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
262
Engine/lib/bullet/examples/SharedMemory/udp/main.cpp
Normal file
262
Engine/lib/bullet/examples/SharedMemory/udp/main.cpp
Normal file
|
|
@ -0,0 +1,262 @@
|
|||
/* server.cpp */
|
||||
#include <stdio.h>
|
||||
#include <enet/enet.h>
|
||||
#include "../../CommonInterfaces/CommonGUIHelperInterface.h"
|
||||
#include "Bullet3Common/b3CommandLineArgs.h"
|
||||
|
||||
#ifdef NO_SHARED_MEMORY
|
||||
#include "PhysicsServerCommandProcessor.h"
|
||||
typedef PhysicsServerCommandProcessor MyCommandProcessor;
|
||||
#else
|
||||
#include "SharedMemoryCommandProcessor.h"
|
||||
typedef SharedMemoryCommandProcessor MyCommandProcessor;
|
||||
#endif //NO_SHARED_MEMORY
|
||||
|
||||
#include "SharedMemoryCommands.h"
|
||||
#include "Bullet3Common/b3AlignedObjectArray.h"
|
||||
#include "PhysicsServerCommandProcessor.h"
|
||||
#include "../Utils/b3Clock.h"
|
||||
|
||||
bool gVerboseNetworkMessagesServer = false;
|
||||
|
||||
void MySerializeInt(unsigned int sz, unsigned char* output)
|
||||
{
|
||||
unsigned int tmp = sz;
|
||||
output[0] = tmp & 255;
|
||||
tmp = tmp >> 8;
|
||||
output[1] = tmp & 255;
|
||||
tmp = tmp >> 8;
|
||||
output[2] = tmp & 255;
|
||||
tmp = tmp >> 8;
|
||||
output[3] = tmp & 255;
|
||||
}
|
||||
|
||||
int main(int argc, char* argv[])
|
||||
{
|
||||
b3CommandLineArgs parseArgs(argc, argv);
|
||||
b3Clock clock;
|
||||
double timeOutInSeconds = 10;
|
||||
|
||||
DummyGUIHelper guiHelper;
|
||||
MyCommandProcessor* sm = new MyCommandProcessor;
|
||||
sm->setGuiHelper(&guiHelper);
|
||||
|
||||
int port = 1234;
|
||||
if (parseArgs.GetCmdLineArgument("port", port))
|
||||
{
|
||||
printf("Using UDP port %d\n", port);
|
||||
}
|
||||
|
||||
gVerboseNetworkMessagesServer = parseArgs.CheckCmdLineFlag("verbose");
|
||||
|
||||
#ifndef NO_SHARED_MEMORY
|
||||
int key = 0;
|
||||
if (parseArgs.GetCmdLineArgument("sharedMemoryKey", key))
|
||||
{
|
||||
sm->setSharedMemoryKey(key);
|
||||
}
|
||||
#endif //NO_SHARED_MEMORY
|
||||
|
||||
// PhysicsDirect* sm = new PhysicsDirect(sdk);
|
||||
|
||||
//PhysicsClientSharedMemory* sm = new PhysicsClientSharedMemory();
|
||||
|
||||
bool isPhysicsClientConnected = sm->connect();
|
||||
|
||||
if (isPhysicsClientConnected)
|
||||
{
|
||||
ENetAddress address;
|
||||
ENetHost* server;
|
||||
ENetEvent event;
|
||||
int serviceResult;
|
||||
|
||||
puts("Starting server");
|
||||
|
||||
if (enet_initialize() != 0)
|
||||
{
|
||||
puts("Error initialising enet");
|
||||
exit(EXIT_FAILURE);
|
||||
}
|
||||
|
||||
/* Bind the server to the default localhost. */
|
||||
/* A specific host address can be specified by */
|
||||
/* enet_address_set_host (& address, "x.x.x.x"); */
|
||||
address.host = ENET_HOST_ANY;
|
||||
/* Bind the server to port 1234. */
|
||||
address.port = port;
|
||||
|
||||
server = enet_host_create(&address,
|
||||
32, /* number of clients */
|
||||
2, /* number of channels */
|
||||
0, /* Any incoming bandwith */
|
||||
0); /* Any outgoing bandwith */
|
||||
|
||||
if (server == NULL)
|
||||
{
|
||||
puts("Could not create server host");
|
||||
exit(EXIT_FAILURE);
|
||||
}
|
||||
|
||||
while (true)
|
||||
{
|
||||
b3Clock::usleep(0);
|
||||
|
||||
serviceResult = 1;
|
||||
|
||||
/* Keep doing host_service until no events are left */
|
||||
while (serviceResult > 0)
|
||||
{
|
||||
/* Wait up to 1000 milliseconds for an event. */
|
||||
serviceResult = enet_host_service(server, &event, 0);
|
||||
if (serviceResult > 0)
|
||||
{
|
||||
switch (event.type)
|
||||
{
|
||||
case ENET_EVENT_TYPE_CONNECT:
|
||||
{
|
||||
printf("A new client connected from %x:%u.\n",
|
||||
event.peer->address.host,
|
||||
event.peer->address.port);
|
||||
|
||||
/* Store any relevant client information here. */
|
||||
event.peer->data = (void*)"Client information";
|
||||
|
||||
break;
|
||||
}
|
||||
case ENET_EVENT_TYPE_RECEIVE:
|
||||
{
|
||||
if (gVerboseNetworkMessagesServer)
|
||||
{
|
||||
int dataLen = (int)event.packet->dataLength;
|
||||
|
||||
printf(
|
||||
"A packet of length %u containing '%s' was "
|
||||
"received from %s on channel %u.\n",
|
||||
dataLen,
|
||||
event.packet->data,
|
||||
event.peer->data,
|
||||
event.channelID);
|
||||
}
|
||||
SharedMemoryCommand cmd;
|
||||
|
||||
SharedMemoryCommand* cmdPtr = 0;
|
||||
|
||||
//performance test
|
||||
if (event.packet->dataLength == sizeof(int))
|
||||
{
|
||||
cmdPtr = &cmd;
|
||||
cmd.m_type = *(int*)event.packet->data;
|
||||
}
|
||||
|
||||
if (event.packet->dataLength == sizeof(SharedMemoryCommand))
|
||||
{
|
||||
cmdPtr = (SharedMemoryCommand*)event.packet->data;
|
||||
}
|
||||
if (cmdPtr)
|
||||
{
|
||||
SharedMemoryStatus serverStatus;
|
||||
b3AlignedObjectArray<char> buffer;
|
||||
buffer.resize(SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
|
||||
|
||||
bool hasStatus = sm->processCommand(*cmdPtr, serverStatus, &buffer[0], buffer.size());
|
||||
|
||||
double startTimeSeconds = clock.getTimeInSeconds();
|
||||
double curTimeSeconds = clock.getTimeInSeconds();
|
||||
|
||||
while ((!hasStatus) && ((curTimeSeconds - startTimeSeconds) < timeOutInSeconds))
|
||||
{
|
||||
hasStatus = sm->receiveStatus(serverStatus, &buffer[0], buffer.size());
|
||||
curTimeSeconds = clock.getTimeInSeconds();
|
||||
}
|
||||
if (gVerboseNetworkMessagesServer)
|
||||
{
|
||||
printf("buffer.size = %d\n", buffer.size());
|
||||
printf("serverStatus.m_numDataStreamBytes = %d\n", serverStatus.m_numDataStreamBytes);
|
||||
}
|
||||
if (hasStatus)
|
||||
{
|
||||
b3AlignedObjectArray<unsigned char> packetData;
|
||||
unsigned char* statBytes = (unsigned char*)&serverStatus;
|
||||
|
||||
if (cmdPtr->m_type == CMD_STEP_FORWARD_SIMULATION)
|
||||
{
|
||||
packetData.resize(4 + sizeof(int));
|
||||
int sz = packetData.size();
|
||||
int curPos = 0;
|
||||
|
||||
MySerializeInt(sz, &packetData[curPos]);
|
||||
curPos += 4;
|
||||
for (int i = 0; i < sizeof(int); i++)
|
||||
{
|
||||
packetData[i + curPos] = statBytes[i];
|
||||
}
|
||||
curPos += sizeof(int);
|
||||
ENetPacket* packet = enet_packet_create(&packetData[0], packetData.size(), ENET_PACKET_FLAG_RELIABLE);
|
||||
enet_peer_send(event.peer, 0, packet);
|
||||
}
|
||||
else
|
||||
{
|
||||
//create packetData with [int packetSizeInBytes, status, streamBytes)
|
||||
packetData.resize(4 + sizeof(SharedMemoryStatus) + serverStatus.m_numDataStreamBytes);
|
||||
int sz = packetData.size();
|
||||
int curPos = 0;
|
||||
|
||||
MySerializeInt(sz, &packetData[curPos]);
|
||||
curPos += 4;
|
||||
for (int i = 0; i < sizeof(SharedMemoryStatus); i++)
|
||||
{
|
||||
packetData[i + curPos] = statBytes[i];
|
||||
}
|
||||
curPos += sizeof(SharedMemoryStatus);
|
||||
|
||||
for (int i = 0; i < serverStatus.m_numDataStreamBytes; i++)
|
||||
{
|
||||
packetData[i + curPos] = buffer[i];
|
||||
}
|
||||
|
||||
ENetPacket* packet = enet_packet_create(&packetData[0], packetData.size(), ENET_PACKET_FLAG_RELIABLE);
|
||||
enet_peer_send(event.peer, 0, packet);
|
||||
//enet_host_broadcast(server, 0, packet);
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("received packet with unknown contents\n");
|
||||
}
|
||||
|
||||
/* Tell all clients about this message */
|
||||
//enet_host_broadcast(server, 0, event.packet);
|
||||
|
||||
break;
|
||||
}
|
||||
case ENET_EVENT_TYPE_DISCONNECT:
|
||||
{
|
||||
printf("%s disconnected.\n", event.peer->data);
|
||||
|
||||
/* Reset the peer's client information. */
|
||||
|
||||
event.peer->data = NULL;
|
||||
|
||||
break;
|
||||
}
|
||||
default:
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
else if (serviceResult > 0)
|
||||
{
|
||||
puts("Error with servicing the server");
|
||||
exit(EXIT_FAILURE);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
enet_host_destroy(server);
|
||||
enet_deinitialize();
|
||||
}
|
||||
delete sm;
|
||||
|
||||
return 0;
|
||||
}
|
||||
144
Engine/lib/bullet/examples/SharedMemory/udp/premake4.lua
Normal file
144
Engine/lib/bullet/examples/SharedMemory/udp/premake4.lua
Normal file
|
|
@ -0,0 +1,144 @@
|
|||
|
||||
project ("App_PhysicsServerSharedMemoryBridgeUDP")
|
||||
|
||||
language "C++"
|
||||
|
||||
kind "ConsoleApp"
|
||||
|
||||
includedirs {"../../ThirdPartyLibs/enet/include","../../../src",".."}
|
||||
|
||||
if os.is("Windows") then
|
||||
defines { "WIN32" }
|
||||
|
||||
|
||||
links {"Ws2_32","Winmm"}
|
||||
end
|
||||
if os.is("Linux") then
|
||||
links{"dl"}
|
||||
end
|
||||
if os.is("MacOSX") then
|
||||
end
|
||||
|
||||
|
||||
links {
|
||||
"enet",
|
||||
"BulletFileLoader",
|
||||
"Bullet3Common",
|
||||
"LinearMath"
|
||||
}
|
||||
|
||||
files {
|
||||
"main.cpp",
|
||||
"../PhysicsClient.cpp",
|
||||
"../PhysicsClient.h",
|
||||
"../PhysicsDirect.cpp",
|
||||
"../PhysicsDirect.h",
|
||||
"../PhysicsCommandProcessorInterface.h",
|
||||
"../SharedMemoryCommandProcessor.cpp",
|
||||
"../SharedMemoryCommandProcessor.h",
|
||||
"../PhysicsClientC_API.cpp",
|
||||
"../PhysicsClientC_API.h",
|
||||
"../Win32SharedMemory.cpp",
|
||||
"../Win32SharedMemory.h",
|
||||
"../PosixSharedMemory.cpp",
|
||||
"../PosixSharedMemory.h",
|
||||
"../../Utils/b3ResourcePath.cpp",
|
||||
"../../Utils/b3ResourcePath.h",
|
||||
"../../Utils/b3Clock.cpp",
|
||||
"../../Utils/b3Clock.h",
|
||||
}
|
||||
|
||||
|
||||
project "App_PhysicsServerUDP"
|
||||
|
||||
if _OPTIONS["ios"] then
|
||||
kind "WindowedApp"
|
||||
else
|
||||
kind "ConsoleApp"
|
||||
end
|
||||
|
||||
defines { "NO_SHARED_MEMORY" }
|
||||
|
||||
includedirs {"..","../../../src", "../../ThirdPartyLibs","../../ThirdPartyLibs/enet/include"}
|
||||
|
||||
links {
|
||||
"enet","Bullet3Common","BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletSoftBody", "BulletDynamics","BulletCollision", "LinearMath", "BussIK"
|
||||
}
|
||||
|
||||
if os.is("Windows") then
|
||||
defines { "WIN32" }
|
||||
links {"Ws2_32","Winmm"}
|
||||
end
|
||||
if os.is("Linux") then
|
||||
links{"dl"}
|
||||
end
|
||||
|
||||
language "C++"
|
||||
|
||||
myfiles =
|
||||
{
|
||||
"../plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
|
||||
"../plugins/pdControlPlugin/pdControlPlugin.cpp",
|
||||
"../plugins/pdControlPlugin/pdControlPlugin.h",
|
||||
"../b3RobotSimulatorClientAPI_NoDirect.cpp",
|
||||
"../b3RobotSimulatorClientAPI_NoDirect.h",
|
||||
"../IKTrajectoryHelper.cpp",
|
||||
"../IKTrajectoryHelper.h",
|
||||
"../SharedMemoryCommands.h",
|
||||
"../SharedMemoryPublic.h",
|
||||
"../PhysicsServerCommandProcessor.cpp",
|
||||
"../PhysicsServerCommandProcessor.h",
|
||||
"../b3PluginManager.cpp",
|
||||
"../PhysicsDirect.cpp",
|
||||
"../PhysicsClientC_API.cpp",
|
||||
"../PhysicsClient.cpp",
|
||||
"../plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
|
||||
"../plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
|
||||
"../../TinyRenderer/geometry.cpp",
|
||||
"../../TinyRenderer/model.cpp",
|
||||
"../../TinyRenderer/tgaimage.cpp",
|
||||
"../../TinyRenderer/our_gl.cpp",
|
||||
"../../TinyRenderer/TinyRenderer.cpp",
|
||||
"../../OpenGLWindow/SimpleCamera.cpp",
|
||||
"../../OpenGLWindow/SimpleCamera.h",
|
||||
"../../Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h",
|
||||
"../../Importers/ImportURDFDemo/MultiBodyCreationInterface.h",
|
||||
"../../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
|
||||
"../../Importers/ImportURDFDemo/MyMultiBodyCreator.h",
|
||||
"../../Importers/ImportMJCFDemo/BulletMJCFImporter.cpp",
|
||||
"../../Importers/ImportMJCFDemo/BulletMJCFImporter.h",
|
||||
"../../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
|
||||
"../../Importers/ImportURDFDemo/BulletUrdfImporter.h",
|
||||
"../../Importers/ImportURDFDemo/UrdfParser.cpp",
|
||||
"../../Importers/ImportURDFDemo/urdfStringSplit.cpp",
|
||||
"../../Importers/ImportURDFDemo/UrdfParser.cpp",
|
||||
"../../Importers/ImportURDFDemo/UrdfParser.h",
|
||||
"../../Importers/ImportURDFDemo/URDF2Bullet.cpp",
|
||||
"../../Importers/ImportURDFDemo/URDF2Bullet.h",
|
||||
"../../Utils/b3ResourcePath.cpp",
|
||||
"../../Utils/b3Clock.cpp",
|
||||
"../../Utils/ChromeTraceUtil.cpp",
|
||||
"../../Utils/ChromeTraceUtil.h",
|
||||
"../../Utils/RobotLoggingUtil.cpp",
|
||||
"../../Utils/RobotLoggingUtil.h",
|
||||
"../../../Extras/Serialize/BulletWorldImporter/*",
|
||||
"../../../Extras/Serialize/BulletFileLoader/*",
|
||||
"../../Importers/ImportURDFDemo/URDFImporterInterface.h",
|
||||
"../../Importers/ImportURDFDemo/URDFJointTypes.h",
|
||||
"../../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
|
||||
"../../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
|
||||
"../../Importers/ImportSTLDemo/ImportSTLSetup.h",
|
||||
"../../Importers/ImportSTLDemo/LoadMeshFromSTL.h",
|
||||
"../../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
|
||||
"../../Importers/ImportColladaDemo/ColladaGraphicsInstance.h",
|
||||
"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
|
||||
"../../ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
|
||||
"../../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
|
||||
"../../ThirdPartyLibs/stb_image/stb_image.cpp",
|
||||
}
|
||||
|
||||
files {
|
||||
myfiles,
|
||||
"main.cpp",
|
||||
}
|
||||
|
||||
Loading…
Add table
Add a link
Reference in a new issue