bc806ab68c
fflush after printf implemented stepForward and Shutdown for the SharedMemory client/server
146 lines
4.1 KiB
C++
146 lines
4.1 KiB
C++
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#include "PhysicsClient.h"
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#include "../CommonInterfaces/CommonMultiBodyBase.h"
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#include "PosixSharedMemory.h"
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#include "SharedMemoryCommon.h"
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class PhysicsClient : public SharedMemoryCommon
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{
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SharedMemoryInterface* m_sharedMemory;
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SharedMemoryExampleData* m_testBlock1;
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int m_counter;
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bool m_wantsTermination;
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public:
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PhysicsClient(GUIHelperInterface* helper);
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virtual ~PhysicsClient();
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virtual void initPhysics();
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virtual void stepSimulation(float deltaTime);
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virtual void resetCamera()
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{
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float dist = 1;
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float pitch = 50;
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float yaw = 35;
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float targetPos[3]={-3,2.8,-2.5};
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m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
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}
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virtual bool wantsTermination()
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{
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return m_wantsTermination;
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}
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};
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PhysicsClient::PhysicsClient(GUIHelperInterface* helper)
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:SharedMemoryCommon(helper),
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m_testBlock1(0),
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m_counter(0),
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m_wantsTermination(false)
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{
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b3Printf("Started PhysicsClient");
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m_sharedMemory = new PosixSharedMemory();
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}
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PhysicsClient::~PhysicsClient()
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{
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b3Printf("~PhysicsClient");
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m_sharedMemory->releaseSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
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delete m_sharedMemory;
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}
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void PhysicsClient::initPhysics()
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{
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m_testBlock1 = (SharedMemoryExampleData*)m_sharedMemory->allocateSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
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if (m_testBlock1)
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{
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// btAssert(m_testBlock1->m_magicId == SHARED_MEMORY_MAGIC_NUMBER);
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if (m_testBlock1->m_magicId !=SHARED_MEMORY_MAGIC_NUMBER)
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{
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b3Error("Error: please start server before client");
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m_sharedMemory->releaseSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
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m_testBlock1 = 0;
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} else
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{
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//submit a 'load urdf' command to get things started
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b3Printf("Client created CMD_LOAD_URDF");
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m_testBlock1->m_clientCommands[0].m_type =CMD_LOAD_URDF;
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sprintf(m_testBlock1->m_clientCommands[0].m_urdfArguments.m_urdfFileName,"r2d2.urdf");
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m_testBlock1->m_numClientCommands++;
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}
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}
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}
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void PhysicsClient::stepSimulation(float deltaTime)
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{
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if (m_testBlock1)
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{
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//check progress and submit further commands
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//we ignore overflow right now
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if (m_testBlock1->m_numServerCommands> m_testBlock1->m_numProcessedServerCommands)
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{
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btAssert(m_testBlock1->m_numServerCommands==m_testBlock1->m_numProcessedServerCommands+1);
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const SharedMemoryCommand& serverCmd =m_testBlock1->m_serverCommands[0];
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//consume the command
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switch (serverCmd.m_type)
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{
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case CMD_STEP_FORWARD_SIMULATION_COMPLETED:
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case CMD_URDF_LOADING_COMPLETED:
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{
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//submit a 'step simulation' request
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if (m_counter<10)
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{
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m_testBlock1->m_clientCommands[0].m_type =CMD_STEP_FORWARD_SIMULATION;
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m_testBlock1->m_clientCommands[0].m_stepSimulationArguments.m_deltaTimeInSeconds = 1./60.;
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m_testBlock1->m_numClientCommands++;
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m_counter++;
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} else
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{
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m_wantsTermination = true;
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m_testBlock1->m_clientCommands[0].m_type =CMD_SHUTDOWN;
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m_testBlock1->m_numClientCommands++;
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}
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break;
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}
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case CMD_URDF_LOADING_FAILED:
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{
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b3Printf("Server failed loading the URDF...");
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break;
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}
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default:
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{
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b3Error("Unknown server command");
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btAssert(0);
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}
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};
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m_testBlock1->m_numProcessedServerCommands++;
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}
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}
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}
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class CommonExampleInterface* PhysicsClientCreateFunc(struct CommonExampleOptions& options)
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{
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return new PhysicsClient(options.m_guiHelper);
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}
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