void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd)
{
switch (serverCmd.m_type)
{
case CMD_REQUEST_RAY_CAST_INTERSECTIONS_COMPLETED:
{
if (m_data->m_verboseOutput)
{
b3Printf("Raycast completed");
}
m_data->m_raycastHits.clear();
b3RayHitInfo* rayHits = (b3RayHitInfo*)m_data->m_bulletStreamDataServerToClient;
for (int i = 0; i < serverCmd.m_raycastHits.m_numRaycastHits; i++)
{
m_data->m_raycastHits.push_back(rayHits[i]);
}
break;
}
case CMD_REQUEST_VR_EVENTS_DATA_COMPLETED:
{
if (m_data->m_verboseOutput)
{
b3Printf("Request VR Events completed");
}
m_data->m_cachedVREvents.resize(serverCmd.m_sendVREvents.m_numVRControllerEvents);
for (int i = 0; i < serverCmd.m_sendVREvents.m_numVRControllerEvents; i++)
{
m_data->m_cachedVREvents[i] = serverCmd.m_sendVREvents.m_controllerEvents[i];
}
break;
}
case CMD_REQUEST_KEYBOARD_EVENTS_DATA_COMPLETED:
{
if (m_data->m_verboseOutput)
{
b3Printf("Request keyboard events completed");
}
m_data->m_cachedKeyboardEvents.resize(serverCmd.m_sendKeyboardEvents.m_numKeyboardEvents);
for (int i = 0; i < serverCmd.m_sendKeyboardEvents.m_numKeyboardEvents; i++)
{
m_data->m_cachedKeyboardEvents[i] = serverCmd.m_sendKeyboardEvents.m_keyboardEvents[i];
}
break;
}
case CMD_REQUEST_MOUSE_EVENTS_DATA_COMPLETED:
{
B3_PROFILE("CMD_REQUEST_MOUSE_EVENTS_DATA_COMPLETED");
if (m_data->m_verboseOutput)
{
b3Printf("Request mouse events completed");
}
m_data->m_cachedMouseEvents.resize(serverCmd.m_sendMouseEvents.m_numMouseEvents);
for (int i = 0; i < serverCmd.m_sendMouseEvents.m_numMouseEvents; i++)
{
m_data->m_cachedMouseEvents[i] = serverCmd.m_sendMouseEvents.m_mouseEvents[i];
}
break;
}
case CMD_REQUEST_INTERNAL_DATA_COMPLETED:
{
if (serverCmd.m_numDataStreamBytes)
{
int numStreamBytes = serverCmd.m_numDataStreamBytes;
m_data->m_serverDNA.resize(numStreamBytes);
for (int i = 0; i < numStreamBytes; i++)
{
m_data->m_serverDNA[i] = m_data->m_bulletStreamDataServerToClient[i];
}
}
break;
}
case CMD_RESET_SIMULATION_COMPLETED:
{
resetData();
break;
}
case CMD_USER_CONSTRAINT_INFO_COMPLETED:
case CMD_USER_CONSTRAINT_COMPLETED:
{
int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId;
m_data->m_userConstraintInfoMap.insert(cid, serverCmd.m_userConstraintResultArgs);
break;
}
case CMD_REMOVE_USER_CONSTRAINT_COMPLETED:
{
int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId;
m_data->m_userConstraintInfoMap.remove(cid);
break;
}
case CMD_REMOVE_BODY_FAILED:
{
b3Warning("Remove body failed\n");
break;
}
case CMD_REMOVE_BODY_COMPLETED:
{
for (int i = 0; i < serverCmd.m_removeObjectArgs.m_numBodies; i++)
{
int bodyUniqueId = serverCmd.m_removeObjectArgs.m_bodyUniqueIds[i];
removeCachedBody(bodyUniqueId);
}
for (int i = 0; i < serverCmd.m_removeObjectArgs.m_numUserConstraints; i++)
{
int key = serverCmd.m_removeObjectArgs.m_userConstraintUniqueIds[i];
m_data->m_userConstraintInfoMap.remove(key);
}
break;
}
case CMD_CHANGE_USER_CONSTRAINT_COMPLETED:
{
int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId;
b3UserConstraint* userConstraintPtr = m_data->m_userConstraintInfoMap[cid];
if (userConstraintPtr)
{
const b3UserConstraint* serverConstraint = &serverCmd.m_userConstraintResultArgs;
if (serverCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_PIVOT_IN_B)
{
userConstraintPtr->m_childFrame[0] = serverConstraint->m_childFrame[0];
userConstraintPtr->m_childFrame[1] = serverConstraint->m_childFrame[1];
userConstraintPtr->m_childFrame[2] = serverConstraint->m_childFrame[2];
}
if (serverCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_FRAME_ORN_IN_B)
{
userConstraintPtr->m_childFrame[3] = serverConstraint->m_childFrame[3];
userConstraintPtr->m_childFrame[4] = serverConstraint->m_childFrame[4];
userConstraintPtr->m_childFrame[5] = serverConstraint->m_childFrame[5];
userConstraintPtr->m_childFrame[6] = serverConstraint->m_childFrame[6];
}
if (serverCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_MAX_FORCE)
{
userConstraintPtr->m_maxAppliedForce = serverConstraint->m_maxAppliedForce;
}
if (serverCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_GEAR_RATIO)
{
userConstraintPtr->m_gearRatio = serverConstraint->m_gearRatio;
}
if (serverCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_RELATIVE_POSITION_TARGET)
{
userConstraintPtr->m_relativePositionTarget = serverConstraint->m_relativePositionTarget;
}
if (serverCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_ERP)
{
userConstraintPtr->m_erp = serverConstraint->m_erp;
}
if (serverCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK)
{
userConstraintPtr->m_gearAuxLink = serverConstraint->m_gearAuxLink;
}
}
break;
}
case CMD_USER_CONSTRAINT_REQUEST_STATE_COMPLETED:
{
break;
}
case CMD_SYNC_BODY_INFO_COMPLETED:
case CMD_MJCF_LOADING_COMPLETED:
case CMD_SDF_LOADING_COMPLETED:
{
//we'll stream further info from the physics server
//so serverCmd will be invalid, make a copy
int numConstraints = serverCmd.m_sdfLoadedArgs.m_numUserConstraints;
for (int i = 0; i < numConstraints; i++)
{
int constraintUid = serverCmd.m_sdfLoadedArgs.m_userConstraintUniqueIds[i];
m_data->m_tmpInfoRequestCommand.m_type = CMD_USER_CONSTRAINT;
m_data->m_tmpInfoRequestCommand.m_updateFlags = USER_CONSTRAINT_REQUEST_INFO;
m_data->m_tmpInfoRequestCommand.m_userConstraintArguments.m_userConstraintUniqueId = constraintUid;
bool hasStatus = m_data->m_commandProcessor->processCommand(m_data->m_tmpInfoRequestCommand, m_data->m_tmpInfoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = m_data->m_timeOutInSeconds;
while ((!hasStatus) && (clock.getTimeInSeconds() - startTime < timeOutInSeconds))
{
hasStatus = m_data->m_commandProcessor->receiveStatus(m_data->m_tmpInfoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
}
if (hasStatus)
{
int cid = m_data->m_tmpInfoStatus.m_userConstraintResultArgs.m_userConstraintUniqueId;
m_data->m_userConstraintInfoMap.insert(cid, m_data->m_tmpInfoStatus.m_userConstraintResultArgs);
}
}
int numBodies = serverCmd.m_sdfLoadedArgs.m_numBodies;
for (int i = 0; i < numBodies; i++)
{
int bodyUniqueId = serverCmd.m_sdfLoadedArgs.m_bodyUniqueIds[i];
m_data->m_tmpInfoRequestCommand.m_type = CMD_REQUEST_BODY_INFO;
m_data->m_tmpInfoRequestCommand.m_sdfRequestInfoArgs.m_bodyUniqueId = bodyUniqueId;
bool hasStatus = m_data->m_commandProcessor->processCommand(m_data->m_tmpInfoRequestCommand, m_data->m_tmpInfoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = m_data->m_timeOutInSeconds;
while ((!hasStatus) && (clock.getTimeInSeconds() - startTime < timeOutInSeconds))
{
hasStatus = m_data->m_commandProcessor->receiveStatus(m_data->m_tmpInfoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
}
if (hasStatus)
{
processBodyJointInfo(bodyUniqueId, m_data->m_tmpInfoStatus);
}
}
break;
}
case CMD_CREATE_MULTI_BODY_COMPLETED:
case CMD_URDF_LOADING_COMPLETED:
{
if (serverCmd.m_numDataStreamBytes > 0)
{
int bodyIndex = serverCmd.m_dataStreamArguments.m_bodyUniqueId;
processBodyJointInfo(bodyIndex, serverCmd);
}
break;
}
case CMD_BULLET_LOADING_FAILED:
{
b3Warning("Couldn't load .bullet file");
break;
}
case CMD_BULLET_LOADING_COMPLETED:
{
break;
}
case CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_COMPLETED:
{
break;
}
case CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_FAILED:
{
b3Warning("requestOpenGLVisualizeCamera failed");
break;
}
case CMD_REMOVE_USER_CONSTRAINT_FAILED:
{
b3Warning("removeConstraint failed");
break;
}
case CMD_CHANGE_USER_CONSTRAINT_FAILED:
{
//b3Warning("changeConstraint failed");
break;
}
case CMD_USER_CONSTRAINT_FAILED:
{
b3Warning("createConstraint failed");
break;
}
case CMD_CREATE_COLLISION_SHAPE_FAILED:
{
b3Warning("createCollisionShape failed");
break;
}
case CMD_CREATE_COLLISION_SHAPE_COMPLETED:
{
break;
}
case CMD_CREATE_VISUAL_SHAPE_FAILED:
{
b3Warning("createVisualShape failed");
break;
}
case CMD_CREATE_VISUAL_SHAPE_COMPLETED:
{
break;
}
case CMD_CREATE_MULTI_BODY_FAILED:
{
b3Warning("createMultiBody failed");
break;
}
case CMD_REQUEST_COLLISION_INFO_COMPLETED:
{
break;
}
case CMD_REQUEST_COLLISION_INFO_FAILED:
{
b3Warning("Request getCollisionInfo failed");
break;
}
case CMD_CUSTOM_COMMAND_COMPLETED:
{
break;
}
case CMD_CUSTOM_COMMAND_FAILED:
{
b3Warning("custom plugin command failed");
break;
}
case CMD_CLIENT_COMMAND_COMPLETED:
{
break;
}
case CMD_CALCULATED_JACOBIAN_COMPLETED:
{
break;
}
case CMD_CALCULATED_JACOBIAN_FAILED:
{
b3Warning("jacobian calculation failed");
break;
}
case CMD_CALCULATED_MASS_MATRIX_FAILED:
{
b3Warning("calculate mass matrix failed");
break;
}
case CMD_CALCULATED_MASS_MATRIX_COMPLETED:
{
double* matrixData = (double*)&m_data->m_bulletStreamDataServerToClient[0];
m_data->m_cachedMassMatrix.resize(serverCmd.m_massMatrixResultArgs.m_dofCount * serverCmd.m_massMatrixResultArgs.m_dofCount);
for (int i = 0; i < serverCmd.m_massMatrixResultArgs.m_dofCount * serverCmd.m_massMatrixResultArgs.m_dofCount; i++)
{
m_data->m_cachedMassMatrix[i] = matrixData[i];
}
break;
}
case CMD_ACTUAL_STATE_UPDATE_COMPLETED:
{
break;
}
case CMD_DESIRED_STATE_RECEIVED_COMPLETED:
{
break;
}
case CMD_STEP_FORWARD_SIMULATION_COMPLETED:
{
break;
}
case CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS_COMPLETED:
{
break;
}
case CMD_SAVE_STATE_COMPLETED:
{
break;
}
case CMD_COLLISION_SHAPE_INFO_FAILED:
{
b3Warning("getCollisionShapeData failed");
break;
}
case CMD_COLLISION_SHAPE_INFO_COMPLETED:
{
B3_PROFILE("CMD_COLLISION_SHAPE_INFO_COMPLETED");
if (m_data->m_verboseOutput)
{
b3Printf("Collision Shape Information Request OK\n");
}
int numCollisionShapesCopied = serverCmd.m_sendCollisionShapeArgs.m_numCollisionShapes;
m_data->m_cachedCollisionShapes.resize(numCollisionShapesCopied);
b3CollisionShapeData* shapeData = (b3CollisionShapeData*)&m_data->m_bulletStreamDataServerToClient[0];
for (int i = 0; i < numCollisionShapesCopied; i++)
{
m_data->m_cachedCollisionShapes[i] = shapeData[i];
}
break;
}
case CMD_RESTORE_STATE_FAILED:
{
b3Warning("restoreState failed");
break;
}
case CMD_RESTORE_STATE_COMPLETED:
{
break;
}
case CMD_BULLET_SAVING_COMPLETED:
{
break;
}
case CMD_LOAD_SOFT_BODY_FAILED:
{
b3Warning("loadSoftBody failed");
break;
}
case CMD_LOAD_SOFT_BODY_COMPLETED:
{
break;
}
case CMD_SYNC_USER_DATA_FAILED:
{
b3Warning("Synchronizing user data failed.");
break;
}
case CMD_ADD_USER_DATA_FAILED:
{
b3Warning("Adding user data failed (do the specified body and link exist?)");
break;
}
case CMD_REMOVE_USER_DATA_FAILED:
{
b3Warning("Removing user data failed");
break;
}
case CMD_ADD_USER_DATA_COMPLETED:
{
processAddUserData(serverCmd);
break;
}
case CMD_SYNC_USER_DATA_COMPLETED:
{
B3_PROFILE("CMD_SYNC_USER_DATA_COMPLETED");
// Remove all cached user data entries.
for (int i = 0; i < m_data->m_bodyJointMap.size(); i++)
{
BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap.getAtIndex(i);
if (bodyJointsPtr && *bodyJointsPtr)
{
(*bodyJointsPtr)->m_userDataIds.clear();
}
m_data->m_userDataMap.clear();
m_data->m_userDataHandleLookup.clear();
}
const int numIdentifiers = serverCmd.m_syncUserDataArgs.m_numUserDataIdentifiers;
int* identifiers = new int[numIdentifiers];
memcpy(identifiers, &m_data->m_bulletStreamDataServerToClient[0], numIdentifiers * sizeof(int));
for (int i = 0; i < numIdentifiers; i++)
{
m_data->m_tmpInfoRequestCommand.m_type = CMD_REQUEST_USER_DATA;
m_data->m_tmpInfoRequestCommand.m_userDataRequestArgs.m_userDataId = identifiers[i];
bool hasStatus = m_data->m_commandProcessor->processCommand(m_data->m_tmpInfoRequestCommand, m_data->m_tmpInfoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = m_data->m_timeOutInSeconds;
while ((!hasStatus) && (clock.getTimeInSeconds() - startTime < timeOutInSeconds))
{
hasStatus = m_data->m_commandProcessor->receiveStatus(m_data->m_tmpInfoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
}
if (hasStatus)
{
processAddUserData(m_data->m_tmpInfoStatus);
}
}
delete[] identifiers;
break;
}
case CMD_REMOVE_USER_DATA_COMPLETED:
{
const int userDataId = serverCmd.m_removeUserDataResponseArgs.m_userDataId;
SharedMemoryUserData* userData = m_data->m_userDataMap[userDataId];
if (userData)
{
BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[userData->m_bodyUniqueId];
if (bodyJointsPtr && *bodyJointsPtr)
{
(*bodyJointsPtr)->m_userDataIds.remove(userDataId);
}
m_data->m_userDataHandleLookup.remove(SharedMemoryUserDataHashKey(userData));
m_data->m_userDataMap.remove(userDataId);
}
break;
}
default:
{
//b3Warning("Unknown server status type");
}
};
}
void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd)
{
switch (serverCmd.m_type)
{
case CMD_REQUEST_RAY_CAST_INTERSECTIONS_COMPLETED:
{
if (m_data->m_verboseOutput)
{
b3Printf("Raycast completed");
}
m_data->m_raycastHits.clear();
for (int i=0;i<serverCmd.m_raycastHits.m_numRaycastHits;i++)
{
m_data->m_raycastHits.push_back(serverCmd.m_raycastHits.m_rayHits[i]);
}
break;
}
case CMD_REQUEST_VR_EVENTS_DATA_COMPLETED:
{
if (m_data->m_verboseOutput)
{
b3Printf("Request VR Events completed");
}
m_data->m_cachedVREvents.resize(serverCmd.m_sendVREvents.m_numVRControllerEvents);
for (int i=0;i< serverCmd.m_sendVREvents.m_numVRControllerEvents;i++)
{
m_data->m_cachedVREvents[i] = serverCmd.m_sendVREvents.m_controllerEvents[i];
}
break;
}
case CMD_REQUEST_KEYBOARD_EVENTS_DATA_COMPLETED:
{
if (m_data->m_verboseOutput)
{
b3Printf("Request keyboard events completed");
}
m_data->m_cachedKeyboardEvents.resize(serverCmd.m_sendKeyboardEvents.m_numKeyboardEvents);
for (int i=0;i<serverCmd.m_sendKeyboardEvents.m_numKeyboardEvents;i++)
{
m_data->m_cachedKeyboardEvents[i] = serverCmd.m_sendKeyboardEvents.m_keyboardEvents[i];
}
break;
}
case CMD_REQUEST_MOUSE_EVENTS_DATA_COMPLETED:
{
B3_PROFILE("CMD_REQUEST_MOUSE_EVENTS_DATA_COMPLETED");
if (m_data->m_verboseOutput)
{
b3Printf("Request mouse events completed");
}
m_data->m_cachedMouseEvents.resize(serverCmd.m_sendMouseEvents.m_numMouseEvents);
for (int i=0;i<serverCmd.m_sendMouseEvents.m_numMouseEvents;i++)
{
m_data->m_cachedMouseEvents[i] = serverCmd.m_sendMouseEvents.m_mouseEvents[i];
}
break;
}
case CMD_REQUEST_INTERNAL_DATA_COMPLETED:
{
if (serverCmd.m_numDataStreamBytes)
{
int numStreamBytes = serverCmd.m_numDataStreamBytes;
m_data->m_serverDNA.resize(numStreamBytes);
for (int i = 0; i < numStreamBytes; i++)
{
m_data->m_serverDNA[i] = m_data->m_bulletStreamDataServerToClient[i];
}
}
break;
}
case CMD_RESET_SIMULATION_COMPLETED:
{
resetData();
break;
}
case CMD_USER_CONSTRAINT_INFO_COMPLETED:
case CMD_USER_CONSTRAINT_COMPLETED:
{
int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId;
m_data->m_userConstraintInfoMap.insert(cid,serverCmd.m_userConstraintResultArgs);
break;
}
case CMD_REMOVE_USER_CONSTRAINT_COMPLETED:
{
int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId;
m_data->m_userConstraintInfoMap.remove(cid);
break;
}
case CMD_REMOVE_BODY_FAILED:
{
b3Warning("Remove body failed\n");
break;
}
case CMD_REMOVE_BODY_COMPLETED:
{
for (int i=0;i<serverCmd.m_removeObjectArgs.m_numBodies;i++)
{
int bodyUniqueId = serverCmd.m_removeObjectArgs.m_bodyUniqueIds[i];
removeCachedBody(bodyUniqueId);
}
for (int i=0;i<serverCmd.m_removeObjectArgs.m_numUserConstraints;i++)
{
int key = serverCmd.m_removeObjectArgs.m_userConstraintUniqueIds[i];
m_data->m_userConstraintInfoMap.remove(key);
}
break;
}
case CMD_CHANGE_USER_CONSTRAINT_COMPLETED:
{
int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId;
b3UserConstraint* userConstraintPtr = m_data->m_userConstraintInfoMap[cid];
if (userConstraintPtr)
{
const b3UserConstraint* serverConstraint = &serverCmd.m_userConstraintResultArgs;
if (serverCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_PIVOT_IN_B)
{
userConstraintPtr->m_childFrame[0] = serverConstraint->m_childFrame[0];
userConstraintPtr->m_childFrame[1] = serverConstraint->m_childFrame[1];
userConstraintPtr->m_childFrame[2] = serverConstraint->m_childFrame[2];
}
if (serverCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_FRAME_ORN_IN_B)
{
userConstraintPtr->m_childFrame[3] = serverConstraint->m_childFrame[3];
userConstraintPtr->m_childFrame[4] = serverConstraint->m_childFrame[4];
userConstraintPtr->m_childFrame[5] = serverConstraint->m_childFrame[5];
userConstraintPtr->m_childFrame[6] = serverConstraint->m_childFrame[6];
}
if (serverCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_MAX_FORCE)
{
userConstraintPtr->m_maxAppliedForce = serverConstraint->m_maxAppliedForce;
}
}
break;
}
case CMD_SYNC_BODY_INFO_COMPLETED:
case CMD_MJCF_LOADING_COMPLETED:
case CMD_SDF_LOADING_COMPLETED:
{
//we'll stream further info from the physics server
//so serverCmd will be invalid, make a copy
int numConstraints = serverCmd.m_sdfLoadedArgs.m_numUserConstraints;
for (int i=0;i<numConstraints;i++)
{
int constraintUid = serverCmd.m_sdfLoadedArgs.m_userConstraintUniqueIds[i];
SharedMemoryCommand infoRequestCommand;
infoRequestCommand.m_type = CMD_USER_CONSTRAINT;
infoRequestCommand.m_updateFlags = USER_CONSTRAINT_REQUEST_INFO;
infoRequestCommand.m_userConstraintArguments.m_userConstraintUniqueId = constraintUid;
SharedMemoryStatus infoStatus;
bool hasStatus = m_data->m_commandProcessor->processCommand(infoRequestCommand, infoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = m_data->m_timeOutInSeconds;
while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
hasStatus = m_data->m_commandProcessor->receiveStatus(infoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
}
if (hasStatus)
{
int cid = infoStatus.m_userConstraintResultArgs.m_userConstraintUniqueId;
m_data->m_userConstraintInfoMap.insert(cid,infoStatus.m_userConstraintResultArgs);
}
}
int numBodies = serverCmd.m_sdfLoadedArgs.m_numBodies;
for (int i = 0; i<numBodies; i++)
{
int bodyUniqueId = serverCmd.m_sdfLoadedArgs.m_bodyUniqueIds[i];
SharedMemoryCommand infoRequestCommand;
infoRequestCommand.m_type = CMD_REQUEST_BODY_INFO;
infoRequestCommand.m_sdfRequestInfoArgs.m_bodyUniqueId = bodyUniqueId;
SharedMemoryStatus infoStatus;
bool hasStatus = m_data->m_commandProcessor->processCommand(infoRequestCommand, infoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = m_data->m_timeOutInSeconds;
while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
hasStatus = m_data->m_commandProcessor->receiveStatus(infoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
}
if (hasStatus)
{
processBodyJointInfo(bodyUniqueId, infoStatus);
}
}
break;
}
case CMD_CREATE_MULTI_BODY_COMPLETED:
case CMD_URDF_LOADING_COMPLETED:
{
if (serverCmd.m_numDataStreamBytes > 0)
{
int bodyIndex = serverCmd.m_dataStreamArguments.m_bodyUniqueId;
processBodyJointInfo(bodyIndex, serverCmd);
}
break;
}
case CMD_BULLET_LOADING_FAILED:
{
b3Warning("Couldn't load .bullet file");
break;
}
case CMD_BULLET_LOADING_COMPLETED:
{
break;
}
case CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_COMPLETED:
{
break;
}
case CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_FAILED:
{
b3Warning("requestOpenGLVisualizeCamera failed");
break;
}
case CMD_REMOVE_USER_CONSTRAINT_FAILED:
{
b3Warning("removeConstraint failed");
break;
}
case CMD_CHANGE_USER_CONSTRAINT_FAILED:
{
b3Warning("changeConstraint failed");
break;
}
case CMD_USER_CONSTRAINT_FAILED:
{
b3Warning("createConstraint failed");
break;
}
case CMD_CREATE_COLLISION_SHAPE_FAILED:
{
b3Warning("createCollisionShape failed");
break;
}
case CMD_CREATE_COLLISION_SHAPE_COMPLETED:
{
break;
}
case CMD_CREATE_VISUAL_SHAPE_FAILED:
{
b3Warning("createVisualShape failed");
break;
}
case CMD_CREATE_VISUAL_SHAPE_COMPLETED:
{
break;
}
case CMD_CREATE_MULTI_BODY_FAILED:
{
b3Warning("createMultiBody failed");
break;
}
case CMD_REQUEST_COLLISION_INFO_COMPLETED:
{
break;
}
case CMD_REQUEST_COLLISION_INFO_FAILED:
{
b3Warning("Request getCollisionInfo failed");
break;
}
default:
{
//b3Warning("Unknown server status type");
}
};
}
