void PhysicsServer::initPhysics()
{
createEmptyDynamicsWorld();
m_testBlock1 = (SharedMemoryExampleData*) m_sharedMemory->allocateSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
// btAssert(m_testBlock1);
if (m_testBlock1)
{
// btAssert(m_testBlock1->m_magicId != SHARED_MEMORY_MAGIC_NUMBER);
if (m_testBlock1->m_magicId == SHARED_MEMORY_MAGIC_NUMBER)
{
b3Printf("Warning: shared memory is already initialized, did you already spawn a server?\n");
}
m_testBlock1->m_numClientCommands = 0;
m_testBlock1->m_numServerCommands = 0;
m_testBlock1->m_numProcessedClientCommands=0;
m_testBlock1->m_numProcessedServerCommands=0;
m_testBlock1->m_magicId = SHARED_MEMORY_MAGIC_NUMBER;
b3Printf("Shared memory succesfully allocated\n");
} else
{
b3Error("Couldn't allocated shared memory, is it implemented on your operating system?\n");
}
}
void PhysicsClient::initPhysics()
{
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);
} 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);
}
m_testBlock1 = (SharedMemoryExampleData*)m_sharedMemory->allocateSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
if (m_testBlock1)
{
// btAssert(m_testBlock1->m_magicId == SHARED_MEMORY_MAGIC_NUMBER);
if (m_testBlock1->m_magicId !=SHARED_MEMORY_MAGIC_NUMBER)
{
b3Error("Error: please start server before client\n");
m_sharedMemory->releaseSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
m_testBlock1 = 0;
} else
{
b3Printf("Shared Memory status is OK\n");
}
} else
{
m_wantsTermination = true;
}
}
void PhysicsServer::releaseSharedMemory()
{
if (m_testBlock1)
{
m_testBlock1->m_magicId = 0;
b3Printf("magic id = %d\n",m_testBlock1->m_magicId);
btAssert(m_sharedMemory);
m_sharedMemory->releaseSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
}
if (m_sharedMemory)
{
delete m_sharedMemory;
m_sharedMemory = 0;
m_testBlock1 = 0;
}
}
