCollisionShape();
+
+                                        btVector3 pos = colObj->getWorldTransform().getOrigin();
+                                        btQuaternion orn = colObj->getWorldTransform().getRotation();
+                                        int index = colObj->getUserIndex();
+                                        if (index >= 0)
+                                        {
+                                                GUISyncPosition p;
+                                                p.m_graphicsInstanceId = index;
+                                                for (int q = 0; q < 4; q++)
+                                                {
+                                                        p.m_pos[q] = pos[q];
+                                                        p.m_orn[q] = orn[q];
+                                                }
+                                                updatedPositions.push_back(p);
+                                        }
+                                }
+                        }
+
+                        if (updatedPositions.size())
+                        {
+                                syncPhysicsToGraphics2(&updatedPositions[0], updatedPositions.size());
+                        }
+}                
+
+
+
 void RemoteGUIHelper::syncPhysicsToGraphics2(const GUISyncPosition* positions, int numPositions)
 {
 	uploadData((unsigned char*) positions, numPositions * sizeof(GUISyncPosition), 0);

examples/SharedMemory/RemoteGUIHelper.h

@@ -21,6 +21,7 @@ struct RemoteGUIHelper : public GUIHelperInterface
 	virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape);
 
 	virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld);
+	virtual void syncPhysicsToGraphics2(const class btDiscreteDynamicsWorld* rbWorld);
 	virtual void syncPhysicsToGraphics2(const GUISyncPosition* positions, int numPositions);
 
 	virtual void render(const btDiscreteDynamicsWorld* rbWorld);

examples/SharedMemory/premake4.lua

@@ -41,6 +41,8 @@ myfiles =
 	"GraphicsSharedMemoryBlock.h",
 	"GraphicsSharedMemoryCommands.h",
 	"GraphicsSharedMemoryPublic.h",
+	"RemoteGUIHelper.cpp",
+	"RemoteGUIHelper.h",
 	"SharedMemoryCommands.h",
 	"SharedMemoryPublic.h",
 	"PhysicsServer.cpp",

examples/pybullet/examples/quadruped.py

@@ -104,7 +104,7 @@ def drawInertiaBox(parentUid, parentLinkIndex, color):
 
 toeConstraint = True
 useMaximalCoordinates = False
-useRealTime = 1
+useRealTime = 0
 
 #the fixedTimeStep and numSolverIterations are the most important parameters to trade-off quality versus performance
 fixedTimeStep = 1. / 100
@@ -123,7 +123,7 @@ kp = 1
 kd = .5
 maxKneeForce = 1000
 
-physId = p.connect(p.SHARED_MEMORY)
+physId = p.connect(p.SHARED_MEMORY_GUI)
 if (physId < 0):
   p.connect(p.GUI)
 #p.resetSimulation()

examples/pybullet/premake4.lua

@@ -124,6 +124,15 @@ if not _OPTIONS["no-enet"] then
 			"../../examples/SharedMemory/PhysicsServer.h",
 			"../../examples/SharedMemory/PhysicsServerExample.cpp",
 			"../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp",
+			"../SharedMemory/GraphicsClientExample.cpp",
+	                "../SharedMemory/GraphicsClientExample.h",
+        	        "../SharedMemory/GraphicsServerExample.cpp",
+                	"../SharedMemory/GraphicsServerExample.h",
+             	   	"../SharedMemory/GraphicsSharedMemoryBlock.h",
+               	 	"../SharedMemory/GraphicsSharedMemoryCommands.h",
+                	"../SharedMemory/GraphicsSharedMemoryPublic.h",
+                	"../SharedMemory/RemoteGUIHelper.cpp",
+                	"../SharedMemory/RemoteGUIHelper.h",
 			"../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp",
 			"../../examples/SharedMemory/PhysicsServerSharedMemory.cpp",
 			"../../examples/SharedMemory/PhysicsServerSharedMemory.h",

setup.py

@@ -117,6 +117,8 @@ sources = ["examples/pybullet/pybullet.c"]\
 +["examples/SharedMemory/InProcessMemory.cpp"]\
 +["examples/SharedMemory/PhysicsClient.cpp"]\
 +["examples/SharedMemory/PhysicsServer.cpp"]\
++["examples/SharedMemory/GraphicsClientExample.cpp"]\
++["examples/SharedMemory/RemoteGUIHelper.cpp"]\
 +["examples/SharedMemory/PhysicsServerExample.cpp"]\
 +["examples/SharedMemory/PhysicsServerExampleBullet2.cpp"]\
 +["examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp"]\