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https://github.com/bulletphysics/bullet3
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826c5854a8
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
58 lines
1.7 KiB
C++
58 lines
1.7 KiB
C++
#ifndef PHYSICS_SERVER_SHARED_MEMORY_H
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#define PHYSICS_SERVER_SHARED_MEMORY_H
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#include "PhysicsServer.h"
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class PhysicsServerSharedMemory : public PhysicsServer
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{
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struct PhysicsServerSharedMemoryInternalData* m_data;
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protected:
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void releaseSharedMemory();
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public:
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PhysicsServerSharedMemory(class SharedMemoryInterface* sharedMem=0);
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virtual ~PhysicsServerSharedMemory();
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virtual void setSharedMemoryKey(int key);
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//todo: implement option to allocated shared memory from client
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virtual bool connectSharedMemory( struct GUIHelperInterface* guiHelper);
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virtual void disconnectSharedMemory (bool deInitializeSharedMemory);
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virtual void processClientCommands();
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virtual void stepSimulationRealTime(double dtInSec,const struct b3VRControllerEvent* vrEvents, int numVREvents);
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virtual void enableRealTimeSimulation(bool enableRealTimeSim);
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//bool supportsJointMotor(class btMultiBody* body, int linkIndex);
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///The pickBody method will try to pick the first body along a ray, return true if succeeds, false otherwise
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virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
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virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
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virtual void removePickingConstraint();
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//for physicsDebugDraw and renderScene are mainly for debugging purposes
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//and for physics visualization. The idea is that physicsDebugDraw can also send wireframe
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//to a physics client, over shared memory
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void physicsDebugDraw(int debugDrawFlags);
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void renderScene();
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void enableCommandLogging(bool enable, const char* fileName);
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void replayFromLogFile(const char* fileName);
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void resetDynamicsWorld();
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};
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#endif //PHYSICS_SERVER_EXAMPLESHARED_MEMORY_H
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