63486a712c
tune gripper grasp example with tefal pan, 800Newton force. URDF importer: if using single transform 1 child shape, don't use compound shape. if renderGUI is false, don't intercept mouse clicks add manyspheres.py example (performance is pretty bad, will look into it) [pybullet] expose contactBreakingThreshold
112 lines
3.3 KiB
C++
112 lines
3.3 KiB
C++
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#include "SharedMemoryInProcessPhysicsC_API.h"
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#include "../Utils/b3Clock.h"
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#include "PhysicsClientSharedMemory.h"
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#include"../ExampleBrowser/InProcessExampleBrowser.h"
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class InProcessPhysicsClientSharedMemoryMainThread : public PhysicsClientSharedMemory
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{
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btInProcessExampleBrowserMainThreadInternalData* m_data;
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b3Clock m_clock;
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public:
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InProcessPhysicsClientSharedMemoryMainThread(int argc, char* argv[])
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{
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int newargc = argc+2;
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char** newargv = (char**)malloc(sizeof(void*)*newargc);
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for (int i=0;i<argc;i++)
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newargv[i] = argv[i];
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char* t0 = (char*)"--logtostderr";
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char* t1 = (char*)"--start_demo_name=Physics Server";
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newargv[argc] = t0;
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newargv[argc+1] = t1;
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m_data = btCreateInProcessExampleBrowserMainThread(newargc,newargv);
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SharedMemoryInterface* shMem = btGetSharedMemoryInterfaceMainThread(m_data);
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setSharedMemoryInterface(shMem);
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}
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virtual ~InProcessPhysicsClientSharedMemoryMainThread()
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{
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setSharedMemoryInterface(0);
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btShutDownExampleBrowserMainThread(m_data);
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}
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// return non-null if there is a status, nullptr otherwise
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virtual const struct SharedMemoryStatus* processServerStatus()
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{
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if (btIsExampleBrowserMainThreadTerminated(m_data))
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{
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PhysicsClientSharedMemory::disconnectSharedMemory();
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}
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unsigned long int ms = m_clock.getTimeMilliseconds();
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if (ms>20)
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{
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m_clock.reset();
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btUpdateInProcessExampleBrowserMainThread(m_data);
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}
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b3Clock::usleep(0);
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return PhysicsClientSharedMemory::processServerStatus();
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}
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virtual bool submitClientCommand(const struct SharedMemoryCommand& command)
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{
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// btUpdateInProcessExampleBrowserMainThread(m_data);
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return PhysicsClientSharedMemory::submitClientCommand(command);
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}
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};
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b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThread(int argc, char* argv[])
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{
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InProcessPhysicsClientSharedMemoryMainThread* cl = new InProcessPhysicsClientSharedMemoryMainThread(argc, argv);
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cl->setSharedMemoryKey(SHARED_MEMORY_KEY);
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cl->connect();
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return (b3PhysicsClientHandle ) cl;
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}
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class InProcessPhysicsClientSharedMemory : public PhysicsClientSharedMemory
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{
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btInProcessExampleBrowserInternalData* m_data;
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public:
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InProcessPhysicsClientSharedMemory(int argc, char* argv[])
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{
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int newargc = argc+2;
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char** newargv = (char**)malloc(sizeof(void*)*newargc);
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for (int i=0;i<argc;i++)
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newargv[i] = argv[i];
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char* t0 = (char*)"--logtostderr";
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char* t1 = (char*)"--start_demo_name=Physics Server";
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newargv[argc] = t0;
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newargv[argc+1] = t1;
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m_data = btCreateInProcessExampleBrowser(newargc,newargv);
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SharedMemoryInterface* shMem = btGetSharedMemoryInterface(m_data);
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free(newargv);
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setSharedMemoryInterface(shMem);
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}
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virtual ~InProcessPhysicsClientSharedMemory()
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{
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setSharedMemoryInterface(0);
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btShutDownExampleBrowser(m_data);
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}
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};
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b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnect(int argc, char* argv[])
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{
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InProcessPhysicsClientSharedMemory* cl = new InProcessPhysicsClientSharedMemory(argc, argv);
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cl->setSharedMemoryKey(SHARED_MEMORY_KEY);
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cl->connect();
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return (b3PhysicsClientHandle ) cl;
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}
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