Allow InProcessExampleBrowser to use a malloc allocated memory block, instead of system shared memory.

Make shared memory client/server a bit more robust, in case the server is terminated early.

examples/CommonInterfaces/CommonExampleInterface.h

@@ -10,12 +10,14 @@ struct CommonExampleOptions
 	//Those are optional, some examples will use them others don't. Each example should work with them being 0.
 	int			m_option;
 	const char* m_fileName;
+	class SharedMemoryInterface* m_sharedMem;
 
 	
 	CommonExampleOptions(struct GUIHelperInterface*	helper, int option=0)
 		:m_guiHelper(helper),
 		m_option(option),
-		m_fileName(0)
+		m_fileName(0),
+		m_sharedMem(0)
 	{
 	}
 

examples/ExampleBrowser/CMakeLists.txt

@@ -24,6 +24,7 @@ SET(App_ExampleBrowser_SRCS
 	../SharedMemory/PhysicsClientExample.cpp
 	../SharedMemory/PosixSharedMemory.cpp
 	../SharedMemory/Win32SharedMemory.cpp
+	../SharedMemory/InProcessMemory.cpp
 	../SharedMemory/PhysicsServerSharedMemory.cpp
 	../SharedMemory/PhysicsDirect.cpp
 	../SharedMemory/PhysicsDirect.h

examples/ExampleBrowser/InProcessExampleBrowser.cpp

@@ -14,6 +14,7 @@
 
 #include "ExampleEntries.h"
 #include "Bullet3Common/b3Logging.h"
+#include "../SharedMemory/InProcessMemory.h"
 
 void	ExampleBrowserThreadFunc(void* userPtr,void* lsMemory);
 void*	ExampleBrowserMemoryFunc();
@@ -65,6 +66,7 @@ struct	ExampleBrowserArgs
 
 struct ExampleBrowserThreadLocalStorage
 {
+	SharedMemoryInterface* m_sharedMem;
 	int threadId;
 };
 
@@ -92,7 +94,9 @@ void	ExampleBrowserThreadFunc(void* userPtr,void* lsMemory)
 	ExampleEntries examples;
 	examples.initExampleEntries();
 
-	ExampleBrowserInterface* exampleBrowser = new DefaultBrowser(&examples);
+	DefaultBrowser* exampleBrowser = new DefaultBrowser(&examples);
+	exampleBrowser->setSharedMemoryInterface(localStorage->m_sharedMem);
+
 	bool init = exampleBrowser->init(args->m_argc,args->m_argv);
 	clock.reset();
 	if (init)
@@ -139,6 +143,7 @@ struct btInProcessExampleBrowserInternalData
 {
 	ExampleBrowserArgs m_args;
 	b3ThreadSupportInterface* m_threadSupport;
+	SharedMemoryInterface* m_sharedMem;
 };
 
 
@@ -146,6 +151,7 @@ btInProcessExampleBrowserInternalData* btCreateInProcessExampleBrowser(int argc,
 {
 
 	btInProcessExampleBrowserInternalData* data = new btInProcessExampleBrowserInternalData;
+	data->m_sharedMem = new InProcessMemory;
 
 	int numThreads = 1;
 	int i;
@@ -163,6 +169,7 @@ btInProcessExampleBrowserInternalData* btCreateInProcessExampleBrowser(int argc,
 		ExampleBrowserThreadLocalStorage* storage = (ExampleBrowserThreadLocalStorage*) data->m_threadSupport->getThreadLocalMemory(i);
 		b3Assert(storage);
 		storage->threadId = i;
+		storage->m_sharedMem = data->m_sharedMem;
 	}
 
 
@@ -189,6 +196,11 @@ bool btIsExampleBrowserTerminated(btInProcessExampleBrowserInternalData* data)
 	return (data->m_args.m_cs->getSharedParam(0)==eExampleBrowserHasTerminated);
 }
 
+SharedMemoryInterface* btGetSharedMemoryInterface(btInProcessExampleBrowserInternalData* data)
+{
+	return data->m_sharedMem;
+}
+
 void btShutDownExampleBrowser(btInProcessExampleBrowserInternalData* data)
 {
 	int numActiveThreads = 1;
@@ -213,6 +225,7 @@ void btShutDownExampleBrowser(btInProcessExampleBrowserInternalData* data)
 
 	printf("stopping threads\n");
 	delete data->m_threadSupport;
+	delete data->m_sharedMem;
 	delete data;
 }
 

examples/ExampleBrowser/InProcessExampleBrowser.h

@@ -9,5 +9,7 @@ bool btIsExampleBrowserTerminated(btInProcessExampleBrowserInternalData* data);
 
 void btShutDownExampleBrowser(btInProcessExampleBrowserInternalData* data);
 
+class SharedMemoryInterface* btGetSharedMemoryInterface(btInProcessExampleBrowserInternalData* data);
+
 
 #endif //IN_PROCESS_EXAMPLE_BROWSER_H

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -49,6 +49,7 @@ static CommonParameterInterface*	s_parameterInterface=0;
 static CommonRenderInterface*	s_instancingRenderer=0;
 static OpenGLGuiHelper*	s_guiHelper=0;
 static MyProfileWindow* s_profWindow =0;
+static SharedMemoryInterface* sSharedMem = 0;
 
 #define DEMO_SELECTION_COMBOBOX 13
 const char* startFileName = "0_Bullet3Demo.txt";
@@ -326,6 +327,7 @@ void selectDemo(int demoIndex)
 		int option = gAllExamples->getExampleOption(demoIndex);
 		s_guiHelper= new OpenGLGuiHelper(s_app, sUseOpenGL2);
 		CommonExampleOptions options(s_guiHelper, option);
+		options.m_sharedMem = sSharedMem;
 		sCurrentDemo = (*func)(options);
 		if (sCurrentDemo)
 		{
@@ -1078,3 +1080,8 @@ void OpenGLExampleBrowser::update(float deltaTime)
 		gui->forceUpdateScrollBars();
 
 }
+
+void OpenGLExampleBrowser::setSharedMemoryInterface(class SharedMemoryInterface* sharedMem)
+{
+	sSharedMem = sharedMem;
+}

examples/ExampleBrowser/OpenGLExampleBrowser.h

@@ -18,6 +18,8 @@ public:
 
 	virtual bool requestedExit();
 
+	virtual void setSharedMemoryInterface(class SharedMemoryInterface* sharedMem);
+	
 };
 
 #endif //OPENGL_BROWSER_GUI_H

examples/ExampleBrowser/premake4.lua

@@ -58,6 +58,7 @@
 		"../SharedMemory/PhysicsClient.cpp",
 		"../SharedMemory/PosixSharedMemory.cpp",
 		"../SharedMemory/Win32SharedMemory.cpp",
+		"../SharedMemory/InProcessMemory.cpp",
 		"../SharedMemory/PhysicsDirect.cpp",
 		"../SharedMemory/PhysicsDirect.h",
 		"../SharedMemory/PhysicsDirectC_API.cpp",

examples/SharedMemory/InProcessMemory.cpp

@@ -0,0 +1,49 @@
+#include "InProcessMemory.h"
+
+
+#include "LinearMath/btHashMap.h"
+
+struct InProcessMemoryInternalData
+{
+	btHashMap<btHashInt, void*> m_memoryPointers;
+
+};
+
+
+InProcessMemory::InProcessMemory()
+{
+	m_data = new InProcessMemoryInternalData;
+}
+
+InProcessMemory::~InProcessMemory()
+{
+	for (int i=0;i<m_data->m_memoryPointers.size();i++)
+	{
+		void** ptrptr = m_data->m_memoryPointers.getAtIndex(i);
+		if (ptrptr)
+		{
+			void* ptr = *ptrptr;
+			free(ptr);
+		}
+	}
+	delete m_data;
+}
+
+void*	InProcessMemory::allocateSharedMemory(int key, int size, bool allowCreation)
+{
+	void** ptrptr = m_data->m_memoryPointers[key];
+	if (ptrptr)
+	{
+		return *ptrptr;
+	}
+
+	void* ptr = malloc(size);
+	m_data->m_memoryPointers.insert(key,ptr);
+	return ptr;
+}
+
+void	InProcessMemory::releaseSharedMemory(int /*key*/, int /*size*/)
+{
+	//we don't release the memory here, but in the destructor instead,
+	//so multiple users could 'share' the memory given some key
+}

examples/SharedMemory/InProcessMemory.h

@@ -0,0 +1,19 @@
+#ifndef IN_PROCESS_MEMORY_H
+#define IN_PROCESS_MEMORY_H
+
+#include "SharedMemoryInterface.h"
+
+class InProcessMemory : public SharedMemoryInterface
+{
+	struct InProcessMemoryInternalData* m_data;
+
+public:
+
+	InProcessMemory();
+	virtual ~InProcessMemory();
+
+	virtual void*	allocateSharedMemory(int key, int size, bool allowCreation);
+	virtual void	releaseSharedMemory(int key, int size);
+};
+
+#endif

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -72,7 +72,7 @@ b3SharedMemoryCommandHandle     b3InitPhysicsParamCommand(b3PhysicsClientHandle
 {
     PhysicsClient* cl = (PhysicsClient* ) physClient;
     b3Assert(cl);
-    b3Assert(cl->canSubmitCommand());
+	b3Assert(cl->canSubmitCommand());
     struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
     b3Assert(command);
 	command->m_type = CMD_SEND_PHYSICS_SIMULATION_PARAMETERS;
@@ -445,9 +445,12 @@ void	b3DisconnectSharedMemory(b3PhysicsClientHandle physClient)
 b3SharedMemoryStatusHandle b3ProcessServerStatus(b3PhysicsClientHandle physClient)
 {
 	PhysicsClient* cl = (PhysicsClient* ) physClient;
-	const SharedMemoryStatus* stat = cl->processServerStatus();
+	if (cl && cl->isConnected())
-    return (b3SharedMemoryStatusHandle) stat;
+	{
-    
+		const SharedMemoryStatus* stat = cl->processServerStatus();
+		return (b3SharedMemoryStatusHandle) stat;
+	}
+	return 0;
 }
 
 
@@ -461,7 +464,7 @@ int b3GetStatusType(b3SharedMemoryStatusHandle statusHandle)
     {
         return status->m_type;
     }
-    return 0;
+    return CMD_INVALID_STATUS;
 }
 
 int b3GetStatusBodyIndex(b3SharedMemoryStatusHandle statusHandle)

examples/SharedMemory/PhysicsClientSharedMemory.cpp

@@ -23,6 +23,7 @@ struct BodyJointInfoCache
 
 struct PhysicsClientSharedMemoryInternalData {
     SharedMemoryInterface* m_sharedMemory;
+	bool	m_ownsSharedMemory;
     SharedMemoryBlock* m_testBlock1;
    
 	btHashMap<btHashInt,BodyJointInfoCache*> m_bodyJointMap;
@@ -43,6 +44,7 @@ struct PhysicsClientSharedMemoryInternalData {
 
     PhysicsClientSharedMemoryInternalData()
         : m_sharedMemory(0),
+		  m_ownsSharedMemory(false),
           m_testBlock1(0),
           m_counter(0),
           m_serverLoadUrdfOK(false),
@@ -95,23 +97,40 @@ PhysicsClientSharedMemory::PhysicsClientSharedMemory()
 #else
     m_data->m_sharedMemory = new PosixSharedMemory();
 #endif
+	m_data->m_ownsSharedMemory = true;
+
 }
 
 PhysicsClientSharedMemory::~PhysicsClientSharedMemory() {
     if (m_data->m_isConnected) {
         disconnectSharedMemory();
     }
-    delete m_data->m_sharedMemory;
+	if (m_data->m_ownsSharedMemory)
+	{
+	    delete m_data->m_sharedMemory;
+	}
     delete m_data;
 }
 
 void PhysicsClientSharedMemory::setSharedMemoryKey(int key) { m_data->m_sharedMemoryKey = key; }
 
+
+void PhysicsClientSharedMemory::setSharedMemoryInterface(class SharedMemoryInterface* sharedMem)
+{
+	if (m_data->m_sharedMemory && m_data->m_ownsSharedMemory)
+	{
+		delete m_data->m_sharedMemory;
+	}
+	m_data->m_ownsSharedMemory = false;
+	m_data->m_sharedMemory = sharedMem;
+}
+
 void PhysicsClientSharedMemory::disconnectSharedMemory() {
-    if (m_data->m_isConnected) {
+    if (m_data->m_isConnected && m_data->m_sharedMemory) {
         m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE);
-        m_data->m_isConnected = false;
     }
+	m_data->m_isConnected = false;
+
 }
 
 bool PhysicsClientSharedMemory::isConnected() const { return m_data->m_isConnected; }
@@ -146,13 +165,20 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
     SharedMemoryStatus* stat = 0;
 
     if (!m_data->m_testBlock1) {
-        return 0;
+		m_data->m_lastServerStatus.m_type = CMD_SHARED_MEMORY_NOT_INITIALIZED;
+		return &m_data->m_lastServerStatus;
     }
 
     if (!m_data->m_waitingForServer) {
         return 0;
     }
 
+	 if (m_data->m_testBlock1->m_magicId != SHARED_MEMORY_MAGIC_NUMBER) 
+	 {
+		 m_data->m_lastServerStatus.m_type = CMD_SHARED_MEMORY_NOT_INITIALIZED;
+		 return &m_data->m_lastServerStatus;
+	 }
+
     if (m_data->m_testBlock1->m_numServerCommands >
         m_data->m_testBlock1->m_numProcessedServerCommands) {
         btAssert(m_data->m_testBlock1->m_numServerCommands ==
@@ -446,7 +472,6 @@ 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) {
         if (&m_data->m_testBlock1->m_clientCommands[0] != &command) {

examples/SharedMemory/PhysicsClientSharedMemory.h

@@ -10,6 +10,8 @@ class PhysicsClientSharedMemory : public PhysicsClient {
     struct PhysicsClientSharedMemoryInternalData* m_data;
 
 protected:
+	virtual void setSharedMemoryInterface(class SharedMemoryInterface* sharedMem);
+
 public:
     PhysicsClientSharedMemory();
     virtual ~PhysicsClientSharedMemory();

examples/SharedMemory/PhysicsServerExample.cpp

@@ -22,7 +22,7 @@ class PhysicsServerExample : public SharedMemoryCommon
 	
 public:
     
-	PhysicsServerExample(GUIHelperInterface* helper);
+	PhysicsServerExample(GUIHelperInterface* helper, SharedMemoryInterface* sharedMem=0);
     
 	virtual ~PhysicsServerExample();
     
@@ -133,8 +133,9 @@ public:
 
 };
 
-PhysicsServerExample::PhysicsServerExample(GUIHelperInterface* helper)
+PhysicsServerExample::PhysicsServerExample(GUIHelperInterface* helper, SharedMemoryInterface* sharedMem)
 :SharedMemoryCommon(helper),
+m_physicsServer(sharedMem),
 m_wantsShutdown(false),
 m_isConnected(false),
 m_replay(false)
@@ -287,7 +288,7 @@ extern int gSharedMemoryKey;
 
 class CommonExampleInterface*    PhysicsServerCreateFunc(struct CommonExampleOptions& options)
 {
-  	PhysicsServerExample* example = new PhysicsServerExample(options.m_guiHelper);
+  	PhysicsServerExample* example = new PhysicsServerExample(options.m_guiHelper, options.m_sharedMem);
 	if (gSharedMemoryKey>=0)
 	{
 		example->setSharedMemoryKey(gSharedMemoryKey);

examples/SharedMemory/PhysicsServerSharedMemory.cpp

@@ -23,6 +23,8 @@ struct PhysicsServerSharedMemoryInternalData
 	
 	
 	SharedMemoryInterface* m_sharedMemory;
+	bool m_ownsSharedMemory;
+
     SharedMemoryBlock* m_testBlock1;
 	int m_sharedMemoryKey;
 	bool m_isConnected;
@@ -31,6 +33,7 @@ struct PhysicsServerSharedMemoryInternalData
 	
 	PhysicsServerSharedMemoryInternalData()
 		:m_sharedMemory(0),
+		m_ownsSharedMemory(false),
 		m_testBlock1(0),
 		m_sharedMemoryKey(SHARED_MEMORY_KEY),
 		m_isConnected(false),
@@ -57,15 +60,22 @@ struct PhysicsServerSharedMemoryInternalData
 };
 
 
-PhysicsServerSharedMemory::PhysicsServerSharedMemory()
+PhysicsServerSharedMemory::PhysicsServerSharedMemory(SharedMemoryInterface* sharedMem)
 {
 	m_data = new PhysicsServerSharedMemoryInternalData();
-
+	if (sharedMem)
+	{
+		m_data->m_sharedMemory = sharedMem;
+		m_data->m_ownsSharedMemory = false;
+	} else
+	{
 #ifdef _WIN32
 	m_data->m_sharedMemory = new Win32SharedMemoryServer();
 #else
 	m_data->m_sharedMemory = new PosixSharedMemory();
 #endif
+	m_data->m_ownsSharedMemory = true;
+	}
 
 	m_data->m_commandProcessor = new PhysicsServerCommandProcessor;
 	m_data->m_commandProcessor ->createEmptyDynamicsWorld();
@@ -176,7 +186,10 @@ void PhysicsServerSharedMemory::disconnectSharedMemory(bool deInitializeSharedMe
 		{
 			b3Printf("m_sharedMemory\n");
 		}
-		delete m_data->m_sharedMemory;
+		if (m_data->m_ownsSharedMemory)
+		{
+			delete m_data->m_sharedMemory;
+		}
 		m_data->m_sharedMemory = 0;
 		m_data->m_testBlock1 = 0;
 	}
@@ -209,7 +222,10 @@ void PhysicsServerSharedMemory::releaseSharedMemory()
 		{
 			b3Printf("m_sharedMemory\n");
 		}
-        delete m_data->m_sharedMemory;
+		if (m_data->m_ownsSharedMemory)
+		{
+	        delete m_data->m_sharedMemory;
+		}
         m_data->m_sharedMemory = 0;
         m_data->m_testBlock1 = 0;
     }

examples/SharedMemory/PhysicsServerSharedMemory.h

@@ -14,7 +14,7 @@ protected:
 	
 	
 public:
-	PhysicsServerSharedMemory();
+	PhysicsServerSharedMemory(class SharedMemoryInterface* sharedMem=0);
 	virtual ~PhysicsServerSharedMemory();
 
 	virtual void setSharedMemoryKey(int key);

examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp

@@ -21,10 +21,14 @@ public:
 		newargv[argc] = t0;
 		newargv[argc+1] = t1;
 		m_data = btCreateInProcessExampleBrowser(newargc,newargv);
+		SharedMemoryInterface* shMem = btGetSharedMemoryInterface(m_data);
+
+		setSharedMemoryInterface(shMem);
 	}
 
 	virtual ~InProcessPhysicsClientSharedMemory()
 	{
+		setSharedMemoryInterface(0);
 		btShutDownExampleBrowser(m_data);
 	}
 

examples/SharedMemory/SharedMemoryPublic.h

@@ -30,7 +30,6 @@ enum EnumSharedMemoryServerStatus
 {
         CMD_SHARED_MEMORY_NOT_INITIALIZED=0,
         CMD_WAITING_FOR_CLIENT_COMMAND,
-
         //CMD_CLIENT_COMMAND_COMPLETED is a generic 'completed' status that doesn't need special handling on the client
         CMD_CLIENT_COMMAND_COMPLETED,
         //the server will skip unknown command and report a status 'CMD_UNKNOWN_COMMAND_FLUSHED'
@@ -50,6 +49,7 @@ enum EnumSharedMemoryServerStatus
         CMD_DESIRED_STATE_RECEIVED_COMPLETED,
         CMD_STEP_FORWARD_SIMULATION_COMPLETED,
 	CMD_RESET_SIMULATION_COMPLETED,
+		CMD_INVALID_STATUS,
         CMD_MAX_SERVER_COMMANDS
 };
 

examples/SharedMemory/premake4.lua

@@ -29,6 +29,7 @@ files {
 	"PhysicsServer.cpp",
 	"PosixSharedMemory.cpp",
 	"Win32SharedMemory.cpp",
+	"InProcessMemory.cpp",
 	"PhysicsDirect.cpp",
 	"PhysicsDirect.h",
 	"PhysicsDirectC_API.cpp",

test/SharedMemory/test.c

@@ -66,6 +66,7 @@ int main(int argc, char* argv[])
 		
         {
             b3SharedMemoryStatusHandle statusHandle;
+			int statusType;
 			b3SharedMemoryCommandHandle command = b3LoadUrdfCommandInit(sm, urdfFileName);
 			
             //setting the initial position, orientation and other arguments are optional
@@ -74,6 +75,11 @@ int main(int argc, char* argv[])
             startPosZ = 1;
             ret = b3LoadUrdfCommandSetStartPosition(command, startPosX,startPosY,startPosZ);
             statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
+			statusType = b3GetStatusType(statusHandle);
+			if (statusType != CMD_URDF_LOADING_COMPLETED)
+			{
+				printf("Loading URDF failed, status type = %d\n",statusType);
+			}
 			bodyIndex = b3GetStatusBodyIndex(statusHandle);
         }
         
@@ -169,7 +175,16 @@ int main(int argc, char* argv[])
         ///perform some simulation steps for testing
         for ( i=0;i<100;i++)
         {
-            b3SubmitClientCommandAndWaitStatus(sm, b3InitStepSimulationCommand(sm));
+			b3SharedMemoryStatusHandle statusHandle;
+			int statusType;
+
+			statusHandle = b3SubmitClientCommandAndWaitStatus(sm, b3InitStepSimulationCommand(sm));
+			statusType = b3GetStatusType(statusHandle);
+			if (statusType != CMD_STEP_FORWARD_SIMULATION_COMPLETED)
+			{
+				printf("Step Simulation failed, Unexpected status type = %d\n",statusType);
+				break;
+			}
         }
         
         {