1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
|
#include "SharedMemoryInProcessPhysicsC_API.h"
#include "../Utils/b3Clock.h"
#include "PhysicsClientSharedMemory.h"
#include "../ExampleBrowser/InProcessExampleBrowser.h"
#include <stdio.h>
#include <string.h>
#include "PhysicsServerExampleBullet2.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "../CommonInterfaces/CommonExampleInterface.h"
#include "InProcessMemory.h"
#include "Bullet3Common/b3Logging.h"
class InProcessPhysicsClientSharedMemoryMainThread : public PhysicsClientSharedMemory
{
btInProcessExampleBrowserMainThreadInternalData* m_data;
b3Clock m_clock;
public:
InProcessPhysicsClientSharedMemoryMainThread(int argc, char* argv[], bool useInProcessMemory)
{
int newargc = argc + 3;
char** newargv = (char**)malloc(sizeof(void*) * newargc);
char* t0 = (char*)"--unused";
newargv[0] = t0;
for (int i = 0; i < argc; i++)
newargv[i + 1] = argv[i];
newargv[argc + 1] = (char*)"--logtostderr";
newargv[argc + 2] = (char*)"--start_demo_name=Physics Server";
m_data = btCreateInProcessExampleBrowserMainThread(newargc, newargv, useInProcessMemory);
SharedMemoryInterface* shMem = btGetSharedMemoryInterfaceMainThread(m_data);
setSharedMemoryInterface(shMem);
}
virtual ~InProcessPhysicsClientSharedMemoryMainThread()
{
setSharedMemoryInterface(0);
btShutDownExampleBrowserMainThread(m_data);
}
// return non-null if there is a status, nullptr otherwise
virtual const struct SharedMemoryStatus* processServerStatus()
{
{
if (btIsExampleBrowserMainThreadTerminated(m_data))
{
PhysicsClientSharedMemory::disconnectSharedMemory();
}
}
{
unsigned long int ms = m_clock.getTimeMilliseconds();
if (ms > 2)
{
B3_PROFILE("m_clock.reset()");
btUpdateInProcessExampleBrowserMainThread(m_data);
m_clock.reset();
}
}
{
b3Clock::usleep(0);
}
const SharedMemoryStatus* stat = 0;
{
stat = PhysicsClientSharedMemory::processServerStatus();
}
return stat;
}
virtual bool submitClientCommand(const struct SharedMemoryCommand& command)
{
// btUpdateInProcessExampleBrowserMainThread(m_data);
return PhysicsClientSharedMemory::submitClientCommand(command);
}
};
B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThread(int argc, char* argv[])
{
InProcessPhysicsClientSharedMemoryMainThread* cl = new InProcessPhysicsClientSharedMemoryMainThread(argc, argv, 1);
cl->setSharedMemoryKey(SHARED_MEMORY_KEY + 1);
cl->connect();
return (b3PhysicsClientHandle)cl;
}
B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThreadSharedMemory(int argc, char* argv[])
{
InProcessPhysicsClientSharedMemoryMainThread* cl = new InProcessPhysicsClientSharedMemoryMainThread(argc, argv, 0);
cl->setSharedMemoryKey(SHARED_MEMORY_KEY + 1);
cl->connect();
return (b3PhysicsClientHandle)cl;
}
class InProcessPhysicsClientSharedMemory : public PhysicsClientSharedMemory
{
btInProcessExampleBrowserInternalData* m_data;
char** m_newargv;
public:
InProcessPhysicsClientSharedMemory(int argc, char* argv[], bool useInProcessMemory)
{
int newargc = argc + 2;
m_newargv = (char**)malloc(sizeof(void*) * newargc);
char* t0 = (char*)"--unused";
m_newargv[0] = t0;
for (int i = 0; i < argc; i++)
m_newargv[i + 1] = argv[i];
char* t1 = (char*)"--start_demo_name=Physics Server";
m_newargv[argc + 1] = t1;
m_data = btCreateInProcessExampleBrowser(newargc, m_newargv, useInProcessMemory);
SharedMemoryInterface* shMem = btGetSharedMemoryInterface(m_data);
setSharedMemoryInterface(shMem);
}
virtual ~InProcessPhysicsClientSharedMemory()
{
setSharedMemoryInterface(0);
btShutDownExampleBrowser(m_data);
free(m_newargv);
}
};
B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnect(int argc, char* argv[])
{
InProcessPhysicsClientSharedMemory* cl = new InProcessPhysicsClientSharedMemory(argc, argv, 1);
cl->setSharedMemoryKey(SHARED_MEMORY_KEY + 1);
cl->connect();
return (b3PhysicsClientHandle)cl;
}
B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectSharedMemory(int argc, char* argv[])
{
InProcessPhysicsClientSharedMemory* cl = new InProcessPhysicsClientSharedMemory(argc, argv, 0);
cl->setSharedMemoryKey(SHARED_MEMORY_KEY + 1);
cl->connect();
return (b3PhysicsClientHandle)cl;
}
class InProcessPhysicsClientExistingExampleBrowser : public PhysicsClientSharedMemory
{
CommonExampleInterface* m_physicsServerExample;
SharedMemoryInterface* m_sharedMem;
b3Clock m_clock;
unsigned long long int m_prevTime;
public:
InProcessPhysicsClientExistingExampleBrowser(struct GUIHelperInterface* guiHelper, bool useInProcessMemory, bool skipGraphicsUpdate)
{
m_sharedMem = 0;
CommonExampleOptions options(guiHelper);
if (useInProcessMemory)
{
m_sharedMem = new InProcessMemory;
options.m_sharedMem = m_sharedMem;
}
options.m_skipGraphicsUpdate = skipGraphicsUpdate;
m_physicsServerExample = PhysicsServerCreateFuncBullet2(options);
m_physicsServerExample->initPhysics();
//m_physicsServerExample->resetCamera();
setSharedMemoryInterface(m_sharedMem);
m_clock.reset();
m_prevTime = m_clock.getTimeMicroseconds();
}
virtual ~InProcessPhysicsClientExistingExampleBrowser()
{
m_physicsServerExample->exitPhysics();
//s_instancingRenderer->removeAllInstances();
delete m_physicsServerExample;
delete m_sharedMem;
}
// return non-null if there is a status, nullptr otherwise
virtual const struct SharedMemoryStatus* processServerStatus()
{
m_physicsServerExample->updateGraphics();
unsigned long long int curTime = m_clock.getTimeMicroseconds();
unsigned long long int dtMicro = curTime - m_prevTime;
m_prevTime = curTime;
double dt = double(dtMicro) / 1000000.;
m_physicsServerExample->stepSimulation(dt);
{
b3Clock::usleep(0);
}
const SharedMemoryStatus* stat = 0;
{
stat = PhysicsClientSharedMemory::processServerStatus();
}
return stat;
}
virtual void renderScene()
{
m_physicsServerExample->renderScene();
}
virtual void debugDraw(int debugDrawMode)
{
m_physicsServerExample->physicsDebugDraw(debugDrawMode);
}
virtual bool mouseMoveCallback(float x, float y)
{
return m_physicsServerExample->mouseMoveCallback(x, y);
}
virtual bool mouseButtonCallback(int button, int state, float x, float y)
{
return m_physicsServerExample->mouseButtonCallback(button, state, x, y);
}
};
void b3InProcessDebugDrawInternal(b3PhysicsClientHandle clientHandle, int debugDrawMode)
{
InProcessPhysicsClientExistingExampleBrowser* cl = (InProcessPhysicsClientExistingExampleBrowser*)clientHandle;
cl->debugDraw(debugDrawMode);
}
void b3InProcessRenderSceneInternal(b3PhysicsClientHandle clientHandle)
{
InProcessPhysicsClientExistingExampleBrowser* cl = (InProcessPhysicsClientExistingExampleBrowser*)clientHandle;
cl->renderScene();
}
int b3InProcessMouseMoveCallback(b3PhysicsClientHandle clientHandle, float x, float y)
{
InProcessPhysicsClientExistingExampleBrowser* cl = (InProcessPhysicsClientExistingExampleBrowser*)clientHandle;
return cl->mouseMoveCallback(x, y);
}
int b3InProcessMouseButtonCallback(b3PhysicsClientHandle clientHandle, int button, int state, float x, float y)
{
InProcessPhysicsClientExistingExampleBrowser* cl = (InProcessPhysicsClientExistingExampleBrowser*)clientHandle;
return cl->mouseButtonCallback(button, state, x, y);
}
B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect(void* guiHelperPtr)
{
static DummyGUIHelper noGfx;
GUIHelperInterface* guiHelper = (GUIHelperInterface*)guiHelperPtr;
if (!guiHelper)
{
guiHelper = &noGfx;
}
bool useInprocessMemory = true;
bool skipGraphicsUpdate = false;
InProcessPhysicsClientExistingExampleBrowser* cl = new InProcessPhysicsClientExistingExampleBrowser(guiHelper, useInprocessMemory, skipGraphicsUpdate);
cl->connect();
return (b3PhysicsClientHandle)cl;
}
extern int gSharedMemoryKey;
B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect3(void* guiHelperPtr, int sharedMemoryKey)
{
static DummyGUIHelper noGfx;
gSharedMemoryKey = sharedMemoryKey;
GUIHelperInterface* guiHelper = (GUIHelperInterface*)guiHelperPtr;
if (!guiHelper)
{
guiHelper = &noGfx;
}
bool useInprocessMemory = false;
bool skipGraphicsUpdate = true;
InProcessPhysicsClientExistingExampleBrowser* cl = new InProcessPhysicsClientExistingExampleBrowser(guiHelper, useInprocessMemory, skipGraphicsUpdate);
cl->setSharedMemoryKey(sharedMemoryKey + 1);
cl->connect();
//backward compatiblity
gSharedMemoryKey = SHARED_MEMORY_KEY;
return (b3PhysicsClientHandle)cl;
}
//backward compatiblity
B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect2(void* guiHelperPtr)
{
return b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect3(guiHelperPtr, SHARED_MEMORY_KEY);
}
|
