mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-07-13 07:34:45 +00:00
update bullet so it actually works
Moved the addSourceDirectory for physics/Bullet into the Engine/Source/CMakeLists.txt file that way it can actually appear where we expect it to in the solution explorer.
This commit is contained in:
marauder2k7
parent
c7be48130a
commit
13fa178cf6
5986 changed files with 1811270 additions and 453803 deletions
319
Engine/lib/bullet/examples/SharedMemory/tcp/main.cpp
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319
Engine/lib/bullet/examples/SharedMemory/tcp/main.cpp
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#include "PassiveSocket.h" // Include header for active socket object definition
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#include <stdio.h>
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#include "../../CommonInterfaces/CommonGUIHelperInterface.h"
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#include "Bullet3Common/b3CommandLineArgs.h"
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#ifdef NO_SHARED_MEMORY
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#include "PhysicsServerCommandProcessor.h"
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typedef PhysicsServerCommandProcessor MyCommandProcessor;
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#else
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#include "SharedMemoryCommandProcessor.h"
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typedef SharedMemoryCommandProcessor MyCommandProcessor;
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#endif //NO_SHARED_MEMORY
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#include "SharedMemoryCommands.h"
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#include "Bullet3Common/b3AlignedObjectArray.h"
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#include "PhysicsServerCommandProcessor.h"
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#include "../Utils/b3Clock.h"
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bool gVerboseNetworkMessagesServer = true;
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void MySerializeInt(unsigned int sz, unsigned char* output)
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{
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unsigned int tmp = sz;
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output[0] = tmp & 255;
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tmp = tmp >> 8;
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output[1] = tmp & 255;
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tmp = tmp >> 8;
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output[2] = tmp & 255;
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tmp = tmp >> 8;
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output[3] = tmp & 255;
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}
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int main(int argc, char* argv[])
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{
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b3CommandLineArgs parseArgs(argc, argv);
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b3Clock clock;
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double timeOutInSeconds = 10;
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DummyGUIHelper guiHelper;
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MyCommandProcessor* sm = new MyCommandProcessor;
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sm->setGuiHelper(&guiHelper);
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int port = 6667;
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parseArgs.GetCmdLineArgument("port", port);
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gVerboseNetworkMessagesServer = parseArgs.CheckCmdLineFlag("verbose");
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#ifndef NO_SHARED_MEMORY
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int key = 0;
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if (parseArgs.GetCmdLineArgument("sharedMemoryKey", key))
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{
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sm->setSharedMemoryKey(key);
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}
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#endif //NO_SHARED_MEMORY
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bool isPhysicsClientConnected = sm->connect();
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bool exitRequested = false;
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if (isPhysicsClientConnected)
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{
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printf("Starting TCP server using port %d\n", port);
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CPassiveSocket socket;
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CActiveSocket* pClient = NULL;
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//--------------------------------------------------------------------------
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// Initialize our socket object
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//--------------------------------------------------------------------------
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socket.Initialize();
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socket.Listen("localhost", port);
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//socket.SetBlocking();
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int curNumErr = 0;
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while (!exitRequested)
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{
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b3Clock::usleep(0);
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if ((pClient = socket.Accept()) != NULL)
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{
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b3AlignedObjectArray<char> bytesReceived;
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int clientPort = socket.GetClientPort();
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printf("connected from %s:%d\n", socket.GetClientAddr(), clientPort);
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if (pClient->Receive(4))
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{
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int clientKey = *(int*)pClient->GetData();
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if (clientKey == SHARED_MEMORY_MAGIC_NUMBER)
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{
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printf("Client version OK %d\n", clientKey);
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}
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else
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{
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printf("Server version (%d) mismatches Client Version (%d)\n", SHARED_MEMORY_MAGIC_NUMBER, clientKey);
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continue;
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}
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}
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//----------------------------------------------------------------------
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// Receive request from the client.
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//----------------------------------------------------------------------
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while (1)
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{
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//printf("try receive\n");
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bool receivedData = false;
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int maxLen = 4 + sizeof(SharedMemoryStatus) + SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE;
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if (pClient->Receive(maxLen))
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{
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//heuristic to detect disconnected clients
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CSimpleSocket::CSocketError err = pClient->GetSocketError();
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if (err != CSimpleSocket::SocketSuccess || !pClient->IsSocketValid())
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{
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b3Clock::usleep(100);
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curNumErr++;
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if (curNumErr > 100)
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{
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printf("TCP Connection error = %d, curNumErr = %d\n", (int)err, curNumErr);
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break;
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}
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}
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curNumErr = 0;
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char* msg2 = (char*)pClient->GetData();
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int numBytesRec2 = pClient->GetBytesReceived();
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int curSize = bytesReceived.size();
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bytesReceived.resize(bytesReceived.size() + numBytesRec2);
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for (int i = 0; i < numBytesRec2; i++)
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{
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bytesReceived[curSize + i] = msg2[i];
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}
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if (bytesReceived.size() >= 4)
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{
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int numBytesRec = bytesReceived.size();
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if (numBytesRec >= 10)
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{
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if (strncmp(&bytesReceived[0], "disconnect", 10) == 0)
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{
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printf("Disconnect request received\n");
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bytesReceived.clear();
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break;
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}
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if (strncmp(&bytesReceived[0], "terminateserver", 10) == 0)
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{
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printf("Terminate server request received\n");
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exitRequested = true;
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bytesReceived.clear();
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break;
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}
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}
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if (gVerboseNetworkMessagesServer)
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{
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printf("received message length [%d]\n", numBytesRec);
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}
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receivedData = true;
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SharedMemoryCommand cmd;
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SharedMemoryCommand* cmdPtr = 0;
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int type = *(int*)&bytesReceived[0];
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//performance test
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if (numBytesRec == sizeof(int))
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{
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cmdPtr = &cmd;
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cmd.m_type = *(int*)&bytesReceived[0];
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}
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else
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{
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if (numBytesRec == sizeof(SharedMemoryCommand))
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{
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cmdPtr = (SharedMemoryCommand*)&bytesReceived[0];
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}
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else
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{
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if (numBytesRec == 36)
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{
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cmdPtr = &cmd;
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memcpy(&cmd, &bytesReceived[0], numBytesRec);
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}
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}
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}
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if (cmdPtr)
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{
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SharedMemoryStatus serverStatus;
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b3AlignedObjectArray<char> buffer;
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buffer.resize(SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
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bool hasStatus = sm->processCommand(*cmdPtr, serverStatus, &buffer[0], buffer.size());
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double startTimeSeconds = clock.getTimeInSeconds();
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double curTimeSeconds = clock.getTimeInSeconds();
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while ((!hasStatus) && ((curTimeSeconds - startTimeSeconds) < timeOutInSeconds))
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{
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hasStatus = sm->receiveStatus(serverStatus, &buffer[0], buffer.size());
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curTimeSeconds = clock.getTimeInSeconds();
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}
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if (gVerboseNetworkMessagesServer)
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{
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//printf("buffer.size = %d\n", buffer.size());
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printf("serverStatus.m_numDataStreamBytes = %d\n", serverStatus.m_numDataStreamBytes);
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}
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if (hasStatus)
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{
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b3AlignedObjectArray<unsigned char> packetData;
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unsigned char* statBytes = (unsigned char*)&serverStatus;
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if (cmdPtr->m_type == CMD_STEP_FORWARD_SIMULATION)
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{
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packetData.resize(4 + sizeof(int));
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int sz = packetData.size();
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int curPos = 0;
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MySerializeInt(sz, &packetData[curPos]);
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curPos += 4;
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for (int i = 0; i < sizeof(int); i++)
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{
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packetData[i + curPos] = statBytes[i];
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}
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curPos += sizeof(int);
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pClient->Send(&packetData[0], packetData.size());
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}
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else
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{
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if (cmdPtr->m_type == CMD_REQUEST_VR_EVENTS_DATA)
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{
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int headerSize = 16 + 5 * sizeof(int) + sizeof(smUint64_t) + sizeof(char*) + sizeof(b3VRControllerEvent) * serverStatus.m_sendVREvents.m_numVRControllerEvents;
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packetData.resize(4 + headerSize);
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int sz = packetData.size();
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int curPos = 0;
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MySerializeInt(sz, &packetData[curPos]);
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curPos += 4;
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for (int i = 0; i < headerSize; i++)
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{
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packetData[i + curPos] = statBytes[i];
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}
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curPos += headerSize;
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pClient->Send(&packetData[0], packetData.size());
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}
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else
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{
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//create packetData with [int packetSizeInBytes, status, streamBytes)
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packetData.resize(4 + sizeof(SharedMemoryStatus) + serverStatus.m_numDataStreamBytes);
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int sz = packetData.size();
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int curPos = 0;
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if (gVerboseNetworkMessagesServer)
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{
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//printf("buffer.size = %d\n", buffer.size());
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printf("serverStatus packed size = %d\n", sz);
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}
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MySerializeInt(sz, &packetData[curPos]);
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curPos += 4;
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for (int i = 0; i < sizeof(SharedMemoryStatus); i++)
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{
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packetData[i + curPos] = statBytes[i];
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}
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curPos += sizeof(SharedMemoryStatus);
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for (int i = 0; i < serverStatus.m_numDataStreamBytes; i++)
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{
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packetData[i + curPos] = buffer[i];
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}
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pClient->Send(&packetData[0], packetData.size());
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}
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}
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}
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bytesReceived.clear();
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}
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else
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{
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//likely an incomplete packet, let's append more bytes
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//printf("received packet with unknown contents\n");
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}
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}
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}
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if (!receivedData)
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{
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//printf("Didn't receive data.\n");
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}
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}
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printf("Disconnecting client.\n");
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pClient->Close();
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delete pClient;
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}
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}
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socket.Close();
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socket.Shutdown(CSimpleSocket::Both);
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}
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else
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{
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printf("Error: cannot connect to shared memory physics server.");
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}
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delete sm;
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return 0;
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}
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150
Engine/lib/bullet/examples/SharedMemory/tcp/premake4.lua
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150
Engine/lib/bullet/examples/SharedMemory/tcp/premake4.lua
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@ -0,0 +1,150 @@
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project ("App_PhysicsServerSharedMemoryBridgeTCP")
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language "C++"
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kind "ConsoleApp"
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includedirs {"../../ThirdPartyLibs/clsocket/src","../../../src",".."}
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if os.is("Windows") then
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defines { "WIN32" }
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links {"Ws2_32","Winmm"}
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end
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if os.is("Linux") then
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defines {"_LINUX"}
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end
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if os.is("MacOSX") then
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defines {"_DARWIN"}
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end
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links {
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"clsocket",
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"BulletFileLoader",
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"Bullet3Common",
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"LinearMath"
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}
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files {
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"main.cpp",
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"../PhysicsClient.cpp",
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"../PhysicsClient.h",
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"../PhysicsDirect.cpp",
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"../PhysicsDirect.h",
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"../PhysicsCommandProcessorInterface.h",
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"../SharedMemoryCommandProcessor.cpp",
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"../SharedMemoryCommandProcessor.h",
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"../PhysicsClientC_API.cpp",
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"../PhysicsClientC_API.h",
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"../Win32SharedMemory.cpp",
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"../Win32SharedMemory.h",
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"../PosixSharedMemory.cpp",
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"../PosixSharedMemory.h",
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"../../Utils/b3ResourcePath.cpp",
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"../../Utils/b3ResourcePath.h",
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"../../Utils/b3Clock.cpp",
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"../../Utils/b3Clock.h",
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}
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project "App_PhysicsServerTCP"
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if _OPTIONS["ios"] then
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kind "WindowedApp"
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else
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kind "ConsoleApp"
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end
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defines { "NO_SHARED_MEMORY" }
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includedirs {"..","../../../src", "../../ThirdPartyLibs","../../ThirdPartyLibs/clsocket/src"}
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links {
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"clsocket","Bullet3Common","BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletSoftBody", "BulletDynamics","BulletCollision", "LinearMath", "BussIK"
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}
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if os.is("Windows") then
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defines { "WIN32" }
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links {"Ws2_32","Winmm"}
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end
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if os.is("Linux") then
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defines {"_LINUX"}
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links{"dl"}
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end
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if os.is("MacOSX") then
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defines {"_DARWIN"}
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end
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language "C++"
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myfiles =
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{
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"../IKTrajectoryHelper.cpp",
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"../IKTrajectoryHelper.h",
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"../SharedMemoryCommands.h",
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"../SharedMemoryPublic.h",
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"../PhysicsServerCommandProcessor.cpp",
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"../PhysicsServerCommandProcessor.h",
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"../b3PluginManager.cpp",
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"../PhysicsDirect.cpp",
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"../PhysicsClientC_API.cpp",
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"../PhysicsClient.cpp",
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"../plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
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"../plugins/pdControlPlugin/pdControlPlugin.cpp",
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"../plugins/pdControlPlugin/pdControlPlugin.h",
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"../b3RobotSimulatorClientAPI_NoDirect.cpp",
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"../b3RobotSimulatorClientAPI_NoDirect.h",
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"../plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
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"../plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
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"../../TinyRenderer/geometry.cpp",
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"../../TinyRenderer/model.cpp",
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"../../TinyRenderer/tgaimage.cpp",
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"../../TinyRenderer/our_gl.cpp",
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"../../TinyRenderer/TinyRenderer.cpp",
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"../../OpenGLWindow/SimpleCamera.cpp",
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"../../OpenGLWindow/SimpleCamera.h",
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"../../Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h",
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"../../Importers/ImportURDFDemo/MultiBodyCreationInterface.h",
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"../../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
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"../../Importers/ImportURDFDemo/MyMultiBodyCreator.h",
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"../../Importers/ImportMJCFDemo/BulletMJCFImporter.cpp",
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"../../Importers/ImportMJCFDemo/BulletMJCFImporter.h",
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"../../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
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"../../Importers/ImportURDFDemo/BulletUrdfImporter.h",
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"../../Importers/ImportURDFDemo/UrdfParser.cpp",
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"../../Importers/ImportURDFDemo/urdfStringSplit.cpp",
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"../../Importers/ImportURDFDemo/UrdfParser.cpp",
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"../../Importers/ImportURDFDemo/UrdfParser.h",
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"../../Importers/ImportURDFDemo/URDF2Bullet.cpp",
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"../../Importers/ImportURDFDemo/URDF2Bullet.h",
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"../../Utils/b3ResourcePath.cpp",
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"../../Utils/b3Clock.cpp",
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"../../Utils/ChromeTraceUtil.cpp",
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"../../Utils/ChromeTraceUtil.h",
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"../../Utils/RobotLoggingUtil.cpp",
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"../../Utils/RobotLoggingUtil.h",
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"../../../Extras/Serialize/BulletWorldImporter/*",
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"../../../Extras/Serialize/BulletFileLoader/*",
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"../../Importers/ImportURDFDemo/URDFImporterInterface.h",
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"../../Importers/ImportURDFDemo/URDFJointTypes.h",
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"../../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
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"../../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
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"../../Importers/ImportSTLDemo/ImportSTLSetup.h",
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"../../Importers/ImportSTLDemo/LoadMeshFromSTL.h",
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"../../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
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"../../Importers/ImportColladaDemo/ColladaGraphicsInstance.h",
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"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
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"../../ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
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"../../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
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"../../ThirdPartyLibs/stb_image/stb_image.cpp",
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}
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files {
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myfiles,
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"main.cpp",
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}
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