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bullet3/examples/SharedMemory/PhysicsDirect.h

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add physics server loopback (both client and server in the same process, using shared memory) add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
2015-11-23 04:50:32 +00:00
#ifndef PHYSICS_DIRECT_H
#define PHYSICS_DIRECT_H
//#include "SharedMemoryCommands.h"
#include "PhysicsClient.h"
#include "LinearMath/btVector3.h"
///todo: the PhysicsClient API was designed with shared memory in mind,
///now it become more general we need to move out the shared memory specifics away
///for example naming [disconnectSharedMemory -> disconnect] [ move setSharedMemoryKey to shared memory specific subclass ]
///PhysicsDirect executes the commands directly, without transporting them or having a separate server executing commands
class PhysicsDirect : public PhysicsClient
{
protected:
struct PhysicsDirectInternalData* m_data;
bool processDebugLines(const struct SharedMemoryCommand& orgCommand);
make one of the cubes in two_cubes.sdf static (immovable) using the <static> tag in SDF add an example using 'direct' fix the send-desired-state commands, to add flags for arguments set, using default values. Start exposing SDF loading in shared memory api, not fully implemented yet.
2016-06-04 02:03:56 +00:00
bool processCamera(const struct SharedMemoryCommand& orgCommand);
implement pybullet.getContactPointData(), two optional object unique ids as filter returns a pylist of contact points. Each point has the following data: 0 int m_contactFlags;//unused for now 1 int m_bodyUniqueIdA; 2 int m_bodyUniqueIdB; 3 int m_linkIndexA; 4 int m_linkIndexB; 5-6-7 double m_positionOnAInWS[3];//contact point location on object A, in world space coordinates 8-9-10 double m_positionOnBInWS[3];//contact point location on object A, in world space coordinates 11-12-13 double m_contactNormalOnBInWS[3];//the separating contact normal, pointing from object B towards object A 14 double m_contactDistance;//negative number is penetration, positive is distance. 15 double m_normalForce;
2016-09-02 01:28:39 +00:00
bool processContactPointData(const struct SharedMemoryCommand& orgCommand);
first version of 'getVisualShapeData' to get visual shape information to allow external renderer with pybullet and shared memory robotics API b3InitRequestVisualShapeInformation/b3GetVisualShapeInformation in shared memory API
2016-10-19 05:05:28 +00:00
bool processVisualShapeData(const struct SharedMemoryCommand& orgCommand);
work-in-progress send object/joint information after loading SDF file
2016-06-15 01:41:19 +00:00
void processBodyJointInfo(int bodyUniqueId, const struct SharedMemoryStatus& serverCmd);
add physics server loopback (both client and server in the same process, using shared memory) add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
2015-11-23 04:50:32 +00:00
public:
PhysicsDirect();
virtual ~PhysicsDirect();
add single step simulation, using 'o' key. use 'i' key to suspend simulation first default background color a bit darker, to show debug lines tweaked contact point rendering a bit
2016-08-19 17:30:02 +00:00
// return true if connection succesfull, can also check 'isConnected'
//it is OK to pass a null pointer for the gui helper
add physics server loopback (both client and server in the same process, using shared memory) add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
2015-11-23 04:50:32 +00:00
virtual bool connect();
add single step simulation, using 'o' key. use 'i' key to suspend simulation first default background color a bit darker, to show debug lines tweaked contact point rendering a bit
2016-08-19 17:30:02 +00:00
add physics server loopback (both client and server in the same process, using shared memory) add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
2015-11-23 04:50:32 +00:00
////todo: rename to 'disconnect'
virtual void disconnectSharedMemory();
virtual bool isConnected() const;
// return non-null if there is a status, nullptr otherwise
virtual const SharedMemoryStatus* processServerStatus();
virtual SharedMemoryCommand* getAvailableSharedMemoryCommand();
virtual bool canSubmitCommand() const;
virtual bool submitClientCommand(const struct SharedMemoryCommand& command);
expose getNumBodies, getBodyUniqueId, getBodyInfo (char* baseName) to shared memory API and pybullet., making it easier to serialize the state of the world.
2016-09-27 19:13:45 +00:00
virtual int getNumBodies() const;
virtual int getBodyUniqueId(int serialIndex) const;
virtual bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const;
add physics server loopback (both client and server in the same process, using shared memory) add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
2015-11-23 04:50:32 +00:00
virtual int getNumJoints(int bodyIndex) const;
implement getJointInfo for objects loaded through SDF
2016-06-16 01:01:41 +00:00
virtual bool getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const;
add physics server loopback (both client and server in the same process, using shared memory) add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
2015-11-23 04:50:32 +00:00
///todo: move this out of the
virtual void setSharedMemoryKey(int key);
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;
preparation to receive camera image data from physics server increase shadowmap world size default to 50 units (meter), 10 units (meter) was too small for most examples.
2016-05-31 17:23:04 +00:00
virtual void getCachedCameraImage(b3CameraImageData* cameraData);
add single step simulation, using 'o' key. use 'i' key to suspend simulation first default background color a bit darker, to show debug lines tweaked contact point rendering a bit
2016-08-19 17:30:02 +00:00
add first draft of contact point query in shared memory API b3SharedMemoryCommandHandle b3InitRequestContactPointInformation(b3PhysicsClientHandle physClient); void b3SetContactFilterBodyA(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdA); void b3SetContactFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB); void b3GetContactPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointData); Implemented for PhysicsClientSharedMemory, not for PhysicsDirect yet. Add btCollisionObject::setUserIndex2
2016-09-01 20:30:07 +00:00
virtual void getCachedContactPointInformation(struct b3ContactInformation* contactPointData);
first version of 'getVisualShapeData' to get visual shape information to allow external renderer with pybullet and shared memory robotics API b3InitRequestVisualShapeInformation/b3GetVisualShapeInformation in shared memory API
2016-10-19 05:05:28 +00:00
virtual void getCachedVisualShapeInformation(struct b3VisualShapeInformation* visualShapesInfo);
add single step simulation, using 'o' key. use 'i' key to suspend simulation first default background color a bit darker, to show debug lines tweaked contact point rendering a bit
2016-08-19 17:30:02 +00:00
//those 2 APIs are for internal use for visualization
virtual bool connect(struct GUIHelperInterface* guiHelper);
virtual void renderScene();
virtual void debugDraw(int debugDrawMode);
add physics server loopback (both client and server in the same process, using shared memory) add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
2015-11-23 04:50:32 +00:00
};
#endif //PHYSICS_DIRECT_H
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