redgpu/bullet: Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.

examples/SharedMemory/GraphicsServerExample.cpp
975 строк27 KB
Erwin Coumans
add pybullet.unsupportedChangeScaling feature for some small experiments, this is not general and has many limitations that are not likely are going to be resolved,
17 май 2020, 23:46
17 май 2020, 23:46754dbd5

#include "GraphicsServerExample.h"
#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
#include "../CommonInterfaces/CommonRenderInterface.h"
#include "PosixSharedMemory.h"
#include "Win32SharedMemory.h"
#include "../CommonInterfaces/CommonExampleInterface.h"
#include "LinearMath/btTransform.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "GraphicsSharedMemoryBlock.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "SharedMemoryPublic.h"
#include "../MultiThreading/b3ThreadSupportInterface.h"
#include "../Utils/b3Clock.h"

#ifdef BT_ENABLE_CLSOCKET

#include "PassiveSocket.h"  // Include header for active socket object definition
#include <stdio.h>
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "Bullet3Common/b3CommandLineArgs.h"
#include "RemoteGUIHelper.h"
#include "GraphicsSharedMemoryPublic.h"
#include "GraphicsSharedMemoryCommands.h"


bool gVerboseNetworkMessagesServer = true;

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;
}

void submitStatus(CActiveSocket* pClient, GraphicsSharedMemoryStatus& serverStatus, b3AlignedObjectArray<char>& buffer)
{
	b3AlignedObjectArray<unsigned char> packetData;
	unsigned char* statBytes = (unsigned char*)&serverStatus;


	//create packetData with [int packetSizeInBytes, status, streamBytes)
	packetData.resize(4 + sizeof(GraphicsSharedMemoryStatus) + serverStatus.m_numDataStreamBytes);
	int sz = packetData.size();
	int curPos = 0;

	if (gVerboseNetworkMessagesServer)
	{
		printf("buffer.size = %d\n", buffer.size());
		printf("serverStatus packed size = %d\n", sz);
	}

	MySerializeInt(sz, &packetData[curPos]);
	curPos += 4;
	for (int i = 0; i < sizeof(GraphicsSharedMemoryStatus); i++)
	{
		packetData[i + curPos] = statBytes[i];
	}
	curPos += sizeof(GraphicsSharedMemoryStatus);
	if (gVerboseNetworkMessagesServer)
   	 printf("serverStatus.m_numDataStreamBytes=%d\n", serverStatus.m_numDataStreamBytes);
	for (int i = 0; i < serverStatus.m_numDataStreamBytes; i++)
	{
		packetData[i + curPos] = buffer[i];
	}

	pClient->Send(&packetData[0], packetData.size());
	if (gVerboseNetworkMessagesServer)
		printf("pClient->Send serverStatus: %d\n", packetData.size());
}


#endif //BT_ENABLE_CLSOCKET


#define MAX_GRAPHICS_SHARED_MEMORY_BLOCKS 1


struct TCPArgs
{
	TCPArgs()
		: m_cs(0),
		m_port(6667),
		m_numClientCommands(0),
		m_numServerCommands(0),
		m_cmdPtr(0)
	{
		m_dataSlots.resize(10);
	}
	
	void submitCommand()
	{
		m_cs->lock();
		m_serverStatus.m_type = GFX_CMD_CLIENT_COMMAND_FAILED;
		m_serverStatus.m_numDataStreamBytes = 0;
		btAssert(m_numServerCommands == m_numClientCommands);
		m_numClientCommands++;
		m_cs->unlock();
	}
	void processCommand()
	{
		m_cs->lock();
		btAssert(m_numServerCommands == (m_numClientCommands - 1));
		m_numServerCommands++;
		m_cs->unlock();
	}
	bool isCommandOutstanding()
	{
		m_cs->lock();
		bool result = m_numClientCommands > m_numServerCommands;
		m_cs->unlock();
		return result;
	}


	b3CriticalSection* m_cs;
	int m_port;
	b3AlignedObjectArray< b3AlignedObjectArray<unsigned char> > m_dataSlots;
	int m_numClientCommands;
	int m_numServerCommands;
	GraphicsSharedMemoryCommand* m_cmdPtr;
	GraphicsSharedMemoryStatus m_serverStatus;
};

struct TCPThreadLocalStorage
{
	int threadId;
};


enum TCPCommunicationEnums
{
	eTCPRequestTerminate = 11,
	eTCPIsUnInitialized,
	eTCPIsInitialized,
	eTCPInitializationFailed,
	eTCPHasTerminated
};

void TCPThreadFunc(void* userPtr, void* lsMemory)
{
	printf("TCPThreadFunc thread started\n");

	TCPArgs* args = (TCPArgs*)userPtr;
	//int workLeft = true;
	b3Clock clock;
	clock.reset();
	b3Clock sleepClock;
	bool init = true;
	if (init)
	{
		unsigned int cachedSharedParam = eTCPIsInitialized;

		args->m_cs->lock();
		args->m_cs->setSharedParam(0, eTCPIsInitialized);
		args->m_cs->unlock();

		double deltaTimeInSeconds = 0;
		int numCmdSinceSleep1ms = 0;
		unsigned long long int prevTime = clock.getTimeMicroseconds();

#ifdef BT_ENABLE_CLSOCKET
		b3Clock clock;
		double timeOutInSeconds = 10;

		
		bool isPhysicsClientConnected = true;
		bool exitRequested = false;

		
		if (!isPhysicsClientConnected)
		{
			printf("TCP thread error connecting to shared memory. Machine needs a reboot?\n");
		}
		btAssert(isPhysicsClientConnected);
		
		printf("Starting TCP server using port %d\n", args->m_port);

		CPassiveSocket socket;
		CActiveSocket* pClient = NULL;

		//--------------------------------------------------------------------------
		// Initialize our socket object
		//--------------------------------------------------------------------------
		socket.Initialize();

		socket.Listen("localhost", args->m_port);

		socket.SetBlocking();

		int curNumErr = 0;

#endif

		do
		{
		  
			{
				b3Clock::usleep(0);
			}
			///////////////////////////////

#ifdef BT_ENABLE_CLSOCKET

			{
				b3Clock::usleep(0);

				if ((pClient = socket.Accept()) != NULL)
				{
					socket.SetReceiveTimeout(60, 0);// (1, 0);
					socket.SetSendTimeout(60, 0);

					b3AlignedObjectArray<char> bytesReceived;

					int clientPort = socket.GetClientPort();
					if (gVerboseNetworkMessagesServer)
						printf("connected from %s:%d\n", socket.GetClientAddr(), clientPort);

					if (pClient->Receive(4))
					{
						int clientKey = *(int*)pClient->GetData();

						if (clientKey == GRAPHICS_SHARED_MEMORY_MAGIC_NUMBER)
						{
							printf("Client version OK %d\n", clientKey);
						}
						else
						{
							printf("Server version (%d) mismatches Client Version (%d)\n", GRAPHICS_SHARED_MEMORY_MAGIC_NUMBER, clientKey);
							continue;
						}
					}

					//----------------------------------------------------------------------
					// Receive request from the client.
					//----------------------------------------------------------------------
					
					while (cachedSharedParam != eTCPRequestTerminate)
					{
						
						bool receivedData = false;

						int maxLen = 4 + sizeof(GraphicsSharedMemoryCommand) + GRAPHICS_SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE;
          
            
						if (pClient->Receive(maxLen))
						{
						  
							//heuristic to detect disconnected clients
							CSimpleSocket::CSocketError err = pClient->GetSocketError();

							if (err != CSimpleSocket::SocketSuccess || !pClient->IsSocketValid())
							{
								b3Clock::usleep(100);

								curNumErr++;

								if (curNumErr > 100)
								{
									///printf("TCP Connection error = %d, curNumErr = %d\n", (int)err, curNumErr);
									
								}
							}

							curNumErr = 0;
							char* msg2 = (char*)pClient->GetData();
							int numBytesRec2 = pClient->GetBytesReceived();
							if (gVerboseNetworkMessagesServer)
							  printf("numBytesRec2=%d\n", numBytesRec2);
							if (numBytesRec2 < 0)
							{
								numBytesRec2 = 0;
							}
							int curSize = bytesReceived.size();
							bytesReceived.resize(bytesReceived.size() + numBytesRec2);
							for (int i = 0; i < numBytesRec2; i++)
							{
								bytesReceived[curSize + i] = msg2[i];
							}

							if (bytesReceived.size() >= 4)
							{
								int numBytesRec = bytesReceived.size();
								if (numBytesRec >= 10)
								{
									if (strncmp(&bytesReceived[0], "disconnect", 10) == 0)
									{
										printf("Disconnect request received\n");
										bytesReceived.clear();
										break;
									}

										
								}

								if (gVerboseNetworkMessagesServer)
								{
									printf("received message length [%d]\n", numBytesRec);
								}

								receivedData = true;

								
								args->m_cmdPtr = 0;
								

								int type = *(int*)&bytesReceived[0];

								
								if (numBytesRec == sizeof(GraphicsSharedMemoryCommand))
								{
									args->m_cmdPtr = (GraphicsSharedMemoryCommand*)&bytesReceived[0];
								}
								
								if (args->m_cmdPtr)
								{
									
									b3AlignedObjectArray<char> buffer;
									buffer.resize(GRAPHICS_SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
									bool hasStatus = true;
									if (gVerboseNetworkMessagesServer)
										printf("processing command:");
									switch (args->m_cmdPtr->m_type)
									{
									case GFX_CMD_0:
									{
										int axis = args->m_cmdPtr->m_upAxisYCommand.m_enableUpAxisY ? 1 : 2;
										args->submitCommand();
										while (args->isCommandOutstanding())
										{
											clock.usleep(0);
										}
										bool done = false;
										//guiHelper.setUpAxis(axis);

										
										if (gVerboseNetworkMessagesServer)
											printf("GFX_CMD_0\n");
										break;
									}

									case GFX_CMD_SET_VISUALIZER_FLAG:
									{
										args->submitCommand();
										while (args->isCommandOutstanding())
										{
											clock.usleep(0);
										}
										//guiHelper.setVisualizerFlag(
										//	args->m_cmdPtr->m_visualizerFlagCommand.m_visualizerFlag,
										//	args->m_cmdPtr->m_visualizerFlagCommand.m_enable);
										//serverStatus.m_type = GFX_CMD_CLIENT_COMMAND_COMPLETED;
										if (gVerboseNetworkMessagesServer)
											printf("GFX_CMD_SET_VISUALIZER_FLAG\n");
										break;
									}
									case GFX_CMD_UPLOAD_DATA:
									{
										int slot = args->m_cmdPtr->m_uploadDataCommand.m_dataSlot;

										int numBytes = args->m_cmdPtr->m_uploadDataCommand.m_numBytes;


										submitStatus(pClient, args->m_serverStatus, buffer);

										//now receive numBytes 
										if (gVerboseNetworkMessagesServer)
											printf("GFX_CMD_UPLOAD_DATA receiving data\n");
										int received = 0;
										int offset = 0;
										args->m_dataSlots[slot].resize(numBytes);
										while (received < numBytes)
										{
											if (pClient->Receive(args->m_cmdPtr->m_uploadDataCommand.m_numBytes))
											{
												//heuristic to detect disconnected clients
												CSimpleSocket::CSocketError err = pClient->GetSocketError();
												if (err != CSimpleSocket::SocketSuccess || !pClient->IsSocketValid())
												{
													curNumErr++;
													//printf("TCP Connection error = %d, curNumErr = %d\n", (int)err, curNumErr);
												}
												char* msg2 = (char*)pClient->GetData();
												int numBytesRec2 = pClient->GetBytesReceived();
												if (gVerboseNetworkMessagesServer)
													printf("received %d bytes (total=%d)\n", numBytesRec2, received);
												
												for (int i = 0; i < numBytesRec2; i++)
												{
													args->m_dataSlots[slot][i+ offset] = msg2[i];
												}
												offset += numBytesRec2;
												received += numBytesRec2;
											}
										}
										if (gVerboseNetworkMessagesServer)
											printf("received all bytes!\n");
										args->m_serverStatus.m_type = GFX_CMD_CLIENT_COMMAND_COMPLETED;
										if (gVerboseNetworkMessagesServer)
											printf("GFX_CMD_UPLOAD_DATA\n");
										break;
									}
									case GFX_CMD_REGISTER_TEXTURE:
									{
										args->submitCommand();
										while (args->isCommandOutstanding())
										{
											clock.usleep(0);
										}
										//const unsigned char* texels = (const unsigned char*)&args->m_dataSlots[0][0];
										//args->m_serverStatus.m_registerTextureStatus.m_textureId = guiHelper.registerTexture(texels, args->m_cmdPtr->m_registerTextureCommand.m_width,
										//	args->m_cmdPtr->m_registerTextureCommand.m_height);
										//serverStatus.m_type = GFX_CMD_REGISTER_TEXTURE_COMPLETED;
										if (gVerboseNetworkMessagesServer)
											printf("GFX_CMD_REGISTER_TEXTURE\n");
										break;
									}
									case GFX_CMD_REGISTER_GRAPHICS_SHAPE:
									{
										args->submitCommand();
										while (args->isCommandOutstanding())
										{
											clock.usleep(0);
										}
										if (gVerboseNetworkMessagesServer)
											printf("GFX_CMD_REGISTER_GRAPHICS_SHAPE\n");
										break;
									}
									case GFX_CMD_REGISTER_GRAPHICS_INSTANCE:
									{
										args->submitCommand();
										while (args->isCommandOutstanding())
										{
											clock.usleep(0);
										}

										if (gVerboseNetworkMessagesServer)
											printf("GFX_CMD_REGISTER_GRAPHICS_INSTANCE\n");
										break;
									}
									case GFX_CMD_SYNCHRONIZE_TRANSFORMS:
									{
										args->submitCommand();
										while (args->isCommandOutstanding())
										{
											clock.usleep(0);
										}
										if (gVerboseNetworkMessagesServer)
											printf("GFX_CMD_SYNCHRONIZE_TRANSFORMS\n");
										break;
									}
									case GFX_CMD_REMOVE_ALL_GRAPHICS_INSTANCES:
									{
										args->submitCommand();
										while (args->isCommandOutstanding())
										{
											clock.usleep(0);
										}
										if (gVerboseNetworkMessagesServer)
											printf("GFX_CMD_REMOVE_ALL_GRAPHICS_INSTANCES\n");
										break;
									}
									case GFX_CMD_REMOVE_SINGLE_GRAPHICS_INSTANCE:
									{
										args->submitCommand();
										while (args->isCommandOutstanding())
										{
											clock.usleep(0);
										}
										if (gVerboseNetworkMessagesServer)
											printf("GFX_CMD_REMOVE_SINGLE_GRAPHICS_INSTANCE\n");
										break;
									}
									case GFX_CMD_CHANGE_RGBA_COLOR:
									{
										args->submitCommand();
										while (args->isCommandOutstanding())
										{
											clock.usleep(0);
										}
										if (gVerboseNetworkMessagesServer)
											printf("GFX_CMD_CHANGE_RGBA_COLOR\n");
										break;
									}
									case GFX_CMD_CHANGE_SCALING:
									{
										args->submitCommand();
										while (args->isCommandOutstanding())
										{
											clock.usleep(0);
										}
										if (gVerboseNetworkMessagesServer)
											printf("GFX_CMD_CHANGE_SCALING\n");
										break;
									}

									case GFX_CMD_GET_CAMERA_INFO:
									{
										args->submitCommand();
										while (args->isCommandOutstanding())
										{
											clock.usleep(0);
										}
										//bool RemoteGUIHelper::getCameraInfo(int* width, int* height, 
										//	float viewMatrix[16], float projectionMatrix[16], 
										//	float camUp[3], float camForward[3], float hor[3], float vert[3], 
										//	float* yaw, float* pitch, float* camDist, float camTarget[3]) const
#if 0
										guiHelper.getCameraInfo(&serverStatus.m_getCameraInfoStatus.width,
											&serverStatus.m_getCameraInfoStatus.height,
											serverStatus.m_getCameraInfoStatus.viewMatrix,
											serverStatus.m_getCameraInfoStatus.projectionMatrix,
											serverStatus.m_getCameraInfoStatus.camUp,
											serverStatus.m_getCameraInfoStatus.camForward,
											serverStatus.m_getCameraInfoStatus.hor,
											serverStatus.m_getCameraInfoStatus.vert,
											&serverStatus.m_getCameraInfoStatus.yaw,
											&serverStatus.m_getCameraInfoStatus.pitch,
											&serverStatus.m_getCameraInfoStatus.camDist,
											serverStatus.m_getCameraInfoStatus.camTarget);
										serverStatus.m_type = GFX_CMD_GET_CAMERA_INFO_COMPLETED;
#endif
										if (gVerboseNetworkMessagesServer)
											printf("GFX_CMD_GET_CAMERA_INFO\n");
										break;
									}

									case GFX_CMD_INVALID:
									case GFX_CMD_MAX_CLIENT_COMMANDS:
									default:
									{
										printf("UNKNOWN COMMAND!\n");
										btAssert(0);
										hasStatus = false;
									}
									}


									double startTimeSeconds = clock.getTimeInSeconds();
									double curTimeSeconds = clock.getTimeInSeconds();

									if (gVerboseNetworkMessagesServer)
									{
										//printf("buffer.size = %d\n", buffer.size());
										printf("serverStatus.m_numDataStreamBytes = %d\n", args->m_serverStatus.m_numDataStreamBytes);
									}
									if (hasStatus)
									{
										submitStatus(pClient, args->m_serverStatus, buffer);
									}
                         
									bytesReceived.clear();
								}
								else
								{
									//likely an incomplete packet, let's append more bytes
									//printf("received packet with unknown contents\n");
								}
							}
						}
						if (!receivedData)
						{
							//printf("Didn't receive data.\n");
						}
					}

					printf("Disconnecting client.\n");
					pClient->Close();
					delete pClient;
				}
			}

#endif //BT_ENABLE_CLSOCKET


			///////////////////////////////
			args->m_cs->lock();
			cachedSharedParam = args->m_cs->getSharedParam(0);
			args->m_cs->unlock();

		} while (cachedSharedParam != eTCPRequestTerminate);
#ifdef BT_ENABLE_CLSOCKET	
		socket.Close();
		socket.Shutdown(CSimpleSocket::Both);
#endif
	}
	else
	{
		args->m_cs->lock();
		args->m_cs->setSharedParam(0, eTCPInitializationFailed);
		args->m_cs->unlock();
	}
		
	printf("TCPThreadFunc thread exit\n");
	//do nothing
}

void* TCPlsMemoryFunc()
{
	//don't create local store memory, just return 0
	return new TCPThreadLocalStorage;
}

void TCPlsMemoryReleaseFunc(void* ptr)
{
	TCPThreadLocalStorage* p = (TCPThreadLocalStorage*)ptr;
	delete p;
}


#ifndef _WIN32
#include "../MultiThreading/b3PosixThreadSupport.h"

b3ThreadSupportInterface* createTCPThreadSupport(int numThreads)
{
	b3PosixThreadSupport::ThreadConstructionInfo constructionInfo("TCPThreads",
		TCPThreadFunc,
		TCPlsMemoryFunc,
		TCPlsMemoryReleaseFunc,
		numThreads);
	b3ThreadSupportInterface* threadSupport = new b3PosixThreadSupport(constructionInfo);

	return threadSupport;
}

#elif defined(_WIN32)
#include "../MultiThreading/b3Win32ThreadSupport.h"

b3ThreadSupportInterface* createTCPThreadSupport(int numThreads)
{
	b3Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("TCPThreads", TCPThreadFunc, TCPlsMemoryFunc, TCPlsMemoryReleaseFunc, numThreads);
	b3Win32ThreadSupport* threadSupport = new b3Win32ThreadSupport(threadConstructionInfo);
	return threadSupport;
}
#endif


class GraphicsServerExample : public CommonExampleInterface
{
	CommonGraphicsApp* m_app;
	GUIHelperInterface* m_guiHelper;
	
	bool m_verboseOutput;

	float m_x;
	float m_y;
	float m_z;
	
	b3ThreadSupportInterface* m_threadSupport;
	TCPArgs m_args;
	
public:
	GraphicsServerExample(GUIHelperInterface* guiHelper)
		: m_guiHelper(guiHelper),
		  m_x(0),
		  m_y(0),
		  m_z(0)
	{
		m_verboseOutput = true;
		
		m_app = guiHelper->getAppInterface();
		m_app->setUpAxis(2);

		m_threadSupport = createTCPThreadSupport(1);
		m_args.m_cs = m_threadSupport->createCriticalSection();
		m_args.m_cs->setSharedParam(0, eTCPIsUnInitialized);
		m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*)&this->m_args, 0);

		bool isUninitialized = true;

		while (isUninitialized)
		{
			m_args.m_cs->lock();
			isUninitialized = (m_args.m_cs->getSharedParam(0) == eTCPIsUnInitialized);
			m_args.m_cs->unlock();
#ifdef _WIN32
			b3Clock::usleep(1000);
#endif
	}

	}
	virtual ~GraphicsServerExample()
	{
		
		m_args.m_cs->setSharedParam(0, eTCPRequestTerminate);

		int numActiveThreads = 1;
		while (numActiveThreads)
		{
			int arg0, arg1;
			if (m_threadSupport->isTaskCompleted(&arg0, &arg1, 0))
			{
				numActiveThreads--;
				printf("numActiveThreads = %d\n", numActiveThreads);
			}
			else
			{
				b3Clock::usleep(0);
			}
		};

		m_threadSupport->deleteCriticalSection(m_args.m_cs);

		delete m_threadSupport;
		m_threadSupport = 0;

	}

	virtual void initPhysics()
	{
	}
	virtual void exitPhysics()
	{
	}
	
	void submitServerStatus(GraphicsSharedMemoryStatus& status, int blockIndex)
	{
	}

	bool processCommand(const struct GraphicsSharedMemoryCommand& clientCmd, struct GraphicsSharedMemoryStatus& serverStatusOut)
	{
		//printf("processed command of type:%d\n", clientCmd.m_type);
		B3_PROFILE("processCommand");
		switch (clientCmd.m_type)
		{
			case GFX_CMD_0:
			{
				//either Y or Z can be up axis
				int upAxis = (clientCmd.m_upAxisYCommand.m_enableUpAxisY) ? 1 : 2;
				m_guiHelper->setUpAxis(upAxis);
				serverStatusOut.m_type = GFX_CMD_CLIENT_COMMAND_COMPLETED;
				m_args.processCommand();
				break;
			}
			case GFX_CMD_SET_VISUALIZER_FLAG:
			{
				if (clientCmd.m_visualizerFlagCommand.m_visualizerFlag != COV_ENABLE_RENDERING)
				{
					//printf("clientCmd.m_visualizerFlag.m_visualizerFlag: %d, clientCmd.m_visualizerFlag.m_enable %d\n",
					//	clientCmd.m_visualizerFlagCommand.m_visualizerFlag, clientCmd.m_visualizerFlagCommand.m_enable);

					this->m_guiHelper->setVisualizerFlag(clientCmd.m_visualizerFlagCommand.m_visualizerFlag, clientCmd.m_visualizerFlagCommand.m_enable);
				}
				m_args.processCommand();
				break;

			}

			case GFX_CMD_UPLOAD_DATA:
			{
#if 0
				//printf("uploadData command: curSize=%d, offset=%d, slot=%d", clientCmd.m_uploadDataCommand.m_numBytes, clientCmd.m_uploadDataCommand.m_dataOffset, clientCmd.m_uploadDataCommand.m_dataSlot);
				int dataSlot = clientCmd.m_uploadDataCommand.m_dataSlot;
				int dataOffset = clientCmd.m_uploadDataCommand.m_dataOffset;
				m_dataSlots.resize(dataSlot + 1);
				btAssert(m_dataSlots[dataSlot].size() >= dataOffset);
				m_dataSlots[dataSlot].resize(clientCmd.m_uploadDataCommand.m_numBytes + clientCmd.m_uploadDataCommand.m_dataOffset);
				for (int i = 0; i < clientCmd.m_uploadDataCommand.m_numBytes; i++)
				{
					m_dataSlots[dataSlot][dataOffset + i] = bufferServerToClient[i];
				}
#endif
				break;
			}
			case GFX_CMD_REGISTER_TEXTURE:
			{
				
				int dataSlot = 0;
				int sizeData = m_args.m_dataSlots[dataSlot].size();
				btAssert(sizeData > 0);
				serverStatusOut.m_type = GFX_CMD_REGISTER_TEXTURE_FAILED;
				if (sizeData)
				{
					unsigned char* texels = &m_args.m_dataSlots[dataSlot][0];
					int textureId = this->m_guiHelper->registerTexture(texels, clientCmd.m_registerTextureCommand.m_width, clientCmd.m_registerTextureCommand.m_height);
					serverStatusOut.m_type = GFX_CMD_REGISTER_TEXTURE_COMPLETED;
					serverStatusOut.m_registerTextureStatus.m_textureId = textureId;
				}
				
				m_args.processCommand();
				break;
			}

			case GFX_CMD_REGISTER_GRAPHICS_SHAPE:
			{
				int verticesSlot = 0;
				int indicesSlot = 1;
				serverStatusOut.m_type = GFX_CMD_REGISTER_GRAPHICS_SHAPE_FAILED;
				const float* vertices = (const float*)&m_args.m_dataSlots[verticesSlot][0];
				const int* indices = (const int*)&m_args.m_dataSlots[indicesSlot][0];
				int numVertices = clientCmd.m_registerGraphicsShapeCommand.m_numVertices;
				int numIndices = clientCmd.m_registerGraphicsShapeCommand.m_numIndices;
				int primitiveType = clientCmd.m_registerGraphicsShapeCommand.m_primitiveType;
				int textureId = clientCmd.m_registerGraphicsShapeCommand.m_textureId;
				int shapeId = this->m_guiHelper->registerGraphicsShape(vertices, numVertices, indices, numIndices, primitiveType, textureId);
				serverStatusOut.m_registerGraphicsShapeStatus.m_shapeId = shapeId;
				serverStatusOut.m_type = GFX_CMD_REGISTER_GRAPHICS_SHAPE_COMPLETED;
				m_args.processCommand();
				break;
			}

			case GFX_CMD_REGISTER_GRAPHICS_INSTANCE:
			{
				int graphicsInstanceId = m_guiHelper->registerGraphicsInstance(clientCmd.m_registerGraphicsInstanceCommand.m_shapeIndex,
					clientCmd.m_registerGraphicsInstanceCommand.m_position,
					clientCmd.m_registerGraphicsInstanceCommand.m_quaternion,
					clientCmd.m_registerGraphicsInstanceCommand.m_color,
					clientCmd.m_registerGraphicsInstanceCommand.m_scaling);
				serverStatusOut.m_registerGraphicsInstanceStatus.m_graphicsInstanceId = graphicsInstanceId;
				serverStatusOut.m_type = GFX_CMD_REGISTER_GRAPHICS_INSTANCE_COMPLETED;
				m_args.processCommand();
				break;
			}
			case GFX_CMD_SYNCHRONIZE_TRANSFORMS:
			{
				GUISyncPosition* positions = (GUISyncPosition*)&m_args.m_dataSlots[0][0];
				for (int i = 0; i < clientCmd.m_syncTransformsCommand.m_numPositions; i++)
				{
					m_app->m_renderer->writeSingleInstanceTransformToCPU(positions[i].m_pos, positions[i].m_orn, positions[i].m_graphicsInstanceId);
				}
				m_args.processCommand();
				break;
			}
			case GFX_CMD_REMOVE_ALL_GRAPHICS_INSTANCES:
			{
				m_guiHelper->removeAllGraphicsInstances();
				m_args.processCommand();
				break;
			}
			case GFX_CMD_REMOVE_SINGLE_GRAPHICS_INSTANCE:
			{
				m_app->m_renderer->removeGraphicsInstance(clientCmd.m_removeGraphicsInstanceCommand.m_graphicsUid);
				m_args.processCommand();
				break;
			}
			case GFX_CMD_CHANGE_RGBA_COLOR:
			{
				m_guiHelper->changeRGBAColor(clientCmd.m_changeRGBAColorCommand.m_graphicsUid, clientCmd.m_changeRGBAColorCommand.m_rgbaColor);
				m_args.processCommand();
				break;
			}

			case GFX_CMD_CHANGE_SCALING:
			{
				m_guiHelper->changeScaling(clientCmd.m_changeScalingCommand.m_graphicsUid, clientCmd.m_changeScalingCommand.m_scaling);
				m_args.processCommand();
				break;
			}

			case GFX_CMD_GET_CAMERA_INFO:
			{
				serverStatusOut.m_type = GFX_CMD_GET_CAMERA_INFO_FAILED;
				
				if (m_guiHelper->getCameraInfo(
					&serverStatusOut.m_getCameraInfoStatus.width,
					&serverStatusOut.m_getCameraInfoStatus.height,
					serverStatusOut.m_getCameraInfoStatus.viewMatrix,
					serverStatusOut.m_getCameraInfoStatus.projectionMatrix,
					serverStatusOut.m_getCameraInfoStatus.camUp,
					serverStatusOut.m_getCameraInfoStatus.camForward,
					serverStatusOut.m_getCameraInfoStatus.hor,
					serverStatusOut.m_getCameraInfoStatus.vert,
					&serverStatusOut.m_getCameraInfoStatus.yaw,
					&serverStatusOut.m_getCameraInfoStatus.pitch,
					&serverStatusOut.m_getCameraInfoStatus.camDist,
					serverStatusOut.m_getCameraInfoStatus.camTarget))
				{
					serverStatusOut.m_type = GFX_CMD_GET_CAMERA_INFO_COMPLETED;
				}
				m_args.processCommand();

				break;
			}
			default:
			{
				printf("unsupported command:%d\n", clientCmd.m_type);
			}
		}
		return true;
	}

	void processClientCommands()
	{
		int timeStamp = 0;
		bool hasStatus = false;
		if (m_args.isCommandOutstanding())
		{
			processCommand(*m_args.m_cmdPtr, m_args.m_serverStatus);
		}
		//serverStatusOut.m_type = GFX_CMD_CLIENT_COMMAND_FAILED;
		//bool hasStatus = processCommand(clientCmd, serverStatusOut);
		if (hasStatus)
		{
			//submitServerStatus(serverStatusOut);
		}
	}

	virtual void stepSimulation(float deltaTime)
	{
		B3_PROFILE("stepSimulation");
		processClientCommands();
		m_x += 0.01f;
		m_y += 0.01f;
		m_z += 0.01f;
	}


	virtual void renderScene()
	{
		B3_PROFILE("renderScene");
		{

			B3_PROFILE("writeTransforms");
			m_app->m_renderer->writeTransforms();
		}
		{
			B3_PROFILE("m_renderer->renderScene");
			m_app->m_renderer->renderScene();
		}
		
	}

	

	virtual void physicsDebugDraw(int debugDrawFlags)
	{
		
	}

	virtual bool mouseMoveCallback(float x, float y)
	{
		return false;
	}
	virtual bool mouseButtonCallback(int button, int state, float x, float y)
	{
		return false;
	}
	virtual bool keyboardCallback(int key, int state)
	{
		return false;
	}

	virtual void resetCamera()
	{
		float dist = 3.5;
		float pitch = -32;
		float yaw = 136;
		float targetPos[3] = {0, 0, 0};
		if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
		{
			m_app->m_renderer->getActiveCamera()->setCameraDistance(dist);
			m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch);
			m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw);
			m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0], targetPos[1], targetPos[2]);
		}
	}
	
	
};







CommonExampleInterface* GraphicsServerCreateFuncBullet(struct CommonExampleOptions& options)
{
	return new GraphicsServerExample(options.m_guiHelper);
}