Merge branch 'master' of https://github.com/erwincoumans/bullet3

Extras/BulletRoboticsGUI/CMakeLists.txt

@@ -113,6 +113,7 @@ SET(BulletRoboticsGUI_SRCS ${BulletRoboticsGUI_INCLUDES}
 	../../examples/SharedMemory/GraphicsServerExample.cpp
 	../../examples/SharedMemory/GraphicsClientExample.cpp
 	../../examples/SharedMemory/RemoteGUIHelper.cpp
+	../../examples/SharedMemory/RemoteGUIHelperTCP.cpp
 	../../examples/SharedMemory/GraphicsServerExample.h
 	../../examples/SharedMemory/GraphicsClientExample.h
 	../../examples/SharedMemory/RemoteGUIHelper.h

examples/RobotSimulator/CMakeLists.txt

@@ -18,6 +18,7 @@ RobotSimulatorMain.cpp
 	../SharedMemory/GraphicsServerExample.cpp
 	../SharedMemory/GraphicsClientExample.cpp
 	../SharedMemory/RemoteGUIHelper.cpp
+        ../SharedMemory/RemoteGUIHelperTCP.cpp
 	../SharedMemory/GraphicsServerExample.h
 	../SharedMemory/GraphicsClientExample.h
 	../SharedMemory/RemoteGUIHelper.h
@@ -32,6 +33,7 @@ RobotSimulatorMain.cpp
 
 IF(BUILD_CLSOCKET)
  ADD_DEFINITIONS(-DBT_ENABLE_CLSOCKET)
+ ADD_DEFINITIONS(${OSDEF})
 ENDIF(BUILD_CLSOCKET)
 
 

examples/SharedMemory/GraphicsServerExample.cpp

@@ -52,7 +52,7 @@ void submitStatus(CActiveSocket* pClient, GraphicsSharedMemoryStatus& serverStat
 
 	if (gVerboseNetworkMessagesServer)
 	{
-		//printf("buffer.size = %d\n", buffer.size());
+		printf("buffer.size = %d\n", buffer.size());
 		printf("serverStatus packed size = %d\n", sz);
 	}
 
@@ -63,7 +63,8 @@ void submitStatus(CActiveSocket* pClient, GraphicsSharedMemoryStatus& serverStat
 		packetData[i + curPos] = statBytes[i];
 	}
 	curPos += sizeof(GraphicsSharedMemoryStatus);
-
+	if (gVerboseNetworkMessagesServer)
+   	 printf("serverStatus.m_numDataStreamBytes=%d\n", serverStatus.m_numDataStreamBytes);
 	for (int i = 0; i < serverStatus.m_numDataStreamBytes; i++)
 	{
 		packetData[i + curPos] = buffer[i];
@@ -199,6 +200,7 @@ void TCPThreadFunc(void* userPtr, void* lsMemory)
 
 		do
 		{
+		  
 			{
 				b3Clock::usleep(0);
 			}
@@ -238,15 +240,18 @@ void TCPThreadFunc(void* userPtr, void* lsMemory)
 					//----------------------------------------------------------------------
 					// Receive request from the client.
 					//----------------------------------------------------------------------
+					
 					while (cachedSharedParam != eTCPRequestTerminate)
 					{
-						//printf("try receive\n");
+						
 						bool receivedData = false;
 
 						int maxLen = 4 + sizeof(GraphicsSharedMemoryCommand) + GRAPHICS_SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE;
-
+          
+            
 						if (pClient->Receive(maxLen))
 						{
+						  
 							//heuristic to detect disconnected clients
 							CSimpleSocket::CSocketError err = pClient->GetSocketError();
 
@@ -258,14 +263,16 @@ void TCPThreadFunc(void* userPtr, void* lsMemory)
 
 								if (curNumErr > 100)
 								{
-									printf("TCP Connection error = %d, curNumErr = %d\n", (int)err, curNumErr);
-									break;
+									///printf("TCP Connection error = %d, curNumErr = %d\n", (int)err, curNumErr);
+									
 								}
 							}
 
 							curNumErr = 0;
 							char* msg2 = (char*)pClient->GetData();
 							int numBytesRec2 = pClient->GetBytesReceived();
+							if (gVerboseNetworkMessagesServer)
+							  printf("numBytesRec2=%d\n", numBytesRec2);
 							if (numBytesRec2 < 0)
 							{
 								numBytesRec2 = 0;
@@ -377,7 +384,7 @@ void TCPThreadFunc(void* userPtr, void* lsMemory)
 												if (err != CSimpleSocket::SocketSuccess || !pClient->IsSocketValid())
 												{
 													curNumErr++;
-													printf("TCP Connection error = %d, curNumErr = %d\n", (int)err, curNumErr);
+													//printf("TCP Connection error = %d, curNumErr = %d\n", (int)err, curNumErr);
 												}
 												char* msg2 = (char*)pClient->GetData();
 												int numBytesRec2 = pClient->GetBytesReceived();
@@ -535,7 +542,7 @@ void TCPThreadFunc(void* userPtr, void* lsMemory)
 									{
 										submitStatus(pClient, args->m_serverStatus, buffer);
 									}
-
+                         
 									bytesReceived.clear();
 								}
 								else
@@ -566,9 +573,10 @@ void TCPThreadFunc(void* userPtr, void* lsMemory)
 			args->m_cs->unlock();
 
 		} while (cachedSharedParam != eTCPRequestTerminate);
-		
+#ifdef BT_ENABLE_CLSOCKET	
 		socket.Close();
 		socket.Shutdown(CSimpleSocket::Both);
+#endif
 	}
 	else
 	{

examples/SharedMemory/RemoteGUIHelperTCP.cpp

@@ -129,7 +129,7 @@ struct RemoteGUIHelperTCPInternalData
 
 		int rBytes = m_tcpSocket.Receive(maxLen);
 		if (rBytes <= 0)
-			return false;
+			return 0;
 
 		//append to tmp buffer
 		//recBytes
@@ -196,12 +196,13 @@ struct RemoteGUIHelperTCPInternalData
 			return true;
 
 		m_tcpSocket.Initialize();
-
+    
 		m_isConnected = m_tcpSocket.Open(m_hostName.c_str(), m_port);
 		if (m_isConnected)
 		{
 			m_tcpSocket.SetSendTimeout(m_timeOutInSeconds, 0);
 			m_tcpSocket.SetReceiveTimeout(m_timeOutInSeconds, 0);
+			
 		}
 		int key = GRAPHICS_SHARED_MEMORY_MAGIC_NUMBER;
 		m_tcpSocket.Send((uint8*)&key, 4);

examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp

@@ -314,7 +314,9 @@ B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingEx
 	return (b3PhysicsClientHandle)cl;
 }
 
-#include "RemoteGuiHelperTCP.h"
+#ifdef BT_ENABLE_CLSOCKET
+
+#include "RemoteGUIHelperTCP.h"
 
 B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnectTCP(const char* hostName, int port)
 {
@@ -566,4 +568,4 @@ B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessGraphicsServerAndConnectMai
 	return (b3PhysicsClientHandle)cl;
 }
 
-
+#endif

setup.py

@@ -129,7 +129,7 @@ sources = ["examples/pybullet/pybullet.c"]\
 +["examples/SharedMemory/GraphicsClientExample.cpp"]\
 +["examples/SharedMemory/GraphicsServerExample.cpp"]\
 +["examples/SharedMemory/RemoteGUIHelper.cpp"]\
-+["examples/SharedMemory/RemoteGuiHelperTCP.cpp"]\
++["examples/SharedMemory/RemoteGUIHelperTCP.cpp"]\
 +["examples/SharedMemory/PhysicsServerExample.cpp"]\
 +["examples/SharedMemory/PhysicsServerExampleBullet2.cpp"]\
 +["examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp"]\