mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 06:00:12 +00:00
128 lines
3.5 KiB
C++
128 lines
3.5 KiB
C++
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#include "PhysicsServer.h"
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#include "../CommonInterfaces/CommonMultiBodyBase.h"
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#include "PosixSharedMemory.h"
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class PhysicsServer : public CommonMultiBodyBase
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{
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SharedMemoryInterface* m_sharedMemory;
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SharedMemoryExampleData* m_testBlock1;
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public:
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PhysicsServer(GUIHelperInterface* helper);
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virtual ~PhysicsServer();
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virtual void initPhysics();
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virtual void stepSimulation(float deltaTime);
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virtual void resetCamera()
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{
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float dist = 1;
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float pitch = 50;
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float yaw = 35;
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float targetPos[3]={-3,2.8,-2.5};
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m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
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}
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};
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PhysicsServer::PhysicsServer(GUIHelperInterface* helper)
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:CommonMultiBodyBase(helper),
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m_testBlock1(0)
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{
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b3Printf("Started PhysicsServer\n");
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m_sharedMemory = new PosixSharedMemory();
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}
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PhysicsServer::~PhysicsServer()
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{
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if (m_testBlock1)
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{
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m_testBlock1->m_magicId = 0;
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b3Printf("magic id = %d\n",m_testBlock1->m_magicId);
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}
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m_sharedMemory->releaseSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
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delete m_sharedMemory;
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}
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void PhysicsServer::initPhysics()
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{
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m_testBlock1 = (SharedMemoryExampleData*) m_sharedMemory->allocateSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
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// btAssert(m_testBlock1);
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if (m_testBlock1)
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{
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// btAssert(m_testBlock1->m_magicId != SHARED_MEMORY_MAGIC_NUMBER);
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if (m_testBlock1->m_magicId == SHARED_MEMORY_MAGIC_NUMBER)
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{
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b3Printf("Warning: shared memory is already initialized, did you already spawn a server?\n");
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}
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m_testBlock1->m_numClientCommands = 0;
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m_testBlock1->m_numServerCommands = 0;
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m_testBlock1->m_numProcessedClientCommands=0;
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m_testBlock1->m_numProcessedServerCommands=0;
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m_testBlock1->m_magicId = SHARED_MEMORY_MAGIC_NUMBER;
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b3Printf("Shared memory succesfully allocated\n");
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} else
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{
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b3Error("Couldn't allocated shared memory, is it implemented on your operating system?\n");
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}
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}
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void PhysicsServer::stepSimulation(float deltaTime)
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{
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if (m_testBlock1)
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{
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///we ignore overflow of integer for now
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if (m_testBlock1->m_numClientCommands> m_testBlock1->m_numProcessedClientCommands)
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{
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//until we implement a proper ring buffer, we assume always maximum of 1 outstanding commands
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btAssert(m_testBlock1->m_numClientCommands==m_testBlock1->m_numProcessedClientCommands+1);
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//consume the command
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switch (m_testBlock1->m_clientCommands[0])
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{
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case CMD_LOAD_URDF:
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{
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b3Printf("Processed CMD_LOAD_URDF");
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//load the actual URDF and send a report: completed or failed
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m_testBlock1->m_serverCommands[0] =CMD_URDF_LOADING_COMPLETED;
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m_testBlock1->m_numServerCommands++;
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//CMD_URDF_LOADING_COMPLETED,
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//CMD_URDF_LOADING_FAILED,
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}
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default:
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{
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}
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};
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m_testBlock1->m_numProcessedClientCommands++;
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//process the command right now
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}
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}
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}
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class CommonExampleInterface* PhysicsServerCreateFunc(struct CommonExampleOptions& options)
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{
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return new PhysicsServer(options.m_guiHelper);
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}
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