[167] | 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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