Merge pull request #511 from jhwangbo/master

added needsSensorUpdate

examples/src/server/synchronousServerUpdate.cpp

@@ -54,13 +54,13 @@ int main(int argc, char **argv) {
   server.acceptConnection(2000.0);
 
   for (int k = 0; k < loopN; k++) {
-//    RS_TIMED_LOOP(int(world.getTimeStep()*1e7))
-//    for (int i = 0; i < 10; i++)
+    server.applyInteractionForce();
     world.integrate();
-
-    if (server.waitForMessageFromClient(1.0)) {
-      if (!server.processRequests()) {
-        server.acceptConnection(2000.0);
+    if (server.needsSensorUpdate()) {
+      if (server.waitForMessageFromClient(1.0)) {
+        if (!server.processRequests()) {
+          server.acceptConnection(2000.0);
+        }
       }
     }
   }

raisim/linux/include/raisim/RaisimServer.hpp

@@ -852,6 +852,27 @@ class RaisimServer final {
 #endif
   }
 
+  /**
+   * Check if there is any sensor that has to be updated from the visualizer
+   * @return if any of the sensors needs an update
+   */
+  inline bool needsSensorUpdate() {
+    auto &objList = world_->getObjList();
+    for (auto *ob: objList) {
+      if (ob->getObjectType() == ObjectType::ARTICULATED_SYSTEM) {
+        auto as = dynamic_cast<ArticulatedSystem *>(ob);
+        for (auto &sensor: as->getSensors()) {
+          if (sensor.second->getMeasurementSource() == Sensor::MeasurementSource::VISUALIZER &&
+              sensor.second->getUpdateTimeStamp() + 1. / sensor.second->getUpdateRate()
+                  < world_->getWorldTime() + 1e-10) {
+            return true;
+          }
+        }
+      }
+    }
+    return false;
+  }
+
   /**
    * Synchronous update method.
    * Receive a request from the client, process it and return the requested data to the client.