mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 14:10:11 +00:00
859 lines
20 KiB
C++
859 lines
20 KiB
C++
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//todo(erwincoumans): re-use the upcoming b3RobotSimAPI here
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#include "PhysicsServerExample.h"
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#include "PhysicsServerSharedMemory.h"
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#include "SharedMemoryCommon.h"
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#include "../Utils/b3Clock.h"
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#include "../MultiThreading/b3ThreadSupportInterface.h"
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void MotionThreadFunc(void* userPtr,void* lsMemory);
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void* MotionlsMemoryFunc();
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#define MAX_MOTION_NUM_THREADS 1
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enum
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{
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numCubesX = 20,
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numCubesY = 20
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};
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enum TestExampleBrowserCommunicationEnums
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{
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eRequestTerminateMotion= 13,
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eMotionIsUnInitialized,
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eMotionIsInitialized,
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eMotionInitializationFailed,
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eMotionHasTerminated
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};
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enum MultiThreadedGUIHelperCommunicationEnums
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{
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eGUIHelperIdle= 13,
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eGUIHelperRegisterTexture,
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eGUIHelperRegisterGraphicsShape,
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eGUIHelperRegisterGraphicsInstance,
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eGUIHelperCreateCollisionShapeGraphicsObject,
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eGUIHelperCreateCollisionObjectGraphicsObject,
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eGUIHelperRemoveAllGraphicsInstances,
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};
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#include <stdio.h>
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//#include "BulletMultiThreaded/PlatformDefinitions.h"
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#ifndef _WIN32
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#include "../MultiThreading/b3PosixThreadSupport.h"
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b3ThreadSupportInterface* createMotionThreadSupport(int numThreads)
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{
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b3PosixThreadSupport::ThreadConstructionInfo constructionInfo("MotionThreads",
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MotionThreadFunc,
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MotionlsMemoryFunc,
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numThreads);
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b3ThreadSupportInterface* threadSupport = new b3PosixThreadSupport(constructionInfo);
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return threadSupport;
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}
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#elif defined( _WIN32)
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#include "../MultiThreading/b3Win32ThreadSupport.h"
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b3ThreadSupportInterface* createMotionThreadSupport(int numThreads)
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{
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b3Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("MotionThreads",MotionThreadFunc,MotionlsMemoryFunc,numThreads);
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b3Win32ThreadSupport* threadSupport = new b3Win32ThreadSupport(threadConstructionInfo);
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return threadSupport;
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}
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#endif
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struct MotionArgs
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{
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MotionArgs()
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:m_physicsServerPtr(0)
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{
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}
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b3CriticalSection* m_cs;
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PhysicsServerSharedMemory* m_physicsServerPtr;
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b3AlignedObjectArray<b3Vector3> m_positions;
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};
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struct MotionThreadLocalStorage
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{
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int threadId;
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};
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int skip = 0;
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void MotionThreadFunc(void* userPtr,void* lsMemory)
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{
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printf("MotionThreadFunc thread started\n");
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MotionThreadLocalStorage* localStorage = (MotionThreadLocalStorage*) lsMemory;
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MotionArgs* args = (MotionArgs*) userPtr;
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int workLeft = true;
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b3Clock clock;
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clock.reset();
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bool init = true;
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if (init)
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{
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args->m_cs->lock();
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args->m_cs->setSharedParam(0,eMotionIsInitialized);
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args->m_cs->unlock();
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do
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{
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//todo(erwincoumans): do we want some sleep to reduce CPU resources in this thread?
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#if 0
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double deltaTimeInSeconds = double(clock.getTimeMicroseconds())/1000000.;
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if (deltaTimeInSeconds<(1./260.))
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{
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skip++;
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if (deltaTimeInSeconds<.001)
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continue;
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}
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clock.reset();
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#endif
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args->m_physicsServerPtr->processClientCommands();
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} while (args->m_cs->getSharedParam(0)!=eRequestTerminateMotion);
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} else
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{
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args->m_cs->lock();
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args->m_cs->setSharedParam(0,eMotionInitializationFailed);
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args->m_cs->unlock();
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}
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printf("finished, #skip = %d\n",skip);
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skip=0;
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//do nothing
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}
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void* MotionlsMemoryFunc()
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{
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//don't create local store memory, just return 0
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return new MotionThreadLocalStorage;
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}
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class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
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{
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CommonGraphicsApp* m_app;
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b3CriticalSection* m_cs;
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public:
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GUIHelperInterface* m_childGuiHelper;
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const unsigned char* m_texels;
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int m_textureWidth;
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int m_textureHeight;
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int m_shapeIndex;
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const float* m_position;
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const float* m_quaternion;
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const float* m_color;
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const float* m_scaling;
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const float* m_vertices;
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int m_numvertices;
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const int* m_indices;
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int m_numIndices;
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int m_primitiveType;
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int m_textureId;
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int m_instanceId;
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MultiThreadedOpenGLGuiHelper(CommonGraphicsApp* app, GUIHelperInterface* guiHelper)
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:m_app(app)
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,m_cs(0),
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m_texels(0),
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m_textureId(-1)
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{
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m_childGuiHelper = guiHelper;;
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}
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virtual ~MultiThreadedOpenGLGuiHelper()
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{
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delete m_childGuiHelper;
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}
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void setCriticalSection(b3CriticalSection* cs)
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{
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m_cs = cs;
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}
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b3CriticalSection* getCriticalSection()
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{
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return m_cs;
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}
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virtual void createRigidBodyGraphicsObject(btRigidBody* body,const btVector3& color){}
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btCollisionObject* m_obj;
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btVector3 m_color2;
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virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj,const btVector3& color)
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{
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m_obj = obj;
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m_color2 = color;
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m_cs->lock();
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m_cs->setSharedParam(1,eGUIHelperCreateCollisionObjectGraphicsObject);
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m_cs->unlock();
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while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
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{
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}
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}
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btCollisionShape* m_colShape;
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virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
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{
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m_colShape = collisionShape;
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m_cs->lock();
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m_cs->setSharedParam(1,eGUIHelperCreateCollisionShapeGraphicsObject);
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m_cs->unlock();
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while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
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{
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}
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}
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virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)
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{
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//this check is to prevent a crash, in case we removed all graphics instances, but there are still physics objects.
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//the check will be obsolete, once we have a better/safer way of synchronizing physics->graphics transforms
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if ( m_childGuiHelper->getRenderInterface()->getTotalNumInstances()>0)
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{
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m_childGuiHelper->syncPhysicsToGraphics(rbWorld);
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}
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}
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virtual void render(const btDiscreteDynamicsWorld* rbWorld)
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{
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m_childGuiHelper->render(0);
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}
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virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld){}
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virtual int registerTexture(const unsigned char* texels, int width, int height)
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{
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m_texels = texels;
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m_textureWidth = width;
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m_textureHeight = height;
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m_cs->lock();
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m_cs->setSharedParam(1,eGUIHelperRegisterTexture);
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m_cs->unlock();
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while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
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{
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}
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return m_textureId;
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}
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virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
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{
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m_vertices = vertices;
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m_numvertices = numvertices;
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m_indices = indices;
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m_numIndices = numIndices;
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m_primitiveType = primitiveType;
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m_textureId = textureId;
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m_cs->lock();
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m_cs->setSharedParam(1,eGUIHelperRegisterGraphicsShape);
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m_cs->unlock();
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while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
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{
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}
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return m_shapeIndex;
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}
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virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
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{
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m_shapeIndex = shapeIndex;
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m_position = position;
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m_quaternion = quaternion;
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m_color = color;
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m_scaling = scaling;
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m_cs->lock();
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m_cs->setSharedParam(1,eGUIHelperRegisterGraphicsInstance);
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m_cs->unlock();
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while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
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{
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}
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return m_instanceId;
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}
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virtual void removeAllGraphicsInstances()
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{
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m_cs->lock();
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m_cs->setSharedParam(1,eGUIHelperRemoveAllGraphicsInstances);
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m_cs->unlock();
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while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
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{
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}
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}
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virtual Common2dCanvasInterface* get2dCanvasInterface()
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{
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return 0;
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}
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virtual CommonParameterInterface* getParameterInterface()
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{
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return 0;
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}
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virtual CommonRenderInterface* getRenderInterface()
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{
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return 0;
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}
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virtual CommonGraphicsApp* getAppInterface()
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{
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return m_childGuiHelper->getAppInterface();
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}
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virtual void setUpAxis(int axis)
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{
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m_childGuiHelper->setUpAxis(axis);
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}
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virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)
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{
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}
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virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int width, int height, int* numPixelsCopied)
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{
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if (numPixelsCopied)
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*numPixelsCopied = 0;
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}
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virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
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{
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}
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virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)
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{
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}
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};
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class PhysicsServerExample : public SharedMemoryCommon
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{
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PhysicsServerSharedMemory m_physicsServer;
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b3ThreadSupportInterface* m_threadSupport;
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MotionArgs m_args[MAX_MOTION_NUM_THREADS];
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MultiThreadedOpenGLGuiHelper* m_multiThreadedHelper;
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bool m_wantsShutdown;
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bool m_isConnected;
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btClock m_clock;
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bool m_replay;
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int m_options;
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public:
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PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper, SharedMemoryInterface* sharedMem=0, int options=0);
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virtual ~PhysicsServerExample();
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virtual void initPhysics();
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virtual void stepSimulation(float deltaTime);
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void enableCommandLogging()
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{
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m_physicsServer.enableCommandLogging(true,"BulletPhysicsCommandLog.bin");
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}
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void replayFromLogFile()
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{
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m_replay = true;
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m_physicsServer.replayFromLogFile("BulletPhysicsCommandLog.bin");
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}
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virtual void resetCamera()
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{
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float dist = 5;
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float pitch = 50;
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float yaw = 35;
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float targetPos[3]={0,0,0};//-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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virtual bool wantsTermination();
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virtual bool isConnected();
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virtual void renderScene();
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virtual void exitPhysics();
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virtual void physicsDebugDraw(int debugFlags);
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btVector3 getRayTo(int x,int y);
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virtual bool mouseMoveCallback(float x,float y)
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{
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if (m_replay)
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return false;
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CommonRenderInterface* renderer = m_guiHelper->getRenderInterface();
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if (!renderer)
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{
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return false;
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}
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btVector3 rayTo = getRayTo(int(x), int(y));
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btVector3 rayFrom;
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renderer->getActiveCamera()->getCameraPosition(rayFrom);
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m_physicsServer.movePickedBody(rayFrom,rayTo);
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return false;
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};
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virtual bool mouseButtonCallback(int button, int state, float x, float y)
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{
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if (m_replay)
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return false;
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CommonRenderInterface* renderer = m_guiHelper->getRenderInterface();
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if (!renderer)
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{
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return false;
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}
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CommonWindowInterface* window = m_guiHelper->getAppInterface()->m_window;
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if (state==1)
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{
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if(button==0 && (!window->isModifierKeyPressed(B3G_ALT) && !window->isModifierKeyPressed(B3G_CONTROL) ))
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{
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btVector3 camPos;
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renderer->getActiveCamera()->getCameraPosition(camPos);
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btVector3 rayFrom = camPos;
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btVector3 rayTo = getRayTo(int(x),int(y));
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m_physicsServer.pickBody(rayFrom, rayTo);
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}
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} else
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{
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if (button==0)
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{
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m_physicsServer.removePickingConstraint();
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//remove p2p
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}
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}
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//printf("button=%d, state=%d\n",button,state);
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return false;
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}
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virtual bool keyboardCallback(int key, int state){return false;}
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virtual void setSharedMemoryKey(int key)
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{
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m_physicsServer.setSharedMemoryKey(key);
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}
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};
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PhysicsServerExample::PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper, SharedMemoryInterface* sharedMem, int options)
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:SharedMemoryCommon(helper),
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m_physicsServer(sharedMem),
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m_wantsShutdown(false),
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m_isConnected(false),
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m_replay(false),
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m_options(options)
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{
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m_multiThreadedHelper = helper;
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b3Printf("Started PhysicsServer\n");
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}
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PhysicsServerExample::~PhysicsServerExample()
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{
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bool deInitializeSharedMemory = true;
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m_physicsServer.disconnectSharedMemory(deInitializeSharedMemory);
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m_isConnected = false;
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}
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bool PhysicsServerExample::isConnected()
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{
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return m_isConnected;
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}
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void PhysicsServerExample::initPhysics()
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{
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///for this testing we use Z-axis up
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int upAxis = 2;
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m_guiHelper->setUpAxis(upAxis);
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m_threadSupport = createMotionThreadSupport(MAX_MOTION_NUM_THREADS);
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for (int i=0;i<m_threadSupport->getNumTasks();i++)
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{
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MotionThreadLocalStorage* storage = (MotionThreadLocalStorage*) m_threadSupport->getThreadLocalMemory(i);
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b3Assert(storage);
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storage->threadId = i;
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//storage->m_sharedMem = data->m_sharedMem;
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}
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for (int w=0;w<MAX_MOTION_NUM_THREADS;w++)
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{
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m_args[w].m_cs = m_threadSupport->createCriticalSection();
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m_args[w].m_cs->setSharedParam(0,eMotionIsUnInitialized);
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int numMoving = 0;
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m_args[w].m_positions.resize(numMoving);
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m_args[w].m_physicsServerPtr = &m_physicsServer;
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int index = 0;
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m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*) &this->m_args[w], w);
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while (m_args[w].m_cs->getSharedParam(0)==eMotionIsUnInitialized)
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{
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}
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}
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m_args[0].m_cs->setSharedParam(1,eGUIHelperIdle);
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m_multiThreadedHelper->setCriticalSection(m_args[0].m_cs);
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m_isConnected = m_physicsServer.connectSharedMemory( m_guiHelper);
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}
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void PhysicsServerExample::exitPhysics()
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{
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for (int i=0;i<MAX_MOTION_NUM_THREADS;i++)
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{
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m_args[i].m_cs->lock();
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m_args[i].m_cs->setSharedParam(0,eRequestTerminateMotion);
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m_args[i].m_cs->unlock();
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}
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int numActiveThreads = MAX_MOTION_NUM_THREADS;
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while (numActiveThreads)
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{
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int arg0,arg1;
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if (m_threadSupport->isTaskCompleted(&arg0,&arg1,0))
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{
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numActiveThreads--;
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printf("numActiveThreads = %d\n",numActiveThreads);
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} else
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{
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}
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};
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printf("stopping threads\n");
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delete m_threadSupport;
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m_threadSupport = 0;
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//m_physicsServer.resetDynamicsWorld();
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}
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bool PhysicsServerExample::wantsTermination()
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{
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return m_wantsShutdown;
|
|
}
|
|
|
|
|
|
|
|
void PhysicsServerExample::stepSimulation(float deltaTime)
|
|
{
|
|
//this->m_physicsServer.processClientCommands();
|
|
|
|
//check if any graphics related tasks are requested
|
|
|
|
switch (m_multiThreadedHelper->getCriticalSection()->getSharedParam(1))
|
|
{
|
|
case eGUIHelperCreateCollisionShapeGraphicsObject:
|
|
{
|
|
m_multiThreadedHelper->m_childGuiHelper->createCollisionShapeGraphicsObject(m_multiThreadedHelper->m_colShape);
|
|
m_multiThreadedHelper->getCriticalSection()->lock();
|
|
m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
|
|
m_multiThreadedHelper->getCriticalSection()->unlock();
|
|
|
|
break;
|
|
}
|
|
case eGUIHelperCreateCollisionObjectGraphicsObject:
|
|
{
|
|
m_multiThreadedHelper->m_childGuiHelper->createCollisionObjectGraphicsObject(m_multiThreadedHelper->m_obj,
|
|
m_multiThreadedHelper->m_color2);
|
|
m_multiThreadedHelper->getCriticalSection()->lock();
|
|
m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
|
|
m_multiThreadedHelper->getCriticalSection()->unlock();
|
|
break;
|
|
}
|
|
case eGUIHelperRegisterTexture:
|
|
{
|
|
|
|
m_multiThreadedHelper->m_textureId = m_multiThreadedHelper->m_childGuiHelper->registerTexture(m_multiThreadedHelper->m_texels,
|
|
m_multiThreadedHelper->m_textureWidth,m_multiThreadedHelper->m_textureHeight);
|
|
|
|
m_multiThreadedHelper->getCriticalSection()->lock();
|
|
m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
|
|
m_multiThreadedHelper->getCriticalSection()->unlock();
|
|
|
|
break;
|
|
}
|
|
case eGUIHelperRegisterGraphicsShape:
|
|
{
|
|
m_multiThreadedHelper->m_shapeIndex = m_multiThreadedHelper->m_childGuiHelper->registerGraphicsShape(
|
|
m_multiThreadedHelper->m_vertices,
|
|
m_multiThreadedHelper->m_numvertices,
|
|
m_multiThreadedHelper->m_indices,
|
|
m_multiThreadedHelper->m_numIndices,
|
|
m_multiThreadedHelper->m_primitiveType,
|
|
m_multiThreadedHelper->m_textureId);
|
|
|
|
m_multiThreadedHelper->getCriticalSection()->lock();
|
|
m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
|
|
m_multiThreadedHelper->getCriticalSection()->unlock();
|
|
break;
|
|
}
|
|
case eGUIHelperRegisterGraphicsInstance:
|
|
{
|
|
m_multiThreadedHelper->m_instanceId = m_multiThreadedHelper->m_childGuiHelper->registerGraphicsInstance(
|
|
m_multiThreadedHelper->m_shapeIndex,
|
|
m_multiThreadedHelper->m_position,
|
|
m_multiThreadedHelper->m_quaternion,
|
|
m_multiThreadedHelper->m_color,
|
|
m_multiThreadedHelper->m_scaling);
|
|
|
|
m_multiThreadedHelper->getCriticalSection()->lock();
|
|
m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
|
|
m_multiThreadedHelper->getCriticalSection()->unlock();
|
|
break;
|
|
}
|
|
case eGUIHelperRemoveAllGraphicsInstances:
|
|
{
|
|
m_multiThreadedHelper->m_childGuiHelper->removeAllGraphicsInstances();
|
|
int numRenderInstances = m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->getTotalNumInstances();
|
|
b3Assert(numRenderInstances==0);
|
|
|
|
m_multiThreadedHelper->getCriticalSection()->lock();
|
|
m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
|
|
m_multiThreadedHelper->getCriticalSection()->unlock();
|
|
break;
|
|
}
|
|
case eGUIHelperIdle:
|
|
default:
|
|
{
|
|
|
|
}
|
|
}
|
|
|
|
|
|
|
|
|
|
#if 0
|
|
if (m_options == PHYSICS_SERVER_USE_RTC_CLOCK)
|
|
{
|
|
btClock rtc;
|
|
btScalar endTime = rtc.getTimeMilliseconds() + deltaTime*btScalar(800);
|
|
|
|
while (rtc.getTimeMilliseconds()<endTime)
|
|
{
|
|
m_physicsServer.processClientCommands();
|
|
}
|
|
} else
|
|
{
|
|
//for (int i=0;i<10;i++)
|
|
m_physicsServer.processClientCommands();
|
|
}
|
|
#endif
|
|
|
|
{
|
|
if (m_multiThreadedHelper->m_childGuiHelper->getRenderInterface())
|
|
{
|
|
m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->writeTransforms();
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
void PhysicsServerExample::renderScene()
|
|
{
|
|
///debug rendering
|
|
//m_args[0].m_cs->lock();
|
|
|
|
m_physicsServer.renderScene();
|
|
|
|
if (m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->isVRCamera())
|
|
{
|
|
//some little experiment to add text/HUD to a VR camera (HTC Vive/Oculus Rift)
|
|
|
|
static int frameCount=0;
|
|
frameCount++;
|
|
char bla[1024];
|
|
sprintf(bla,"VR sub-title text test, frame %d", frameCount/2);
|
|
float pos[4];
|
|
m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->getCameraTargetPosition(pos);
|
|
btTransform viewTr;
|
|
btScalar m[16];
|
|
float mf[16];
|
|
m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->getCameraViewMatrix(mf);
|
|
for (int i=0;i<16;i++)
|
|
{
|
|
m[i] = mf[i];
|
|
}
|
|
viewTr.setFromOpenGLMatrix(m);
|
|
btTransform viewTrInv = viewTr.inverse();
|
|
float upMag = -.6;
|
|
btVector3 side = viewTrInv.getBasis().getColumn(0);
|
|
btVector3 up = viewTrInv.getBasis().getColumn(1);
|
|
up+=0.35*side;
|
|
m_guiHelper->getAppInterface()->drawText3D(bla,pos[0]+upMag*up[0],pos[1]+upMag*up[1],pos[2]+upMag*up[2],1);
|
|
//btVector3 fwd = viewTrInv.getBasis().getColumn(2);
|
|
sprintf(bla,"VR line 2 sub-title text test, frame %d", frameCount/2);
|
|
upMag = -0.7;
|
|
m_guiHelper->getAppInterface()->drawText3D(bla,pos[0]+upMag*up[0],pos[1]+upMag*up[1],pos[2]+upMag*up[2],1);
|
|
}
|
|
|
|
//m_args[0].m_cs->unlock();
|
|
}
|
|
|
|
void PhysicsServerExample::physicsDebugDraw(int debugDrawFlags)
|
|
{
|
|
///debug rendering
|
|
m_physicsServer.physicsDebugDraw(debugDrawFlags);
|
|
|
|
}
|
|
|
|
|
|
|
|
btVector3 PhysicsServerExample::getRayTo(int x,int y)
|
|
{
|
|
CommonRenderInterface* renderer = m_guiHelper->getRenderInterface();
|
|
|
|
if (!renderer)
|
|
{
|
|
btAssert(0);
|
|
return btVector3(0,0,0);
|
|
}
|
|
|
|
float top = 1.f;
|
|
float bottom = -1.f;
|
|
float nearPlane = 1.f;
|
|
float tanFov = (top-bottom)*0.5f / nearPlane;
|
|
float fov = btScalar(2.0) * btAtan(tanFov);
|
|
|
|
btVector3 camPos,camTarget;
|
|
renderer->getActiveCamera()->getCameraPosition(camPos);
|
|
renderer->getActiveCamera()->getCameraTargetPosition(camTarget);
|
|
|
|
btVector3 rayFrom = camPos;
|
|
btVector3 rayForward = (camTarget-camPos);
|
|
rayForward.normalize();
|
|
float farPlane = 10000.f;
|
|
rayForward*= farPlane;
|
|
|
|
btVector3 rightOffset;
|
|
btVector3 cameraUp=btVector3(0,0,0);
|
|
cameraUp[m_guiHelper->getAppInterface()->getUpAxis()]=1;
|
|
|
|
btVector3 vertical = cameraUp;
|
|
|
|
btVector3 hor;
|
|
hor = rayForward.cross(vertical);
|
|
hor.normalize();
|
|
vertical = hor.cross(rayForward);
|
|
vertical.normalize();
|
|
|
|
float tanfov = tanf(0.5f*fov);
|
|
|
|
|
|
hor *= 2.f * farPlane * tanfov;
|
|
vertical *= 2.f * farPlane * tanfov;
|
|
|
|
btScalar aspect;
|
|
float width = float(renderer->getScreenWidth());
|
|
float height = float (renderer->getScreenHeight());
|
|
|
|
aspect = width / height;
|
|
|
|
hor*=aspect;
|
|
|
|
|
|
btVector3 rayToCenter = rayFrom + rayForward;
|
|
btVector3 dHor = hor * 1.f/width;
|
|
btVector3 dVert = vertical * 1.f/height;
|
|
|
|
|
|
btVector3 rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
|
|
rayTo += btScalar(x) * dHor;
|
|
rayTo -= btScalar(y) * dVert;
|
|
return rayTo;
|
|
}
|
|
|
|
|
|
extern int gSharedMemoryKey;
|
|
|
|
class CommonExampleInterface* PhysicsServerCreateFunc(struct CommonExampleOptions& options)
|
|
{
|
|
|
|
MultiThreadedOpenGLGuiHelper* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper(options.m_guiHelper->getAppInterface(),options.m_guiHelper);
|
|
|
|
PhysicsServerExample* example = new PhysicsServerExample(guiHelperWrapper,
|
|
options.m_sharedMem,
|
|
options.m_option);
|
|
|
|
if (gSharedMemoryKey>=0)
|
|
{
|
|
example->setSharedMemoryKey(gSharedMemoryKey);
|
|
}
|
|
if (options.m_option & PHYSICS_SERVER_ENABLE_COMMAND_LOGGING)
|
|
{
|
|
example->enableCommandLogging();
|
|
}
|
|
if (options.m_option & PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG)
|
|
{
|
|
example->replayFromLogFile();
|
|
}
|
|
return example;
|
|
|
|
}
|
|
|
|
B3_STANDALONE_EXAMPLE(PhysicsServerCreateFunc) |