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bullet3/examples/SharedMemory/PhysicsClientSharedMemory.h

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make PhysicsClient an interface class, and move shared memory implementation of physics client into PhysicsClientSharedMemory class/file. This will allow implementation of UDP and other transport protocols to a physics server.
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:
Allow InProcessExampleBrowser to use a malloc allocated memory block, instead of system shared memory. Make shared memory client/server a bit more robust, in case the server is terminated early.
2016-03-10 22:36:46 +00:00
virtual void setSharedMemoryInterface(class SharedMemoryInterface* sharedMem);
implement getJointInfo for objects loaded through SDF
2016-06-16 01:01:41 +00:00
void processBodyJointInfo(int bodyUniqueId, const struct SharedMemoryStatus& serverCmd);
[pybullet] getNumConstraints, getConstraintInfo APIs. [pybullet] updated pybullet_quickstartguide.pdf Fail clearly (assert, return BT_INFINITY) if link index is out of range for btMultiBody methods localPosToWorld,worldPosToLocal,localDirToWorld,worldDirToLocal. pybullet getConstraintInfo Fix warnings due to Mac OSX 10.12 upgrade (with backward compatibility)
2017-01-23 03:08:31 +00:00
void resetData();
make PhysicsClient an interface class, and move shared memory implementation of physics client into PhysicsClientSharedMemory class/file. This will allow implementation of UDP and other transport protocols to a physics server.
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);
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;
make PhysicsClient an interface class, and move shared memory implementation of physics client into PhysicsClientSharedMemory class/file. This will allow implementation of UDP and other transport protocols to a physics server.
2015-09-25 05:50:34 +00:00
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 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;
make PhysicsClient an interface class, and move shared memory implementation of physics client into PhysicsClientSharedMemory class/file. This will allow implementation of UDP and other transport protocols to a physics server.
2015-09-25 05:50:34 +00:00
[pybullet] getNumConstraints, getConstraintInfo APIs. [pybullet] updated pybullet_quickstartguide.pdf Fail clearly (assert, return BT_INFINITY) if link index is out of range for btMultiBody methods localPosToWorld,worldPosToLocal,localDirToWorld,worldDirToLocal. pybullet getConstraintInfo Fix warnings due to Mac OSX 10.12 upgrade (with backward compatibility)
2017-01-23 03:08:31 +00:00
virtual int getNumUserConstraints() const;
virtual int getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint& info) const;
Add API to get user constraint id.
2017-05-04 01:25:25 +00:00
virtual int getUserConstraintId(int serialIndex) const;
[pybullet] getNumConstraints, getConstraintInfo APIs. [pybullet] updated pybullet_quickstartguide.pdf Fail clearly (assert, return BT_INFINITY) if link index is out of range for btMultiBody methods localPosToWorld,worldPosToLocal,localDirToWorld,worldDirToLocal. pybullet getConstraintInfo Fix warnings due to Mac OSX 10.12 upgrade (with backward compatibility)
2017-01-23 03:08:31 +00:00
make PhysicsClient an interface class, and move shared memory implementation of physics client into PhysicsClientSharedMemory class/file. This will allow implementation of UDP and other transport protocols to a physics server.
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;
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(struct b3CameraImageData* cameraData);
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
pybullet getOverlappingObjects added: report all object unique ids within a world space bounding box (aabb)
2016-11-10 19:22:22 +00:00
virtual void getCachedOverlappingObjects(struct b3AABBOverlapData* overlappingObjects);
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);
See also pybullet quickstart guide here: https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit# vrevent.py: add a Tiltbrush-style drawing example using pybullet Expose getVREvents to pybullet / shared memory API, access to any VR controller state & state changes. Improve performance of user debug lines (pybullet/shared memory API) by batching lines with same color/width expose rayTest to pybullet/shared memory API (single ray for now) add pybullet getMatrixFromQuaterion
2016-12-27 03:40:09 +00:00
virtual void getCachedVREvents(struct b3VREventsData* vrEventsData);
create premake/cmake file for Bullet/Extras/obj2sdf add missing 1.sdf for Bullet/data/kitchens/1.sdf add support for getting keyboard events (pybullet.getKeyboardEvents and b3RobotSimulatorClientAPI::getKeyboardEvents)
2017-03-02 20:33:22 +00:00
virtual void getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData);
See also pybullet quickstart guide here: https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit# vrevent.py: add a Tiltbrush-style drawing example using pybullet Expose getVREvents to pybullet / shared memory API, access to any VR controller state & state changes. Improve performance of user debug lines (pybullet/shared memory API) by batching lines with same color/width expose rayTest to pybullet/shared memory API (single ray for now) add pybullet getMatrixFromQuaterion
2016-12-27 03:40:09 +00:00
virtual void getCachedRaycastHits(struct b3RaycastInformation* raycastHits);
expose timeout in pybullet/shared memory API add RobotSimulator, a C++ API similar to pybullet. (work-in-progress, only part of API implemeted)
2017-02-24 23:34:11 +00:00
virtual void setTimeOut(double timeOutInSeconds);
virtual double getTimeOut() const;
make PhysicsClient an interface class, and move shared memory implementation of physics client into PhysicsClientSharedMemory class/file. This will allow implementation of UDP and other transport protocols to a physics server.
2015-09-25 05:50:34 +00:00
};
#endif // BT_PHYSICS_CLIENT_API_H
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