mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 14:10:11 +00:00
3d985ff7a5
fix 'connection' detection for shared memory (due to multiple shmem blocks) add link to pybullet.so
98 lines
2.8 KiB
C++
98 lines
2.8 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2015 Google Inc. http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "PhysicsServerExample.h"
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#include "Bullet3Common/b3CommandLineArgs.h"
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#include "../CommonInterfaces/CommonExampleInterface.h"
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#include "../CommonInterfaces/CommonGUIHelperInterface.h"
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#include "SharedMemoryCommon.h"
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#include <stdlib.h>
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int gSharedMemoryKey = -1;
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static SharedMemoryCommon* example = NULL;
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static bool interrupted = false;
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#ifndef _WIN32
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#include <signal.h>
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#include <err.h>
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#include <unistd.h>
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static void cleanup(int signo)
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{
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if (interrupted) { // this is the second time, we're hanging somewhere
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// if (example) {
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// example->abort();
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// }
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b3Printf("Aborting and deleting SharedMemoryCommon object");
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sleep(1);
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delete example;
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errx(EXIT_FAILURE, "aborted example on signal %d", signo);
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}
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interrupted = true;
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warnx("caught signal %d", signo);
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}
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#endif//_WIN32
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int main(int argc, char* argv[])
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{
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#ifndef _WIN32
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struct sigaction action;
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memset(&action, 0x0, sizeof(action));
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action.sa_handler = cleanup;
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static const int signos[] = { SIGHUP, SIGINT, SIGQUIT, SIGABRT, SIGSEGV, SIGPIPE, SIGTERM };
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for (int ii(0); ii < sizeof(signos) / sizeof(*signos); ++ii) {
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if (0 != sigaction(signos[ii], &action, NULL)) {
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err(EXIT_FAILURE, "signal %d", signos[ii]);
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}
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}
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#endif
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b3CommandLineArgs args(argc, argv);
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DummyGUIHelper noGfx;
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CommonExampleOptions options(&noGfx);
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args.GetCmdLineArgument("shared_memory_key", gSharedMemoryKey);
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args.GetCmdLineArgument("sharedMemoryKey", gSharedMemoryKey);
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// options.m_option |= PHYSICS_SERVER_ENABLE_COMMAND_LOGGING;
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// options.m_option |= PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG;
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example = (SharedMemoryCommon*)PhysicsServerCreateFunc(options);
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example->initPhysics();
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while (example->isConnected() && !(example->wantsTermination() || interrupted))
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{
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example->stepSimulation(1.f/60.f);
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}
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example->exitPhysics();
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delete example;
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return 0;
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}
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