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This commit is contained in:
Erwin Coumans
2015-11-11 12:44:26 -08:00
parent 91204e8ed2
commit f6a8079353
16 changed files with 239 additions and 62 deletions
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5
examples/SharedMemory/PhysicsClient.cpp
View File

@@ -1,3 +1,6 @@
#include "PhysicsClient.h"
PhysicsClient::~PhysicsClient() {}
PhysicsClient::~PhysicsClient()
{
}

6
examples/SharedMemory/PhysicsClientExample.cpp
View File

@@ -337,13 +337,15 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
};
}
PhysicsClientExample::PhysicsClientExample(GUIHelperInterface* helper)
:SharedMemoryCommon(helper),
m_physicsClientHandle(0),
m_selectedBody(-1),
m_prevSelectedBody(-1),
m_wantsTermination(false),
m_sharedMemoryKey(SHARED_MEMORY_KEY),
m_selectedBody(-1),
m_prevSelectedBody(-1),
m_numMotors(0)
{
b3Printf("Started PhysicsClientExample\n");

45
examples/SharedMemory/PhysicsClientSharedMemory.cpp
View File

@@ -3,6 +3,7 @@
#include "Win32SharedMemory.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btVector3.h"
#include <string.h>
#include "Bullet3Common/b3Logging.h"
#include "../Utils/b3ResourcePath.h"
@@ -71,6 +72,15 @@ struct PhysicsClientSharedMemoryInternalData {
bool canSubmitCommand() const;
};
static char* strDup(const char* const str)
{
#ifdef _WIN32
return _strdup(str);
#else
return strdup(str);
#endif
}
int PhysicsClientSharedMemory::getNumJoints(int bodyIndex) const
{
BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[bodyIndex];
@@ -188,24 +198,24 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
}
if (serverCmd.m_dataStreamArguments.m_streamChunkLength > 0) {
bParse::btBulletFile* bf = new bParse::btBulletFile(
bParse::btBulletFile bf(
this->m_data->m_testBlock1->m_bulletStreamDataServerToClient,
serverCmd.m_dataStreamArguments.m_streamChunkLength);
bf->setFileDNAisMemoryDNA();
bf->parse(false);
bf.setFileDNAisMemoryDNA();
bf.parse(false);
int bodyIndex = serverCmd.m_dataStreamArguments.m_bodyUniqueId;
BodyJointInfoCache* bodyJoints = new BodyJointInfoCache;
m_data->m_bodyJointMap.insert(bodyIndex,bodyJoints);
for (int i = 0; i < bf->m_multiBodies.size(); i++) {
int flag = bf->getFlags();
for (int i = 0; i < bf.m_multiBodies.size(); i++) {
int flag = bf.getFlags();
int qOffset = 7;
int uOffset = 6;
if ((flag & bParse::FD_DOUBLE_PRECISION) != 0) {
Bullet::btMultiBodyDoubleData* mb =
(Bullet::btMultiBodyDoubleData*)bf->m_multiBodies[i];
(Bullet::btMultiBodyDoubleData*)bf.m_multiBodies[i];
if (mb->m_baseName) {
if (m_data->m_verboseOutput) {
b3Printf("mb->m_baseName = %s\n", mb->m_baseName);
@@ -227,14 +237,14 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
b3Printf("mb->m_links[%d].m_linkName = %s\n", link,
mb->m_links[link].m_linkName);
}
info.m_linkName = mb->m_links[link].m_linkName;
info.m_linkName = strDup(mb->m_links[link].m_linkName);
}
if (mb->m_links[link].m_jointName) {
if (m_data->m_verboseOutput) {
b3Printf("mb->m_links[%d].m_jointName = %s\n", link,
mb->m_links[link].m_jointName);
}
info.m_jointName = mb->m_links[link].m_jointName;
info.m_jointName = strDup(mb->m_links[link].m_jointName);
}
info.m_jointType = mb->m_links[link].m_jointType;
@@ -251,7 +261,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
} else {
Bullet::btMultiBodyFloatData* mb =
(Bullet::btMultiBodyFloatData*)bf->m_multiBodies[i];
(Bullet::btMultiBodyFloatData*)bf.m_multiBodies[i];
if (mb->m_baseName) {
if (m_data->m_verboseOutput) {
b3Printf("mb->m_baseName = %s\n", mb->m_baseName);
@@ -272,14 +282,14 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
b3Printf("mb->m_links[%d].m_linkName = %s\n", link,
mb->m_links[link].m_linkName);
}
info.m_linkName = mb->m_links[link].m_linkName;
info.m_linkName = strDup(mb->m_links[link].m_linkName);
}
if (mb->m_links[link].m_jointName) {
if (m_data->m_verboseOutput) {
b3Printf("mb->m_links[%d].m_jointName = %s\n", link,
mb->m_links[link].m_jointName);
}
info.m_jointName = mb->m_links[link].m_jointName;
info.m_jointName = strDup(mb->m_links[link].m_jointName);
}
info.m_jointType = mb->m_links[link].m_jointType;
if ((mb->m_links[link].m_jointType == eRevoluteType) ||
@@ -293,7 +303,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
}
}
}
if (bf->ok()) {
if (bf.ok()) {
if (m_data->m_verboseOutput) {
b3Printf("Received robot description ok!\n");
}
@@ -401,6 +411,17 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap.getAtIndex(i);
if (bodyJointsPtr && *bodyJointsPtr)
{
BodyJointInfoCache* bodyJoints = *bodyJointsPtr;
for (int j=0;j<bodyJoints->m_jointInfo.size();j++) {
if (bodyJoints->m_jointInfo[j].m_jointName)
{
free(bodyJoints->m_jointInfo[j].m_jointName);
}
if (bodyJoints->m_jointInfo[j].m_linkName)
{
free(bodyJoints->m_jointInfo[j].m_linkName);
}
}
delete (*bodyJointsPtr);
}
}