C++ PhysicsServerSharedMemory::connectSharedMemory方法代码示例

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");
	}

}

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);
  
}

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);
}

void	PhysicsClientExample::initPhysics()
{
	if (m_guiHelper && m_guiHelper->getParameterInterface())
	{
		int upAxis = 2;
		m_guiHelper->setUpAxis(upAxis);

		createButtons();		
		
	} else
	{
        MyCallback(CMD_LOAD_URDF, true, this);
        MyCallback(CMD_STEP_FORWARD_SIMULATION,true,this);
        MyCallback(CMD_STEP_FORWARD_SIMULATION,true,this);
        MyCallback(CMD_RESET_SIMULATION,true,this);
	}

	m_selectedBody = -1;
	m_prevSelectedBody = -1;

	if (m_options == eCLIENTEXAMPLE_SERVER)
	{
		m_canvas = m_guiHelper->get2dCanvasInterface();
		if (m_canvas)
		{
			

			m_canvasIndex = m_canvas->createCanvas("Synthetic Camera",camVisualizerWidth, camVisualizerHeight);

			for (int i=0;i<camVisualizerWidth;i++)
			{
				for (int j=0;j<camVisualizerHeight;j++)
				{
					unsigned char red=255;
					unsigned char green=255;
					unsigned char blue=255;
					unsigned char alpha=255;
					if (i==j)
					{
						red = 0;
						green=0;
						blue=0;
					}
					m_canvas->setPixel(m_canvasIndex,i,j,red,green,blue,alpha);
				}
			}
			m_canvas->refreshImageData(m_canvasIndex);
			
		}

		m_isOptionalServerConnected = m_physicsServer.connectSharedMemory( m_guiHelper);
	}

    m_physicsClientHandle  = b3ConnectSharedMemory(m_sharedMemoryKey);
	//m_physicsClientHandle  = b3ConnectPhysicsLoopback(SHARED_MEMORY_KEY);
	//m_physicsClientHandle = b3ConnectPhysicsDirect();

    if (!b3CanSubmitCommand(m_physicsClientHandle))
    {
		b3Warning("Cannot connect to physics client");
	}

}