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C++ PhysicsServerSharedMemory类代码示例

本文整理汇总了C++中PhysicsServerSharedMemory类的典型用法代码示例。如果您正苦于以下问题：C++ PhysicsServerSharedMemory类的具体用法？C++ PhysicsServerSharedMemory怎么用？C++ PhysicsServerSharedMemory使用的例子？那么, 这里精选的类代码示例或许可以为您提供帮助。


在下文中一共展示了PhysicsServerSharedMemory类的15个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。

示例1: 

	virtual void	physicsDebugDraw(int debugFlags)
	{
		if (m_options==eCLIENTEXAMPLE_SERVER)
		{
			m_physicsServer.physicsDebugDraw(debugFlags);
		}
	}
开发者ID:FLOWERCLOUD，项目名称:bullet3，代码行数:7，代码来源:PhysicsClientExample.cpp

示例2: 

void    PhysicsServerExample::physicsDebugDraw(int debugDrawFlags)
{
	drawUserDebugLines();

	///debug rendering
	m_physicsServer.physicsDebugDraw(debugDrawFlags);

}
开发者ID:，项目名称:，代码行数:8，代码来源:

示例3: 

void	PhysicsServerExample::stepSimulation(float deltaTime)
{
	if (m_replay)
	{
		for (int i=0;i<100;i++)
			m_physicsServer.processClientCommands();
	} else
	{
		btClock rtc;
		btScalar endTime = rtc.getTimeMilliseconds() + deltaTime*btScalar(800);

		while (rtc.getTimeMilliseconds()<endTime)
		{
			m_physicsServer.processClientCommands();
		}
	}
}
开发者ID:CollegeBart，项目名称:bart-dx-engine-e16，代码行数:17，代码来源:PhysicsServerExample.cpp

示例4: slider

void	RobotControlExample::stepSimulation(float deltaTime)
{
    m_physicsServer.processClientCommands();

	if (m_physicsClient.isConnected())
    {
		
		SharedMemoryStatus status;
		bool hasStatus = m_physicsClient.processServerStatus(status);
		if (hasStatus && status.m_type == CMD_URDF_LOADING_COMPLETED)
		{
			for (int i=0;i<m_physicsClient.getNumJoints();i++)
			{
				b3JointInfo info;
				m_physicsClient.getJointInfo(i,info);
				b3Printf("Joint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex);
				
                if (info.m_flags & JOINT_HAS_MOTORIZED_POWER)
                {
                    if (m_numMotors<MAX_NUM_MOTORS)
                    {
                        char motorName[1024];
                        sprintf(motorName,"%s q'", info.m_jointName);
                        MyMotorInfo* motorInfo = &m_motorTargetVelocities[m_numMotors];
                        motorInfo->m_velTarget = 0.f;
                        motorInfo->m_uIndex = info.m_uIndex;
                    
                        SliderParams slider(motorName,&motorInfo->m_velTarget);
                        slider.m_minVal=-4;
                        slider.m_maxVal=4;
                        m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
                        m_numMotors++;
                    }
                }
				
			}
		}

		
		if (m_physicsClient.canSubmitCommand())
		{
			if (m_userCommandRequests.size())
			{
				b3Printf("Outstanding user command requests: %d\n", m_userCommandRequests.size());
				SharedMemoryCommand& cmd = m_userCommandRequests[0];

				//a manual 'pop_front', we don't use 'remove' because it will re-order the commands
				for (int i=1;i<m_userCommandRequests.size();i++)
				{
					m_userCommandRequests[i-1] = m_userCommandRequests[i];
				}

				m_userCommandRequests.pop_back();
				m_physicsClient.submitClientCommand(cmd);
			}
		}
	}
}
开发者ID:T4Larson，项目名称:bullet3，代码行数:58，代码来源:RobotControlExample.cpp

示例5: while

void	PhysicsServerExample::stepSimulation(float deltaTime)
{
    btClock rtc;
    btScalar endTime = rtc.getTimeMilliseconds() + deltaTime*btScalar(800);
    while (rtc.getTimeMilliseconds()<endTime)
    {
        m_physicsServer.processClientCommands();
    }
}
开发者ID:ntoand，项目名称:bullet3，代码行数:9，代码来源:PhysicsServerExample.cpp

示例6: getRayTo

	virtual bool	mouseButtonCallback(int button, int state, float x, float y)
	{
		if (m_replay)
			return false;

		CommonRenderInterface* renderer = m_guiHelper->getRenderInterface();
		
		if (!renderer)
		{
			btAssert(0);
			return false;
		}
		
		CommonWindowInterface* window = m_guiHelper->getAppInterface()->m_window;

	
		if (state==1)
		{
			if(button==0 && (!window->isModifierKeyPressed(B3G_ALT) && !window->isModifierKeyPressed(B3G_CONTROL) ))
			{
				btVector3 camPos;
				renderer->getActiveCamera()->getCameraPosition(camPos);

				btVector3 rayFrom = camPos;
				btVector3 rayTo = getRayTo(int(x),int(y));

				m_physicsServer.pickBody(rayFrom, rayTo);


			}
		} else
		{
			if (button==0)
			{
				m_physicsServer.removePickingConstraint();
				//remove p2p
			}
		}

		//printf("button=%d, state=%d\n",button,state);
		return false;
	}
开发者ID:CollegeBart，项目名称:bart-dx-engine-e16，代码行数:42，代码来源:PhysicsServerExample.cpp

示例7: grav

void	RobotControlExample::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);
  
	if (m_guiHelper && m_guiHelper->getParameterInterface())
	{
		bool isTrigger = false;
		
		createButton("Load URDF",CMD_LOAD_URDF,  isTrigger);
		createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION,  isTrigger);
		createButton("Send Bullet Stream",CMD_SEND_BULLET_DATA_STREAM,  isTrigger);
		createButton("Get State",CMD_REQUEST_ACTUAL_STATE,  isTrigger);
		createButton("Send Desired State",CMD_SEND_DESIRED_STATE,  isTrigger);
		createButton("Create Box Collider",CMD_CREATE_BOX_COLLISION_SHAPE,isTrigger);
		createButton("Set Physics Params",CMD_SEND_PHYSICS_SIMULATION_PARAMETERS,isTrigger);
		createButton("Init Pose",CMD_INIT_POSE,isTrigger);
	} else
	{
		/*
		m_userCommandRequests.push_back(CMD_LOAD_URDF);
		m_userCommandRequests.push_back(CMD_REQUEST_ACTUAL_STATE);
		m_userCommandRequests.push_back(CMD_SEND_DESIRED_STATE);
		m_userCommandRequests.push_back(CMD_REQUEST_ACTUAL_STATE);
		//m_userCommandRequests.push_back(CMD_SET_JOINT_FEEDBACK);
		m_userCommandRequests.push_back(CMD_CREATE_BOX_COLLISION_SHAPE);
		//m_userCommandRequests.push_back(CMD_CREATE_RIGID_BODY);
		m_userCommandRequests.push_back(CMD_STEP_FORWARD_SIMULATION);
		m_userCommandRequests.push_back(CMD_REQUEST_ACTUAL_STATE);
		m_userCommandRequests.push_back(CMD_SHUTDOWN);
		*/
	}

	if (!m_physicsClient.connect())
	{
		b3Warning("Cannot eonnect to physics client");
	}

}
开发者ID:T4Larson，项目名称:bullet3，代码行数:50，代码来源:RobotControlExample.cpp

示例8: grav

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);
    
	m_isConnected = m_physicsServer.connectSharedMemory( m_dynamicsWorld,m_guiHelper);
  
}
开发者ID:fjunqueira，项目名称:bullet3，代码行数:16，代码来源:PhysicsServerExample.cpp

示例9: btAssert

    virtual bool	mouseMoveCallback(float x,float y)
    {
        CommonRenderInterface* renderer = m_guiHelper->getRenderInterface();

        if (!renderer)
        {
            btAssert(0);
            return false;
        }

        btVector3 rayTo = getRayTo(int(x), int(y));
        btVector3 rayFrom;
        renderer->getActiveCamera()->getCameraPosition(rayFrom);
        m_physicsServer.movePickedBody(rayFrom,rayTo);
        return false;
    };
开发者ID:ntoand，项目名称:bullet3，代码行数:16，代码来源:PhysicsServerExample.cpp

示例10: createMotionThreadSupport

void	PhysicsServerExample::initPhysics()
{
	///for this testing we use Z-axis up
	int upAxis = 2;
	m_guiHelper->setUpAxis(upAxis);


	


	m_threadSupport = createMotionThreadSupport(MAX_MOTION_NUM_THREADS);
		
		

		for (int i=0;i<m_threadSupport->getNumTasks();i++)
		{
			MotionThreadLocalStorage* storage = (MotionThreadLocalStorage*) m_threadSupport->getThreadLocalMemory(i);
			b3Assert(storage);
			storage->threadId = i;
			//storage->m_sharedMem = data->m_sharedMem;
		}


		

		for (int w=0;w<MAX_MOTION_NUM_THREADS;w++)
		{
			m_args[w].m_cs = m_threadSupport->createCriticalSection();
			m_args[w].m_cs->setSharedParam(0,eMotionIsUnInitialized);
			int numMoving = 0;
 			m_args[w].m_positions.resize(numMoving);
			m_args[w].m_physicsServerPtr = &m_physicsServer;
			int index = 0;
			
			m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*) &this->m_args[w], w);
			
			while (m_args[w].m_cs->getSharedParam(0)==eMotionIsUnInitialized)
			{
				b3Clock::usleep(1000);
			}
		}

		m_args[0].m_cs->setSharedParam(1,eGUIHelperIdle);
		m_multiThreadedHelper->setCriticalSection(m_args[0].m_cs);
		m_isConnected = m_physicsServer.connectSharedMemory( m_guiHelper);
}
开发者ID:WhitestormJS，项目名称:ammo.js，代码行数:46，代码来源:PhysicsServerExample.cpp

示例11: replayFromLogFile

	void replayFromLogFile()
	{
		m_replay = true;
		m_physicsServer.replayFromLogFile("BulletPhysicsCommandLog.bin");
	}
开发者ID:WhitestormJS，项目名称:ammo.js，代码行数:5，代码来源:PhysicsServerExample.cpp

示例12: 

void    PhysicsServerExample::physicsDebugDraw(int debugDrawFlags)
{
	///debug rendering
	m_physicsServer.physicsDebugDraw(debugDrawFlags);

}
开发者ID:WhitestormJS，项目名称:ammo.js，代码行数:6，代码来源:PhysicsServerExample.cpp

示例13: enableCommandLogging

    void enableCommandLogging()
	{
		m_physicsServer.enableCommandLogging(true,"BulletPhysicsCommandLog.bin");
	}
开发者ID:WhitestormJS，项目名称:ammo.js，代码行数:4，代码来源:PhysicsServerExample.cpp

示例14: 

	virtual void	renderScene()
	{
		m_physicsServer.renderScene();
	}
开发者ID:saeedghsh，项目名称:bullet3，代码行数:4，代码来源:RobotControlExample.cpp

示例15: slider

void	RobotControlExample::stepSimulation(float deltaTime)
{
    
	m_physicsServer.processClientCommands();

	if (m_physicsClient.isConnected())
    {
		
		SharedMemoryStatus status;
		bool hasStatus = m_physicsClient.processServerStatus(status);
		if (hasStatus && status.m_type == CMD_ACTUAL_STATE_UPDATE_COMPLETED)
		{
			//update sensor feedback: joint force/torque data and measured joint positions
			
			for (int i=0;i<m_numMotors;i++)
			{
				int jointIndex = m_motorTargetState[i].m_jointIndex;
				int positionIndex = m_motorTargetState[i].m_posIndex;
				int velocityIndex = m_motorTargetState[i].m_uIndex;

				m_motorTargetState[i].m_measuredJointPosition = status.m_sendActualStateArgs.m_actualStateQ[positionIndex];
				m_motorTargetState[i].m_measuredJointVelocity = status.m_sendActualStateArgs.m_actualStateQdot[velocityIndex];
				m_motorTargetState[i].m_measuredJointForce.setValue(status.m_sendActualStateArgs.m_jointReactionForces[6*jointIndex],
																	status.m_sendActualStateArgs.m_jointReactionForces[6*jointIndex+1],
																	status.m_sendActualStateArgs.m_jointReactionForces[6*jointIndex+2]);
				m_motorTargetState[i].m_measuredJointTorque.setValue(status.m_sendActualStateArgs.m_jointReactionForces[6*jointIndex+3],
																	status.m_sendActualStateArgs.m_jointReactionForces[6*jointIndex+4],
																	status.m_sendActualStateArgs.m_jointReactionForces[6*jointIndex+5]);
				
				if (m_motorTargetState[i].m_measuredJointPosition>0.1)
				{
					m_motorTargetState[i].m_velTarget = -1.5;
				} else
				{
					m_motorTargetState[i].m_velTarget = 1.5;
				}
				
				b3Printf("Joint Force (Linear) [%s]=(%f,%f,%f)\n",m_motorTargetState[i].m_jointName.c_str(),m_motorTargetState[i].m_measuredJointForce.x(),m_motorTargetState[i].m_measuredJointForce.y(),m_motorTargetState[i].m_measuredJointForce.z());
				b3Printf("Joint Torque (Angular) [%s]=(%f,%f,%f)\n",m_motorTargetState[i].m_jointName.c_str(),m_motorTargetState[i].m_measuredJointTorque.x(),m_motorTargetState[i].m_measuredJointTorque.y(),m_motorTargetState[i].m_measuredJointTorque.z());

			}

			
		}

		if (hasStatus && status.m_type == CMD_URDF_LOADING_COMPLETED)
		{
			SharedMemoryCommand sensorCommand;
			sensorCommand.m_type = CMD_CREATE_SENSOR;
			sensorCommand.m_createSensorArguments.m_numJointSensorChanges = 0;

			for (int jointIndex=0;jointIndex<m_physicsClient.getNumJoints();jointIndex++)
			{
				b3JointInfo info;
				m_physicsClient.getJointInfo(jointIndex,info);
				if (m_verboseOutput)
				{
					b3Printf("Joint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex);
				}
				
                if (info.m_flags & JOINT_HAS_MOTORIZED_POWER)
                {
                    if (m_numMotors<MAX_NUM_MOTORS)
                    {

						switch (m_option)
						{
						case ROBOT_VELOCITY_CONTROL:
							{
		                        char motorName[1024];
								sprintf(motorName,"%s q'", info.m_jointName);
								MyMotorInfo* motorInfo = &m_motorTargetState[m_numMotors];
								motorInfo->m_jointName = info.m_jointName;

								motorInfo->m_velTarget = 0.f;
								motorInfo->m_posTarget = 0.f;

								motorInfo->m_uIndex = info.m_uIndex;
                    
								SliderParams slider(motorName,&motorInfo->m_velTarget);
								slider.m_minVal=-4;
								slider.m_maxVal=4;
								m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
								m_numMotors++;
								break;
							}
						case ROBOT_PD_CONTROL:
						{
							char motorName[1024];
							
							MyMotorInfo* motorInfo = &m_motorTargetState[m_numMotors];
							motorInfo->m_jointName = info.m_jointName;
							motorInfo->m_velTarget = 0.f;
							motorInfo->m_posTarget = 0.f;
							motorInfo->m_uIndex = info.m_uIndex;
							motorInfo->m_posIndex  = info.m_qIndex;
                            motorInfo->m_kp = 1;
                            motorInfo->m_kd = 0;
                            
                            {
//.........这里部分代码省略.........
开发者ID:robcanini，项目名称:bullet3，代码行数:101，代码来源:RobotControlExample.cpp


注：本文中的PhysicsServerSharedMemory类示例由纯净天空整理自Github/MSDocs等开源代码及文档管理平台，相关代码片段筛选自各路编程大神贡献的开源项目，源码版权归原作者所有，传播和使用请参考对应项目的License；未经允许，请勿转载。