bullet3/examples/SharedMemory/PhysicsClient.h

#ifndef BT_PHYSICS_CLIENT_API_H
#define BT_PHYSICS_CLIENT_API_H

//#include "SharedMemoryCommands.h"
#include "LinearMath/btVector3.h"

class PhysicsClientSharedMemory 
{
	struct PhysicsClientSharedMemoryInternalData*	m_data;
protected:

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);

	virtual int		getNumJoints() const;
	
	virtual void	getJointInfo(int index, struct b3JointInfo& info) const;
	
	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;

};

#endif //BT_PHYSICS_CLIENT_API_H
Refactor of PhysicsClient/PhysicsServer, to separate from the example browser code. (as usual, work-in-progress) 2015-07-14 22:30:17 +00:00			`#ifndef BT_PHYSICS_CLIENT_API_H`
			`#define BT_PHYSICS_CLIENT_API_H`
added preliminary shared memory physics client/server fix a bug in CommonMultiBodyBase: don't use data if it hasn't been allocated 2015-05-28 23:05:24 +00:00
another step closer to useable shared memory C API (force/torque sensor needs new API) in a nutshell, users of shared memory physics API should not directly poke into shared memory, not fill 'SharedMemorCommand' nor read SharedMemoryStatus directly. The C-API declares 'handles' for those, to avoid it from happening. 2015-09-17 06:09:10 +00:00			`//#include "SharedMemoryCommands.h"`
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces. 2015-08-20 05:51:16 +00:00			`#include "LinearMath/btVector3.h"`
added preliminary shared memory physics client/server fix a bug in CommonMultiBodyBase: don't use data if it hasn't been allocated 2015-05-28 23:05:24 +00:00
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces. 2015-08-20 05:51:16 +00:00			`class PhysicsClientSharedMemory`
Refactor of PhysicsClient/PhysicsServer, to separate from the example browser code. (as usual, work-in-progress) 2015-07-14 22:30:17 +00:00			`{`
			`struct PhysicsClientSharedMemoryInternalData* m_data;`
			`protected:`

			`public:`

			`PhysicsClientSharedMemory();`
			`virtual ~PhysicsClientSharedMemory();`

allow to control of powered joints after loading a URDF file, through shared memory more refactor of shared memory joint control API 2015-07-21 06:35:29 +00:00			`//return true if connection succesfull, can also check 'isConnected'`
fixes in shared memory: only allow server to create and initialize shared memory, client will report failure intercept signals to cleanup shared memory in standalone app, thanks to Roland Philippsen. 2015-08-06 18:59:31 +00:00			`virtual bool connect();`

			`virtual void disconnectSharedMemory ();`
Refactor of PhysicsClient/PhysicsServer, to separate from the example browser code. (as usual, work-in-progress) 2015-07-14 22:30:17 +00:00
			`virtual bool isConnected() const;`

improvements to the shared memory physics API: support picking in C API etc. 2015-09-25 05:42:22 +00:00			`// return non-null if there is a status, nullptr otherwise`
another step closer to useable shared memory C API (force/torque sensor needs new API) in a nutshell, users of shared memory physics API should not directly poke into shared memory, not fill 'SharedMemorCommand' nor read SharedMemoryStatus directly. The C-API declares 'handles' for those, to avoid it from happening. 2015-09-17 06:09:10 +00:00			`virtual const struct SharedMemoryStatus* processServerStatus();`
Refactor of PhysicsClient/PhysicsServer, to separate from the example browser code. (as usual, work-in-progress) 2015-07-14 22:30:17 +00:00
another step closer to useable shared memory C API (force/torque sensor needs new API) in a nutshell, users of shared memory physics API should not directly poke into shared memory, not fill 'SharedMemorCommand' nor read SharedMemoryStatus directly. The C-API declares 'handles' for those, to avoid it from happening. 2015-09-17 06:09:10 +00:00			`virtual struct SharedMemoryCommand* getAvailableSharedMemoryCommand();`

Refactor of PhysicsClient/PhysicsServer, to separate from the example browser code. (as usual, work-in-progress) 2015-07-14 22:30:17 +00:00			`virtual bool canSubmitCommand() const;`

another step closer to useable shared memory C API (force/torque sensor needs new API) in a nutshell, users of shared memory physics API should not directly poke into shared memory, not fill 'SharedMemorCommand' nor read SharedMemoryStatus directly. The C-API declares 'handles' for those, to avoid it from happening. 2015-09-17 06:09:10 +00:00			`virtual bool submitClientCommand(const struct SharedMemoryCommand& command);`
Refactor of PhysicsClient/PhysicsServer, to separate from the example browser code. (as usual, work-in-progress) 2015-07-14 22:30:17 +00:00
further work on shared memory API fix dependency of BulletDynamics to Bullet3Common (b3Printf) 2015-08-02 21:00:43 +00:00			`virtual int getNumJoints() const;`
allow to control of powered joints after loading a URDF file, through shared memory more refactor of shared memory joint control API 2015-07-21 06:35:29 +00:00
another step closer to useable shared memory C API (force/torque sensor needs new API) in a nutshell, users of shared memory physics API should not directly poke into shared memory, not fill 'SharedMemorCommand' nor read SharedMemoryStatus directly. The C-API declares 'handles' for those, to avoid it from happening. 2015-09-17 06:09:10 +00:00			`virtual void getJointInfo(int index, struct b3JointInfo& info) const;`
allow to control of powered joints after loading a URDF file, through shared memory more refactor of shared memory joint control API 2015-07-21 06:35:29 +00:00
add command-line argument for example browser and shared memory app, --shared_memory_key=<int> fix some shared memory issues, client uses attach/detach, server uses create/remove shared memory implement CMD_RESET_SIMULATION 2015-08-07 07:13:26 +00:00			`virtual void setSharedMemoryKey(int key);`
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces. 2015-08-20 05:51:16 +00:00
			`virtual void uploadBulletFileToSharedMemory(const char* data, int len);`

			`virtual int getNumDebugLines() const;`

another step closer to useable shared memory C API (force/torque sensor needs new API) in a nutshell, users of shared memory physics API should not directly poke into shared memory, not fill 'SharedMemorCommand' nor read SharedMemoryStatus directly. The C-API declares 'handles' for those, to avoid it from happening. 2015-09-17 06:09:10 +00:00			`virtual const float* getDebugLinesFrom() const;`
			`virtual const float* getDebugLinesTo() const;`
			`virtual const float* getDebugLinesColor() const;`
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces. 2015-08-20 05:51:16 +00:00
Refactor of PhysicsClient/PhysicsServer, to separate from the example browser code. (as usual, work-in-progress) 2015-07-14 22:30:17 +00:00			`};`

			`#endif //BT_PHYSICS_CLIENT_API_H`