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Merge pull request #435 from erwincoumans/master

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fix various warnings, more work on shared memory API
This commit is contained in:
erwincoumans
2015-07-23 11:11:21 -07:00
parent c812fce343 0fe6d343bc
commit f866142ebe
7 changed files with 148 additions and 7 deletions
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48
examples/SharedMemory/PhysicsClientC_API.cpp Normal file
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@@ -0,0 +1,48 @@
#include "PhysicsClientC_API.h"
#include "PhysicsClient.h"
#include "Bullet3Common/b3Scalar.h"
int b3InitPhysicsParamCommand(struct SharedMemoryCommand* command)
{
b3Assert(command);
command->m_type = CMD_SEND_PHYSICS_SIMULATION_PARAMETERS;
command->m_updateFlags = 0;
return 0;
}
int b3PhysicsParamSetGravity(struct SharedMemoryCommand* command, double gravx,double gravy, double gravz)
{
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_gravityAcceleration[0] = gravx;
command->m_physSimParamArgs.m_gravityAcceleration[1] = gravy;
command->m_physSimParamArgs.m_gravityAcceleration[2] = gravz;
command->m_updateFlags |= SIM_PARAM_UPDATE_GRAVITY;
return 0;
}
#if 0
#include "SharedMemoryBlock.h"
#define B3_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name
B3_DECLARE_HANDLE(b3PhysicsClientHandle);
b3PhysicsClientHandle b3ConnectSharedMemory(int memKey, int allowSharedMemoryInitialization);
void b3DisconnectSharedMemory(b3PhysicsClientHandle physClient);
int b3ProcessServerStatus(b3PhysicsClientHandle physClient, struct SharedMemoryStatus* status);
int b3CanSubmitCommand(b3PhysicsClientHandle physClient);
int b3SubmitClientCommand(b3PhysicsClientHandle physClient, struct SharedMemoryCommand* command);
int b3GetNumPoweredJoints(b3PhysicsClientHandle physClient);
void b3GetPoweredJointInfo(int linkIndex, struct PoweredJointInfo* info);
int b3InitPhysicsParamCommand(struct SharedMemoryCommand* command);
int b3PhysicsParamSetGravity(struct SharedMemoryCommand* command, double gravx,double gravy, double gravz);
#endif

35
examples/SharedMemory/PhysicsClientC_API.h Normal file
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@@ -0,0 +1,35 @@
#ifndef PHYSICS_CLIENT_C_API_H
#define PHYSICS_CLIENT_C_API_H
#include "SharedMemoryBlock.h"
#define B3_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name
B3_DECLARE_HANDLE(b3PhysicsClientHandle);
#ifdef __cplusplus
extern "C" {
#endif
b3PhysicsClientHandle b3ConnectSharedMemory(int memKey, int allowSharedMemoryInitialization);
void b3DisconnectSharedMemory(b3PhysicsClientHandle physClient);
int b3ProcessServerStatus(b3PhysicsClientHandle physClient, struct SharedMemoryStatus* status);
int b3CanSubmitCommand(b3PhysicsClientHandle physClient);
int b3SubmitClientCommand(b3PhysicsClientHandle physClient, struct SharedMemoryCommand* command);
int b3GetNumPoweredJoints(b3PhysicsClientHandle physClient);
void b3GetPoweredJointInfo(int linkIndex, struct PoweredJointInfo* info);
int b3InitPhysicsParamCommand(struct SharedMemoryCommand* command);
int b3PhysicsParamSetGravity(struct SharedMemoryCommand* command, double gravx,double gravy, double gravz);
#ifdef __cplusplus
}
#endif
#endif //PHYSICS_CLIENT_C_API_H

2
examples/SharedMemory/PhysicsServer.cpp
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@@ -563,7 +563,7 @@ void PhysicsServerSharedMemory::processClientCommands()
case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS:
{
if (clientCmd.m_physSimParamArgs.m_updateFlags&SIM_PARAM_UPDATE_GRAVITY)
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_GRAVITY)
{
btVector3 grav(clientCmd.m_physSimParamArgs.m_gravityAcceleration[0],
clientCmd.m_physSimParamArgs.m_gravityAcceleration[1],

2
examples/SharedMemory/RobotControlExample.cpp
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@@ -104,7 +104,7 @@ void MyCallback2(int buttonId, bool buttonState, void* userPtr)
command.m_physSimParamArgs.m_gravityAcceleration[0] = 0;
command.m_physSimParamArgs.m_gravityAcceleration[1] = 0;
command.m_physSimParamArgs.m_gravityAcceleration[2] = -10;
command.m_physSimParamArgs.m_updateFlags = SIM_PARAM_UPDATE_GRAVITY;
command.m_updateFlags = SIM_PARAM_UPDATE_GRAVITY;
cl->enqueueCommand(command);
break;

48
examples/SharedMemory/SharedMemoryBlock.h Normal file
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@@ -0,0 +1,48 @@
#ifndef SHARED_MEMORY_BLOCK_H
#define SHARED_MEMORY_BLOCK_H
#define SHARED_MEMORY_KEY 12347
#define SHARED_MEMORY_MAGIC_NUMBER 64738
#define SHARED_MEMORY_MAX_COMMANDS 32
#define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (256*1024)
#include "SharedMemoryCommands.h"
struct SharedMemoryBlock
{
int m_magicId;
struct SharedMemoryCommand m_clientCommands[SHARED_MEMORY_MAX_COMMANDS];
struct SharedMemoryStatus m_serverCommands[SHARED_MEMORY_MAX_COMMANDS];
int m_numClientCommands;
int m_numProcessedClientCommands;
int m_numServerCommands;
int m_numProcessedServerCommands;
//m_bulletStreamDataClientToServer is a way for the client to create collision shapes, rigid bodies and constraints
//the Bullet data structures are more general purpose than the capabilities of a URDF file.
char m_bulletStreamDataClientToServer[SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE];
//m_bulletStreamDataServerToClient is used to send (debug) data from server to client, for
//example to provide all details of a multibody including joint/link names, after loading a URDF file.
char m_bulletStreamDataServerToClient[SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE];
};
inline void InitSharedMemoryBlock(struct SharedMemoryBlock* sharedMemoryBlock)
{
sharedMemoryBlock->m_numClientCommands = 0;
sharedMemoryBlock->m_numServerCommands = 0;
sharedMemoryBlock->m_numProcessedClientCommands=0;
sharedMemoryBlock->m_numProcessedServerCommands=0;
sharedMemoryBlock->m_magicId = SHARED_MEMORY_MAGIC_NUMBER;
}
#define SHARED_MEMORY_SIZE sizeof(SharedMemoryBlock)
#endif //SHARED_MEMORY_BLOCK_H

9
examples/SharedMemory/SharedMemoryCommands.h
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@@ -132,9 +132,6 @@ enum EnumUpdateFlags
///The control mode determines the state variables used for motor control.
struct SendPhysicsSimulationParameters
{
//a bit fields to tell which parameters need updating, see SIM_PARAM_UPDATE_DELTA_TIME etc.
//for example m_updateFlags = SIM_PARAM_UPDATE_DELTA_TIME | SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS;
int m_updateFlags;
double m_deltaTime;
double m_gravityAcceleration[3];
@@ -169,9 +166,11 @@ struct SendActualStateArgs
struct SharedMemoryCommand
{
int m_type;
smUint64_t m_timeStamp;
int m_sequenceNumber;
smUint64_t m_timeStamp;
//a bit fields to tell which parameters need updating
//for example m_updateFlags = SIM_PARAM_UPDATE_DELTA_TIME | SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS;
smUint64_t m_updateFlags;
union
{

11
test/SharedMemory/test.c Normal file
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@@ -0,0 +1,11 @@
#include "SharedMemoryBlock.h"
#include "PhysicsClientC_API.h"
struct test
{
};
#include <stdio.h>
int main(int argc, char* argv[])
{
printf("hello world\n");
}