1 | #include "RemoteGui.h" |
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2 | #include <BulletCollision/CollisionShapes/btShapeHull.h> |
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3 | |
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4 | RemoteGui::RemoteGui(Environment *env) |
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5 | : Gui(env), m_addCounter(0) |
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6 | { |
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7 | m_dynamicsWorld = env->getDynamicsWorld(); |
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8 | } |
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9 | |
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10 | RemoteGui::~RemoteGui() |
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11 | { |
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12 | } |
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13 | |
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14 | void RemoteGui::init(int port) |
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15 | { |
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16 | printf("Initializing remote gui...\n"); |
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17 | |
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18 | struct sockaddr_in serv_addr; |
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19 | |
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20 | sockfd = socket(AF_INET, SOCK_STREAM, 0); |
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21 | |
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22 | memset((char *) &serv_addr, 0, sizeof(serv_addr)); |
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23 | serv_addr.sin_family = AF_INET; |
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24 | serv_addr.sin_addr.s_addr = INADDR_ANY; // foloseste adresa IP a masinii |
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25 | serv_addr.sin_port = htons(port); |
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26 | |
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27 | if (bind(sockfd, (struct sockaddr *) &serv_addr, sizeof(struct sockaddr)) < 0) { |
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28 | printf("Error binding!\n"); |
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29 | exit(0); |
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30 | } |
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31 | } |
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32 | |
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33 | int RemoteGui::equal(guiUpdateData *e1, guiUpdateData *e2) |
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34 | { |
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35 | for (int i = 0; i < 16; ++ i) { |
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36 | if (e1->m[i] != e2->m[i]) |
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37 | return 0; |
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38 | } |
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39 | |
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40 | if (e1->aabbMin != e2->aabbMin) |
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41 | return 0; |
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42 | |
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43 | if (e1->aabbMax != e2->aabbMax) |
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44 | return 0; |
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45 | |
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46 | for (int i = 0; i < 3; ++ i) { |
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47 | for (int j = 0; j < 3; ++ j) { |
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48 | if (e1->rot[i][j] != e2->rot[i][j]) |
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49 | return 0; |
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50 | } |
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51 | } |
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52 | |
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53 | // if (e1->rot != e2->rot) |
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54 | // return 0; |
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55 | |
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56 | return 1; |
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57 | } |
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58 | |
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59 | //int RemoteGui::getGuiData(guiData **gd_out) |
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60 | int RemoteGui::getGuiData(map<void *, guiAddData *> &addObjects, map<void *, guiUpdateData *> &updateObjects, vector<int> &removeObjects) |
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61 | { |
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62 | int numObjects = m_dynamicsWorld->getNumCollisionObjects(); |
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63 | |
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64 | // guiData *gd = new guiData[numObjects]; |
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65 | |
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66 | // temp map - created to test for removed objects |
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67 | map<void *, guiUpdateData *> temp; |
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68 | |
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69 | // getchar(); |
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70 | for (int i = 0; i < numObjects; ++ i) |
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71 | { |
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72 | guiUpdateData *elem = new guiUpdateData; |
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73 | |
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74 | btCollisionObject *colObj = m_dynamicsWorld->getCollisionObjectArray()[i]; |
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75 | btRigidBody *body = btRigidBody::upcast(colObj); |
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76 | if(body && body->getMotionState()) |
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77 | { |
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78 | btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState(); |
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79 | myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(elem->m); |
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80 | elem->rot = myMotionState->m_graphicsWorldTrans.getBasis(); |
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81 | } |
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82 | else |
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83 | { |
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84 | colObj->getWorldTransform().getOpenGLMatrix(elem->m); |
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85 | elem->rot = colObj->getWorldTransform().getBasis(); |
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86 | } |
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87 | |
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88 | m_dynamicsWorld->getBroadphase()->getBroadphaseAabb(elem->aabbMin, elem->aabbMax); |
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89 | |
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90 | map<void *, guiUpdateData *>::iterator it = m_cache.find((void *) colObj); |
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91 | |
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92 | // check for new or updated objects |
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93 | if (it == m_cache.end()) { |
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94 | // add new object |
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95 | guiAddData *addElem = new guiAddData; |
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96 | |
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97 | addElem->id = m_addCounter; |
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98 | elem->id = m_addCounter ++; |
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99 | |
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100 | // printf("[%d %d]\n", addElem->id, elem->id); |
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101 | |
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102 | btShapeHull *hull = new btShapeHull((btConvexShape *) colObj->getCollisionShape()); |
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103 | hull->buildHull(colObj->getCollisionShape()->getMargin()); |
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104 | addElem->numIndices = hull->numIndices(); |
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105 | addElem->numVertices = hull->numVertices(); |
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106 | addElem->indexPointer = (int *) hull->getIndexPointer(); |
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107 | addElem->vertexPointer = (btVector3 *) hull->getVertexPointer(); |
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108 | |
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109 | // printf("[%d %d %d %d %f]\n", addElem->id, addElem->numIndices, addElem->indexPointer[0], addElem->numIndices, addElem->vertexPointer[0]); |
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110 | // printf("[%d %d %d]\n", addElem->id, addElem->numIndices, addElem->numIndices); |
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111 | printf("[%d %d %d]\n", addElem->id, hull->numIndices(), hull->numVertices()); |
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112 | |
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113 | addObjects[colObj] = addElem; |
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114 | |
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115 | m_cache[colObj] = elem; |
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116 | |
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117 | updateObjects[colObj] = elem; |
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118 | // printf("%p\n", m_dynamicsWorld->getCollisionObjectArray()[i]); |
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119 | } else { |
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120 | // update existing object |
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121 | if (!equal(it->second, elem)) { |
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122 | updateObjects[colObj] = elem; |
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123 | delete m_cache[colObj]; |
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124 | m_cache[colObj] = elem; |
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125 | } |
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126 | } |
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127 | |
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128 | temp[colObj] = elem; |
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129 | } |
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130 | |
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131 | // check for removed objects |
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132 | map<void *, guiUpdateData *>::iterator it = m_cache.begin(); |
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133 | while (it != m_cache.end()) { |
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134 | if (temp.find(it->first) == temp.end()) { |
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135 | removeObjects.push_back((*it).second->id); |
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136 | } |
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137 | ++ it; |
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138 | } |
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139 | |
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140 | // *gd_out = gd; |
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141 | |
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142 | return numObjects; |
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143 | } |
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144 | |
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145 | void RemoteGui::sendData(int sock, const void *buffer, size_t size) |
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146 | { |
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147 | size_t total; |
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148 | int ret; |
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149 | |
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150 | for (total = 0; total < size; total += ret) { |
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151 | ret = send(sock, (char *) buffer + total, size - total, 0); |
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152 | // printf("ret = %d\n", ret); |
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153 | if (ret <= 0) { |
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154 | perror("send"); |
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155 | exit(-1); |
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156 | } |
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157 | } |
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158 | } |
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159 | |
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160 | float* RemoteGui::packScalar(btScalar s, void *buffer) |
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161 | { |
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162 | float *buff = (float *) buffer; |
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163 | |
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164 | *buff ++ = s; |
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165 | |
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166 | return buff; |
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167 | } |
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168 | |
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169 | float* RemoteGui::packVector3(btVector3 v, void *buffer) |
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170 | { |
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171 | float *buff = (float *) buffer; |
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172 | |
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173 | buff = packScalar(v.getX(), buff); |
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174 | buff = packScalar(v.getY(), buff); |
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175 | buff = packScalar(v.getZ(), buff); |
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176 | |
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177 | return buff; |
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178 | } |
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179 | |
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180 | float* RemoteGui::packMatrix3x3(btMatrix3x3 m, void *buffer) |
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181 | { |
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182 | float *buff = (float *) buffer; |
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183 | |
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184 | for (int i = 0; i < 3; ++ i) { |
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185 | buff = packVector3(m[i], buff); |
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186 | } |
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187 | |
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188 | return buff; |
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189 | } |
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190 | |
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191 | int * RemoteGui::packInt(int i, void *buffer) |
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192 | { |
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193 | int *buff = (int *) buffer; |
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194 | |
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195 | *buff ++ = i; |
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196 | |
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197 | return buff; |
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198 | } |
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199 | |
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200 | void* RemoteGui::packGuiData(guiUpdateData *gd, void *buff) |
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201 | { |
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202 | // add id |
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203 | buff = packInt(gd->id, buff); |
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204 | |
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205 | // add btScalar vector |
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206 | char *p = (char *) buff; |
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207 | for (int i = 0; i < 16; ++ i) { |
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208 | buff = packScalar(gd->m[i], buff); |
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209 | } |
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210 | for (int i = 0; i < 16; i++) { |
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211 | printf("ZZZZZZZZZZ: i=%d: %f\n", i, *(float*)(p+sizeof(float)*i)); |
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212 | } |
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213 | |
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214 | // add rot |
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215 | buff = packMatrix3x3(gd->rot, buff); |
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216 | |
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217 | // add aabbMin |
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218 | buff = packVector3(gd->aabbMin, buff); |
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219 | |
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220 | // add aabbMax |
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221 | buff = packVector3(gd->aabbMax, buff); |
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222 | |
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223 | return buff; |
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224 | } |
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225 | |
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226 | int RemoteGui::packAddData(map<void *, guiAddData *> addObjects, void **buffer) |
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227 | { |
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228 | // printf("Packing add data!\n"); |
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229 | void *temp, *buff; |
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230 | int i; |
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231 | |
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232 | map<void *, guiAddData *>::iterator it = addObjects.begin(); |
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233 | |
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234 | int size = 0; |
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235 | |
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236 | for ( ; it != addObjects.end(); it ++) { |
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237 | guiAddData *obj = (*it).second; |
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238 | |
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239 | size += sizeof(int); |
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240 | size += sizeof(int); |
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241 | size += sizeof(int) * obj->numIndices; |
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242 | size += sizeof(int); |
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243 | size += sizeof(float) * 3 * obj->numVertices; |
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244 | } |
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245 | |
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246 | buff = new char [size]; |
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247 | temp = buff; |
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248 | |
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249 | it = addObjects.begin(); |
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250 | for ( ; it != addObjects.end(); it ++) { |
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251 | guiAddData *obj = (*it).second; |
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252 | |
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253 | // add id |
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254 | temp = packInt(obj->id, temp); |
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255 | // printf("packing: obj->id = %d\n", obj->id); |
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256 | |
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257 | // add indexPointer |
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258 | temp = packInt(obj->numIndices, temp); |
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259 | for (i = 0; i < obj->numIndices; ++ i) { |
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260 | temp = packInt(obj->indexPointer[i], temp); |
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261 | } |
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262 | |
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263 | // add vertexPointer |
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264 | temp = packInt(obj->numVertices, temp); |
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265 | for (i = 0; i < obj->numVertices; ++ i) { |
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266 | temp = packVector3(obj->vertexPointer[i], temp); |
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267 | } |
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268 | } |
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269 | |
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270 | *buffer = buff; |
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271 | |
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272 | return size; |
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273 | } |
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274 | |
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275 | int RemoteGui::packUpdateData(map<void *, guiUpdateData *> updateObjects, void **buffer) |
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276 | { |
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277 | void *temp, *buff; |
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278 | |
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279 | map<void *, guiUpdateData *>::iterator it = updateObjects.begin(); |
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280 | |
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281 | int size = 0; |
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282 | |
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283 | for ( ; it != updateObjects.end(); it ++) { |
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284 | size += sizeof(int) + sizeof(float) * (16 + 9 + 3 + 3); |
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285 | } |
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286 | |
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287 | buff = new char [size]; |
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288 | temp = buff; |
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289 | |
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290 | it = updateObjects.begin(); |
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291 | for ( ; it != updateObjects.end(); it ++) { |
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292 | guiUpdateData *obj = (*it).second; |
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293 | temp = packGuiData(obj, temp); |
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294 | } |
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295 | |
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296 | *buffer = buff; |
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297 | |
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298 | return size; |
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299 | } |
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300 | |
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301 | int RemoteGui::packRemoveData(vector<int> removeObjects, void **buffer) |
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302 | { |
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303 | void *temp, *buff; |
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304 | |
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305 | vector<int>::iterator it = removeObjects.begin(); |
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306 | |
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307 | int size = sizeof(int) * removeObjects.size(); |
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308 | |
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309 | buff = new int[size]; |
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310 | temp = buff; |
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311 | |
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312 | for ( ; it != removeObjects.end(); it ++) { |
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313 | temp = packInt((*it), temp); |
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314 | } |
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315 | |
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316 | *buffer = buff; |
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317 | |
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318 | return size; |
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319 | } |
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320 | |
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321 | void RemoteGui::run() |
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322 | { |
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323 | printf("Running remote gui...\n"); |
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324 | |
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325 | int n; |
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326 | // char buffer[256]; |
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327 | map<void *, guiAddData *> addObjects; |
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328 | map<void *, guiUpdateData *> updateObjects; |
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329 | vector<int> removeObjects; |
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330 | |
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331 | struct sockaddr_in cli_addr; |
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332 | |
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333 | listen(sockfd, MAX_CLIENTS); |
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334 | |
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335 | int clilen = sizeof(struct sockaddr_in); |
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336 | int newsockfd = accept(sockfd, |
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337 | (struct sockaddr *) &cli_addr, |
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338 | (socklen_t *) &clilen); |
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339 | |
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340 | if (newsockfd < 0) { |
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341 | printf("Error accepting connection!\n"); |
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342 | exit(0); |
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343 | } |
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344 | |
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345 | n = send(newsockfd, SERVER_BANNER, strlen(SERVER_BANNER), 0); |
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346 | if (n < 0) { |
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347 | printf("Error writing to socket\n"); |
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348 | exit(0); |
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349 | } |
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350 | |
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351 | while (1) { |
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352 | char q; |
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353 | |
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354 | n = recv(newsockfd, (void*) &q, 1, 0); |
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355 | if (n < 0) { |
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356 | printf("Error reading from socket\n"); |
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357 | exit(0); |
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358 | } |
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359 | |
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360 | if (n == 0) { |
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361 | printf("Client left \n"); |
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362 | break; |
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363 | } |
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364 | |
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365 | addObjects.clear(); |
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366 | updateObjects.clear(); |
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367 | removeObjects.clear(); |
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368 | n = getGuiData(addObjects, updateObjects, removeObjects); |
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369 | |
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370 | void *buff; |
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371 | |
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372 | n = addObjects.size(); |
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373 | sendData(newsockfd, (const void *) &n, sizeof(int)); |
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374 | int sizeAddData = packAddData(addObjects, &buff); |
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375 | sendData(newsockfd, (const void *) &sizeAddData, sizeof(int)); |
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376 | sendData(newsockfd, (const void *) buff, sizeAddData); |
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377 | delete [] (char *) buff; |
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378 | |
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379 | n = updateObjects.size(); |
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380 | sendData(newsockfd, (const void *) &n, sizeof(int)); |
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381 | int sizeUpdateData = packUpdateData(updateObjects, &buff); |
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382 | sendData(newsockfd, (const void *) &sizeUpdateData, sizeof(int)); |
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383 | sendData(newsockfd, (const void *) buff, sizeUpdateData); |
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384 | delete [] (char *) buff; |
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385 | |
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386 | n = removeObjects.size(); |
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387 | sendData(newsockfd, (const void *) &n, sizeof(int)); |
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388 | int sizeRemoveData = packRemoveData(removeObjects, &buff); |
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389 | sendData(newsockfd, (const void *) &sizeRemoveData, sizeof(int)); |
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390 | sendData(newsockfd, (const void *) buff, sizeRemoveData); |
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391 | delete [] (int *) buff; |
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392 | |
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393 | printf("Sent data!\n"); |
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394 | |
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395 | m_dynamicsWorld->stepSimulation(0.1); |
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396 | |
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397 | } |
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398 | |
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399 | close(sockfd); |
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400 | close(newsockfd); |
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401 | } |
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