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https://github.com/bulletphysics/bullet3
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82995a8343
Windows shared memory: allow to use custom key. Improve GUI performance on Windows, submit letters in text as a batch (fewer draw-calls) quadruped.py: first try to connect to SHARED_MEMORY, if it fails (<0) use GUI increase Chrome about://tracing json export capacity (press 'p' in Example Browser) UDP physics server: add --port and --sharedMemoryKey command-line arguments PhysicsServerExample: add --sharedMemoryKey command-line option (for VR example too) ExampleBrowser: sleep a few milliseconds if rendering is too fast, use --minUpdateTimeMicroSecs=0 to disable
75 lines
2.0 KiB
C++
75 lines
2.0 KiB
C++
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#include "OpenGLExampleBrowser.h"
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#include "Bullet3Common/b3CommandLineArgs.h"
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#include "../Utils/b3Clock.h"
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#include "ExampleEntries.h"
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#include "Bullet3Common/b3Logging.h"
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#include "../Importers/ImportObjDemo/ImportObjExample.h"
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#include "../Importers/ImportBsp/ImportBspExample.h"
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#include "../Importers/ImportColladaDemo/ImportColladaSetup.h"
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#include "../Importers/ImportSTLDemo/ImportSTLSetup.h"
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#include "../Importers/ImportURDFDemo/ImportURDFSetup.h"
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#include "../Importers/ImportSDFDemo/ImportSDFSetup.h"
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#include "../Importers/ImportSTLDemo/ImportSTLSetup.h"
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#include "../Importers/ImportBullet/SerializeSetup.h"
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#include "LinearMath/btAlignedAllocator.h"
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static double gMinUpdateTimeMicroSecs = 1000.;
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int main(int argc, char* argv[])
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{
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{
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b3CommandLineArgs args(argc, argv);
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b3Clock clock;
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args.GetCmdLineArgument("minUpdateTimeMicroSecs",gMinUpdateTimeMicroSecs);
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ExampleEntriesAll examples;
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examples.initExampleEntries();
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OpenGLExampleBrowser* exampleBrowser = new OpenGLExampleBrowser(&examples);
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bool init = exampleBrowser->init(argc, argv);
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exampleBrowser->registerFileImporter(".urdf", ImportURDFCreateFunc);
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exampleBrowser->registerFileImporter(".sdf", ImportSDFCreateFunc);
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exampleBrowser->registerFileImporter(".obj", ImportObjCreateFunc);
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exampleBrowser->registerFileImporter(".stl", ImportSTLCreateFunc);
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exampleBrowser->registerFileImporter(".bullet", SerializeBulletCreateFunc);
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clock.reset();
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if (init)
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{
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do
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{
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float deltaTimeInSeconds = clock.getTimeMicroseconds() / 1000000.f;
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if (deltaTimeInSeconds > 0.1)
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{
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deltaTimeInSeconds = 0.1;
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}
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if (deltaTimeInSeconds < (gMinUpdateTimeMicroSecs/1e6))
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{
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b3Clock::usleep(gMinUpdateTimeMicroSecs/10.);
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} else
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{
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clock.reset();
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exampleBrowser->update(deltaTimeInSeconds);
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}
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} while (!exampleBrowser->requestedExit());
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}
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delete exampleBrowser;
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}
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#ifdef BT_DEBUG_MEMORY_ALLOCATIONS
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int numBytesLeaked = btDumpMemoryLeaks();
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btAssert(numBytesLeaked==0);
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#endif//BT_DEBUG_MEMORY_ALLOCATIONS
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return 0;
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}
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