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fix issues with VR physics server

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This commit is contained in:
erwin coumans
2016-09-09 11:28:38 -07:00
parent 016dc273c6
commit f72982306e
3 changed files with 69 additions and 37 deletions
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28
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -556,6 +556,9 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
m_data->m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
//Workaround: in a VR application, where we avoid synchronizaing between GFX/Physics threads, we don't want to resize this array, so pre-allocate it
m_data->m_dynamicsWorld->getCollisionObjectArray().reserve(8192);
m_data->m_remoteDebugDrawer = new SharedMemoryDebugDrawer();
@@ -2694,13 +2697,16 @@ void PhysicsServerCommandProcessor::replayFromLogFile(const char* fileName)
btVector3 gVRGripperPos(0,0,0);
btQuaternion gVRGripperOrn(0,0,0,1);
int gDroppedSimulationSteps = 0;
int gNumSteps = 0;
double gDtInSec = 0.f;
double gSubStep = 0.f;
void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
{
if (m_data->m_allowRealTimeSimulation && m_data->m_guiHelper)
{
btAlignedObjectArray<char> bufferServerToClient;
bufferServerToClient.resize(32768);
static btAlignedObjectArray<char> gBufferServerToClient;
gBufferServerToClient.resize(32768);
if (!m_data->m_hasGround)
@@ -2710,14 +2716,14 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
int bodyId = 0;
loadUrdf("plane.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, true, &bodyId, &bufferServerToClient[0], bufferServerToClient.size());
loadUrdf("plane.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, true, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
}
if (0)//m_data->m_gripperRigidbodyFixed==0)
{
int bodyId = 0;
loadUrdf("pr2_gripper.urdf",btVector3(0, 0, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &bufferServerToClient[0], bufferServerToClient.size());
loadUrdf("pr2_gripper.urdf",btVector3(0, 0, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
InteralBodyData* parentBody = m_data->getHandle(bodyId);
if (parentBody->m_multiBody)
@@ -2747,13 +2753,13 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
int maxSteps = 3;
int numSteps = m_data->m_dynamicsWorld->stepSimulation(dtInSec,maxSteps,m_data->m_physicsDeltaTime);
int droppedSteps = numSteps > maxSteps ? numSteps - maxSteps : 0;
static int skipReport = 0;
skipReport++;
if (skipReport>100)
gDroppedSimulationSteps += numSteps > maxSteps ? numSteps - maxSteps : 0;
if (numSteps)
{
skipReport = 0;
//printf("numSteps: %d (dropped %d), %f (internal step = %f)\n", numSteps, droppedSteps , dtInSec, m_data->m_physicsDeltaTime);
gNumSteps = numSteps;
gDtInSec = dtInSec;
gSubStep = m_data->m_physicsDeltaTime;
}
}
}