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Change SHARED_MEMORY_MAGIC_NUMBER to make sure server/client are using the same version (shared memory) add --realtimesimulation to physics server (GUI, VR) remove --G Xcode from build_cmake_pybullet_double.sh
55 lines
1.6 KiB
C
55 lines
1.6 KiB
C
#ifndef SHARED_MEMORY_BLOCK_H
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#define SHARED_MEMORY_BLOCK_H
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#define SHARED_MEMORY_MAX_COMMANDS 4
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#include "SharedMemoryCommands.h"
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struct SharedMemoryBlock
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{
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int m_magicId;
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struct SharedMemoryCommand m_clientCommands[SHARED_MEMORY_MAX_COMMANDS];
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struct SharedMemoryStatus m_serverCommands[SHARED_MEMORY_MAX_COMMANDS];
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int m_numClientCommands;
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int m_numProcessedClientCommands;
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int m_numServerCommands;
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int m_numProcessedServerCommands;
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//m_bulletStreamDataClientToServer is a way for the client to create collision shapes, rigid bodies and constraints
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//the Bullet data structures are more general purpose than the capabilities of a URDF file.
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char m_bulletStreamDataClientToServer[SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE];
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//m_bulletStreamDataServerToClient is used to send (debug) data from server to client, for
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//example to provide all details of a multibody including joint/link names, after loading a URDF file.
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char m_bulletStreamDataServerToClientRefactor[SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE];
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};
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//http://stackoverflow.com/questions/24736304/unable-to-use-inline-in-declaration-get-error-c2054
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#ifdef _WIN32
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__inline
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#else
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inline
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#endif
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void InitSharedMemoryBlock(struct SharedMemoryBlock* sharedMemoryBlock)
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{
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sharedMemoryBlock->m_numClientCommands = 0;
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sharedMemoryBlock->m_numServerCommands = 0;
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sharedMemoryBlock->m_numProcessedClientCommands=0;
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sharedMemoryBlock->m_numProcessedServerCommands=0;
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sharedMemoryBlock->m_magicId = SHARED_MEMORY_MAGIC_NUMBER;
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}
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#define SHARED_MEMORY_SIZE sizeof(SharedMemoryBlock)
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#endif //SHARED_MEMORY_BLOCK_H
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