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

Potential fix for Linux slow performance (usleep(0) takes a lot of time)

Browse Source 
Remove b3RobotSimAPI, use RobotSimulator/b3RobotSimulatorClientAPI.h instead
This commit is contained in:
Erwin Coumans
2017-05-13 13:37:49 -07:00
parent 0944790577
commit ef7a7f9004
10 changed files with 204 additions and 1434 deletions
Download Patch File Download Diff File Expand all files Collapse all files

49
examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
View File

@@ -170,25 +170,6 @@ public:
double dt = double(dtMicro)/1000000.;
m_physicsServerExample->stepSimulation(dt);
#if 0
{
//if (btIsExampleBrowserMainThreadTerminated(m_data))
//{
// PhysicsClientSharedMemory::disconnectSharedMemory();
//}
}
//{
//unsigned long int ms = m_clock.getTimeMilliseconds();
//if (ms>20)
//{
// B3_PROFILE("m_clock.reset()");
//
// m_clock.reset();
//btUpdateInProcessExampleBrowserMainThread(m_data);
//}
}
#endif
{
b3Clock::usleep(0);
}
@@ -206,16 +187,44 @@ public:
{
m_physicsServerExample->renderScene();
}
virtual void debugDraw(int debugDrawMode)
{
m_physicsServerExample->physicsDebugDraw(debugDrawMode);
}
virtual bool mouseMoveCallback(float x, float y)
{
return m_physicsServerExample->mouseMoveCallback(x,y);
}
virtual bool mouseButtonCallback(int button, int state, float x, float y)
{
return m_physicsServerExample->mouseButtonCallback(button,state,x,y);
}
};
void b3InProcessDebugDrawInternal(b3PhysicsClientHandle clientHandle, int debugDrawMode)
{
InProcessPhysicsClientExistingExampleBrowser* cl = (InProcessPhysicsClientExistingExampleBrowser*) clientHandle;
cl->debugDraw(debugDrawMode);
}
void b3InProcessRenderSceneInternal(b3PhysicsClientHandle clientHandle)
{
InProcessPhysicsClientExistingExampleBrowser* cl = (InProcessPhysicsClientExistingExampleBrowser*) clientHandle;
cl->renderScene();
}
int b3InProcessMouseMoveCallback(b3PhysicsClientHandle clientHandle,float x,float y)
{
InProcessPhysicsClientExistingExampleBrowser* cl = (InProcessPhysicsClientExistingExampleBrowser*) clientHandle;
return cl->mouseMoveCallback(x,y);
}
int b3InProcessMouseButtonCallback(b3PhysicsClientHandle clientHandle, int button, int state, float x, float y)
{
InProcessPhysicsClientExistingExampleBrowser* cl = (InProcessPhysicsClientExistingExampleBrowser*) clientHandle;
return cl->mouseButtonCallback(button,state, x,y);
}
b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect(struct GUIHelperInterface* guiHelper)
{