2015-09-25 05:50:34 +00:00
|
|
|
#ifndef BT_PHYSICS_CLIENT_SHARED_MEMORY_API_H
|
|
|
|
#define BT_PHYSICS_CLIENT_SHARED_MEMORY_API_H
|
|
|
|
|
|
|
|
#include "PhysicsClient.h"
|
|
|
|
|
|
|
|
//#include "SharedMemoryCommands.h"
|
|
|
|
#include "LinearMath/btVector3.h"
|
|
|
|
|
|
|
|
class PhysicsClientSharedMemory : public PhysicsClient {
|
|
|
|
struct PhysicsClientSharedMemoryInternalData* m_data;
|
|
|
|
|
|
|
|
protected:
|
2016-03-10 22:36:46 +00:00
|
|
|
virtual void setSharedMemoryInterface(class SharedMemoryInterface* sharedMem);
|
2016-06-16 01:01:41 +00:00
|
|
|
void processBodyJointInfo(int bodyUniqueId, const struct SharedMemoryStatus& serverCmd);
|
2016-11-04 20:15:10 +00:00
|
|
|
|
2016-06-16 01:01:41 +00:00
|
|
|
|
2015-09-25 05:50:34 +00:00
|
|
|
public:
|
|
|
|
PhysicsClientSharedMemory();
|
|
|
|
virtual ~PhysicsClientSharedMemory();
|
|
|
|
|
|
|
|
// return true if connection succesfull, can also check 'isConnected'
|
|
|
|
virtual bool connect();
|
|
|
|
|
|
|
|
virtual void disconnectSharedMemory();
|
|
|
|
|
|
|
|
virtual bool isConnected() const;
|
|
|
|
|
|
|
|
// return non-null if there is a status, nullptr otherwise
|
|
|
|
virtual const struct SharedMemoryStatus* processServerStatus();
|
|
|
|
|
|
|
|
virtual struct SharedMemoryCommand* getAvailableSharedMemoryCommand();
|
|
|
|
|
|
|
|
virtual bool canSubmitCommand() const;
|
|
|
|
|
|
|
|
virtual bool submitClientCommand(const struct SharedMemoryCommand& command);
|
|
|
|
|
2016-09-27 19:13:45 +00:00
|
|
|
virtual int getNumBodies() const;
|
2015-09-25 05:50:34 +00:00
|
|
|
|
2016-09-27 19:13:45 +00:00
|
|
|
virtual int getBodyUniqueId(int serialIndex) const;
|
|
|
|
|
|
|
|
virtual bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const;
|
|
|
|
|
|
|
|
virtual int getNumJoints(int bodyUniqueId) const;
|
|
|
|
|
|
|
|
virtual bool getJointInfo(int bodyUniqueId, int jointIndex, struct b3JointInfo& info) const;
|
2015-09-25 05:50:34 +00:00
|
|
|
|
|
|
|
virtual void setSharedMemoryKey(int key);
|
|
|
|
|
|
|
|
virtual void uploadBulletFileToSharedMemory(const char* data, int len);
|
|
|
|
|
|
|
|
virtual int getNumDebugLines() const;
|
|
|
|
|
|
|
|
virtual const float* getDebugLinesFrom() const;
|
|
|
|
virtual const float* getDebugLinesTo() const;
|
|
|
|
virtual const float* getDebugLinesColor() const;
|
2016-05-31 17:23:04 +00:00
|
|
|
virtual void getCachedCameraImage(struct b3CameraImageData* cameraData);
|
2016-09-01 20:30:07 +00:00
|
|
|
|
|
|
|
virtual void getCachedContactPointInformation(struct b3ContactInformation* contactPointData);
|
2016-10-19 05:05:28 +00:00
|
|
|
|
2016-11-10 19:22:22 +00:00
|
|
|
virtual void getCachedOverlappingObjects(struct b3AABBOverlapData* overlappingObjects);
|
|
|
|
|
2016-10-19 05:05:28 +00:00
|
|
|
virtual void getCachedVisualShapeInformation(struct b3VisualShapeInformation* visualShapesInfo);
|
2015-09-25 05:50:34 +00:00
|
|
|
};
|
|
|
|
|
|
|
|
#endif // BT_PHYSICS_CLIENT_API_H
|