diff options
Diffstat (limited to 'examples/SharedMemory/PhysicsServerCommandProcessor.cpp')
| -rw-r--r-- | examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 53 |
1 files changed, 28 insertions, 25 deletions
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 9164c5bd4..6a3fa1c29 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -2843,7 +2843,7 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld() bool PhysicsServerCommandProcessor::supportsJointMotor(btMultiBody* mb, int mbLinkIndex) { - bool canHaveMotor = (mb->getLink(mbLinkIndex).m_jointType == btMultibodyLink::eRevolute + bool canHaveMotor = (mb->getLink(mbLinkIndex).m_jointType == btMultibodyLink::eRevolute || mb->getLink(mbLinkIndex).m_jointType == btMultibodyLink::ePrismatic); return canHaveMotor; } @@ -3056,7 +3056,7 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName, std::string* baseName = new std::string(u2b.getLinkName(u2b.getRootLinkIndex())); m_data->m_strings.push_back(baseName); mb->setBaseName(baseName->c_str()); - + #if 0 btAlignedObjectArray<char> urdf; mb->dumpUrdf(urdf); @@ -3067,7 +3067,7 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName, fclose(f); } #endif - + } else { @@ -6315,7 +6315,7 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc //we store the state details in the shared memory block, to reduce status size SendActualStateSharedMemoryStorage* stateDetails = (SendActualStateSharedMemoryStorage*)bufferServerToClient; - + //make sure the storage fits, otherwise btAssert(sizeof(SendActualStateSharedMemoryStorage) < bufferSizeInBytes); if (sizeof(SendActualStateSharedMemoryStorage) > bufferSizeInBytes) @@ -6327,11 +6327,12 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc { btMultiBody* mb = body->m_multiBody; SharedMemoryStatus& serverCmd = serverStatusOut; - + serverStatusOut.m_type = CMD_ACTUAL_STATE_UPDATE_COMPLETED; serverCmd.m_sendActualStateArgs.m_bodyUniqueId = bodyUniqueId; serverCmd.m_sendActualStateArgs.m_numLinks = body->m_multiBody->getNumLinks(); + serverCmd.m_numDataStreamBytes = sizeof(SendActualStateSharedMemoryStorage); serverCmd.m_sendActualStateArgs.m_stateDetails = 0; int totalDegreeOfFreedomQ = 0; int totalDegreeOfFreedomU = 0; @@ -6540,9 +6541,10 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc btRigidBody* rb = body->m_rigidBody; SharedMemoryStatus& serverCmd = serverStatusOut; serverCmd.m_type = CMD_ACTUAL_STATE_UPDATE_COMPLETED; - + serverCmd.m_sendActualStateArgs.m_bodyUniqueId = bodyUniqueId; serverCmd.m_sendActualStateArgs.m_numLinks = 0; + serverCmd.m_numDataStreamBytes = sizeof(SendActualStateSharedMemoryStorage); serverCmd.m_sendActualStateArgs.m_stateDetails = 0; int totalDegreeOfFreedomQ = 0; @@ -6584,6 +6586,7 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc serverCmd.m_type = CMD_ACTUAL_STATE_UPDATE_COMPLETED; serverCmd.m_sendActualStateArgs.m_bodyUniqueId = bodyUniqueId; serverCmd.m_sendActualStateArgs.m_numLinks = 0; + serverCmd.m_numDataStreamBytes = sizeof(SendActualStateSharedMemoryStorage); serverCmd.m_sendActualStateArgs.m_stateDetails = 0; serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[0] = @@ -7197,7 +7200,7 @@ bool PhysicsServerCommandProcessor::processCreateMultiBodyCommandSingle(const st m_data->m_sdfRecentLoadedBodies.clear(); if (bodyUniqueId >= 0) { - + serverStatusOut.m_type = CMD_CREATE_MULTI_BODY_COMPLETED; if (bufferSizeInBytes>0 && serverStatusOut.m_numDataStreamBytes==0) { @@ -7205,7 +7208,7 @@ bool PhysicsServerCommandProcessor::processCreateMultiBodyCommandSingle(const st BT_PROFILE("autogenerateGraphicsObjects"); m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld); } - + BT_PROFILE("createBodyInfoStream"); int streamSizeInBytes = createBodyInfoStream(bodyUniqueId, bufferServerToClient, bufferSizeInBytes); serverStatusOut.m_numDataStreamBytes = streamSizeInBytes; @@ -7667,7 +7670,7 @@ bool PhysicsServerCommandProcessor::processForwardDynamicsCommand(const struct S } btScalar deltaTimeScaled = m_data->m_physicsDeltaTime * simTimeScalingFactor; - + int numSteps = 0; if (m_data->m_numSimulationSubSteps > 0) { @@ -7694,7 +7697,7 @@ bool PhysicsServerCommandProcessor::processForwardDynamicsCommand(const struct S m_data->m_dynamicsWorld->getAnalyticsData(islandAnalyticsData); serverCmd.m_forwardDynamicsAnalyticsArgs.m_numIslands = islandAnalyticsData.size(); int numIslands = btMin(islandAnalyticsData.size(), MAX_ISLANDS_ANALYTICS); - + for (int i=0;i<numIslands;i++) { serverCmd.m_forwardDynamicsAnalyticsArgs.m_numSolverCalls = islandAnalyticsData[i].m_numSolverCalls; @@ -7786,7 +7789,7 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc { mb->setCanWakeup(false); } - + } if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LINEAR_DAMPING) @@ -7892,7 +7895,7 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc { mb->setMaxCoordinateVelocity(clientCmd.m_changeDynamicsInfoArgs.m_maxJointVelocity); } - + } else { @@ -7980,7 +7983,7 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc btRigidBody* childRb = &body->m_rigidBodyJoints[linkIndex]->getRigidBodyB(); rb = childRb; } - + } } @@ -8071,13 +8074,13 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc { rb->setAnisotropicFriction(anisotropicFriction); } - + if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_CONTACT_PROCESSING_THRESHOLD) { rb->setContactProcessingThreshold(clientCmd.m_changeDynamicsInfoArgs.m_contactProcessingThreshold); } - + if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_CCD_SWEPT_SPHERE_RADIUS) { @@ -8498,7 +8501,7 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st { m_data->m_dynamicsWorld->getSolverInfo().m_reportSolverAnalytics = clientCmd.m_physSimParamArgs.m_reportSolverAnalytics; } - + SharedMemoryStatus& serverCmd = serverStatusOut; serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED; return hasStatus; @@ -8592,7 +8595,7 @@ bool PhysicsServerCommandProcessor::processInitPoseCommand(const struct SharedMe { int posVarCount = mb->getLink(i).m_posVarCount; bool hasPosVar = posVarCount > 0; - + for (int j = 0; j < posVarCount; j++) { if (clientCmd.m_initPoseArgs.m_hasInitialStateQ[posVarCountIndex+j] == 0) @@ -8621,7 +8624,7 @@ bool PhysicsServerCommandProcessor::processInitPoseCommand(const struct SharedMe mb->setJointVelMultiDof(i, vel); } } - + bool hasVel = true; for (int j = 0; j < mb->getLink(i).m_dofCount; j++) { @@ -8644,7 +8647,7 @@ bool PhysicsServerCommandProcessor::processInitPoseCommand(const struct SharedMe mb->setJointVelMultiDof(i, &clientCmd.m_initPoseArgs.m_initialStateQdot[uDofIndex]); } } - + posVarCountIndex += mb->getLink(i).m_posVarCount; uDofIndex += mb->getLink(i).m_dofCount; } @@ -9015,7 +9018,7 @@ bool PhysicsServerCommandProcessor::processInverseDynamicsCommand(const struct S { #ifdef STATIC_LINK_SPD_PLUGIN { - cRBDModel* rbdModel = m_data->findOrCreateRBDModel(bodyHandle->m_multiBody, + cRBDModel* rbdModel = m_data->findOrCreateRBDModel(bodyHandle->m_multiBody, clientCmd.m_calculateInverseDynamicsArguments.m_jointPositionsQ, clientCmd.m_calculateInverseDynamicsArguments.m_jointVelocitiesQdot); if (rbdModel) @@ -9032,9 +9035,9 @@ bool PhysicsServerCommandProcessor::processInverseDynamicsCommand(const struct S } serverCmd.m_inverseDynamicsResultArgs.m_bodyUniqueId = clientCmd.m_calculateInverseDynamicsArguments.m_bodyUniqueId; serverCmd.m_inverseDynamicsResultArgs.m_dofCount = dof; - + serverCmd.m_type = CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED; - + } } #endif @@ -9506,7 +9509,7 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared int numCollisionObjects = m_data->m_dynamicsWorld->getNumCollisionObjects(); m_data->m_dynamicsWorld->removeMultiBody(bodyHandle->m_multiBody); numCollisionObjects = m_data->m_dynamicsWorld->getNumCollisionObjects(); - + delete bodyHandle->m_multiBody; bodyHandle->m_multiBody = 0; serverCmd.m_type = CMD_REMOVE_BODY_COMPLETED; @@ -10933,7 +10936,7 @@ bool PhysicsServerCommandProcessor::processRemoveStateCommand(const struct Share bool hasStatus = true; SharedMemoryStatus& serverCmd = serverStatusOut; serverCmd.m_type = CMD_REMOVE_STATE_FAILED; - + if (clientCmd.m_loadStateArguments.m_stateId >= 0) { if (clientCmd.m_loadStateArguments.m_stateId < m_data->m_savedStates.size()) @@ -11273,7 +11276,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm hasStatus = processCreateVisualShapeCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes); break; } - + case CMD_CREATE_MULTI_BODY: { hasStatus = processCreateMultiBodyCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes); |