void PhysicsServerExample::exitPhysics()
{
for (int i=0;i<MAX_MOTION_NUM_THREADS;i++)
{
m_args[i].m_cs->lock();
m_args[i].m_cs->setSharedParam(0,eRequestTerminateMotion);
m_args[i].m_cs->unlock();
}
int numActiveThreads = MAX_MOTION_NUM_THREADS;
while (numActiveThreads)
{
int arg0,arg1;
if (m_threadSupport->isTaskCompleted(&arg0,&arg1,0))
{
numActiveThreads--;
printf("numActiveThreads = %d\n",numActiveThreads);
} else
{
b3Clock::usleep(1000);
}
};
printf("stopping threads\n");
delete m_threadSupport;
m_threadSupport = 0;
//m_physicsServer.resetDynamicsWorld();
}
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);
}
virtual void exitPhysics()
{
b3Printf("exitPhysics, stopping threads");
bool blockingWait =false;
int arg0,arg1;
args.m_cs->lock();
//terminate all threads
args.m_cs->setSharedParam(1,MAGIC_RESET_NUMBER);
args.m_cs->unlock();
if (blockingWait)
{
for (int i=0;i<m_numThreads;i++)
{
m_threadSupport->waitForResponse(&arg0,&arg1);
printf("finished waiting for response: %d %d\n", arg0,arg1);
}
} else
{
int numActiveThreads = m_numThreads;
while (numActiveThreads)
{
if (m_threadSupport->isTaskCompleted(&arg0,&arg1,0))
{
numActiveThreads--;
printf("numActiveThreads = %d\n",numActiveThreads);
} else
{
// printf("polling..");
}
};
}
delete m_threadSupport;
b3Printf("Threads stopped");
for (int i=0;i<m_jobs.size();i++)
{
delete m_jobs[i];
}
m_jobs.clear();
}
virtual void initPhysics()
{
b3Printf("initPhysics");
m_threadSupport = createThreadSupport(m_numThreads);
for (int i=0;i<m_threadSupport->getNumTasks();i++)
{
SampleThreadLocalStorage* storage = (SampleThreadLocalStorage*)m_threadSupport->getThreadLocalMemory(i);
b3Assert(storage);
storage->threadId = i;
}
args.m_cs = m_threadSupport->createCriticalSection();
args.m_cs->setSharedParam(0,100);
for (int i=0;i<100;i++)
{
SampleJob1* job = new SampleJob1(i);
args.submitJob(job);
}
int i;
for (i=0;i<m_numThreads;i++)
{
m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*) &args, i);
}
b3Printf("Threads started");
}