bullet3/examples/SharedMemory/PhysicsServerExample.cpp
erwin coumans 259bcb1989 mix physics client/server into a single example for easier/faster development of shared memory experiment
add premake option to choose targetdir for binaries/libraries
add simple hinge.urdf file
2015-07-15 12:57:45 -07:00

109 lines
2.1 KiB
C++

#include "PhysicsServerExample.h"
#include "PhysicsServer.h"
#include "SharedMemoryCommon.h"
//const char* blaatnaam = "basename";
struct UrdfLinkNameMapUtil
{
btMultiBody* m_mb;
btDefaultSerializer* m_memSerializer;
UrdfLinkNameMapUtil():m_mb(0),m_memSerializer(0)
{
}
};
class PhysicsServerExample : public SharedMemoryCommon
{
PhysicsServerSharedMemory m_physicsServer;
bool m_wantsShutdown;
public:
PhysicsServerExample(GUIHelperInterface* helper);
virtual ~PhysicsServerExample();
virtual void initPhysics();
virtual void stepSimulation(float deltaTime);
virtual void resetCamera()
{
float dist = 5;
float pitch = 50;
float yaw = 35;
float targetPos[3]={0,0,0};//-3,2.8,-2.5};
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
virtual bool wantsTermination();
};
PhysicsServerExample::PhysicsServerExample(GUIHelperInterface* helper)
:SharedMemoryCommon(helper),
m_wantsShutdown(false)
{
b3Printf("Started PhysicsServer\n");
}
PhysicsServerExample::~PhysicsServerExample()
{
bool deInitializeSharedMemory = true;
m_physicsServer.disconnectSharedMemory(deInitializeSharedMemory);
}
void PhysicsServerExample::initPhysics()
{
///for this testing we use Z-axis up
int upAxis = 2;
m_guiHelper->setUpAxis(upAxis);
createEmptyDynamicsWorld();
//todo: create a special debug drawer that will cache the lines, so we can send the debug info over the wire
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
btVector3 grav(0,0,0);
grav[upAxis] = 0;//-9.8;
this->m_dynamicsWorld->setGravity(grav);
bool allowSharedMemoryInitialization = true;
m_physicsServer.connectSharedMemory(allowSharedMemoryInitialization, m_dynamicsWorld,m_guiHelper);
}
bool PhysicsServerExample::wantsTermination()
{
return m_wantsShutdown;
}
void PhysicsServerExample::stepSimulation(float deltaTime)
{
m_physicsServer.processClientCommands();
}
class CommonExampleInterface* PhysicsServerCreateFunc(struct CommonExampleOptions& options)
{
return new PhysicsServerExample(options.m_guiHelper);
}