mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 06:00:12 +00:00
9c7aa3a863
This removes the need to specify the body id/link index when retrieving a user data entry. Additionally, user data can now optionally be set to visual shapes as well. The following public pybullet APIs have changed (backwards incompatible) addUserData and getUserDataId Makes linkIndex parameter optional (default value is -1) Adds optional visualShapeIndex parameter (default value is -1) getUserData and removeUserData Removes required parameters bodyUniqueId and linkIndex getNumUserData Removes required bodyUniqueId parameter getUserDataInfo Removes required linkIndex parameter Changes returned tuple from (userDataId, key) to (userDataId, key, bodyUniqueId, linkIndex, visualShapeIndex)
128 lines
4.4 KiB
C++
128 lines
4.4 KiB
C++
#ifndef PHYSICS_DIRECT_H
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#define PHYSICS_DIRECT_H
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//#include "SharedMemoryCommands.h"
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#include "PhysicsClient.h"
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#include "LinearMath/btVector3.h"
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///PhysicsDirect executes the commands directly, without transporting them or having a separate server executing commands
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class PhysicsDirect : public PhysicsClient
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{
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protected:
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struct PhysicsDirectInternalData* m_data;
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bool processDebugLines(const struct SharedMemoryCommand& orgCommand);
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bool processCamera(const struct SharedMemoryCommand& orgCommand);
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bool processContactPointData(const struct SharedMemoryCommand& orgCommand);
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bool processOverlappingObjects(const struct SharedMemoryCommand& orgCommand);
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bool processVisualShapeData(const struct SharedMemoryCommand& orgCommand);
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void processBodyJointInfo(int bodyUniqueId, const struct SharedMemoryStatus& serverCmd);
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void processAddUserData(const struct SharedMemoryStatus& serverCmd);
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void postProcessStatus(const struct SharedMemoryStatus& serverCmd);
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void resetData();
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void removeCachedBody(int bodyUniqueId);
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public:
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PhysicsDirect(class PhysicsCommandProcessorInterface* physSdk, bool passSdkOwnership);
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virtual ~PhysicsDirect();
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// return true if connection succesfull, can also check 'isConnected'
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//it is OK to pass a null pointer for the gui helper
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virtual bool connect();
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////todo: rename to 'disconnect'
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virtual void disconnectSharedMemory();
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virtual bool isConnected() const;
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// return non-null if there is a status, nullptr otherwise
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virtual const SharedMemoryStatus* processServerStatus();
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virtual SharedMemoryCommand* getAvailableSharedMemoryCommand();
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virtual bool canSubmitCommand() const;
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virtual bool submitClientCommand(const struct SharedMemoryCommand& command);
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virtual int getNumBodies() const;
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virtual int getBodyUniqueId(int serialIndex) const;
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virtual bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const;
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virtual int getNumJoints(int bodyIndex) const;
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virtual bool getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const;
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virtual int getNumUserConstraints() const;
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virtual int getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint& info) const;
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virtual int getUserConstraintId(int serialIndex) const;
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///todo: move this out of the
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virtual void setSharedMemoryKey(int key);
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void uploadBulletFileToSharedMemory(const char* data, int len);
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virtual void uploadRaysToSharedMemory(struct SharedMemoryCommand& command, const double* rayFromWorldArray, const double* rayToWorldArray, int numRays);
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virtual int getNumDebugLines() const;
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virtual const float* getDebugLinesFrom() const;
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virtual const float* getDebugLinesTo() const;
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virtual const float* getDebugLinesColor() const;
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virtual void getCachedCameraImage(b3CameraImageData* cameraData);
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virtual void getCachedContactPointInformation(struct b3ContactInformation* contactPointData);
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virtual void getCachedOverlappingObjects(struct b3AABBOverlapData* overlappingObjects);
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virtual void getCachedVisualShapeInformation(struct b3VisualShapeInformation* visualShapesInfo);
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virtual void getCachedCollisionShapeInformation(struct b3CollisionShapeInformation* collisionShapesInfo);
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virtual void getCachedVREvents(struct b3VREventsData* vrEventsData);
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virtual void getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData);
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virtual void getCachedMouseEvents(struct b3MouseEventsData* mouseEventsData);
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virtual void getCachedRaycastHits(struct b3RaycastInformation* raycastHits);
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virtual void getCachedMassMatrix(int dofCountCheck, double* massMatrix);
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//the following APIs are for internal use for visualization:
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virtual bool connect(struct GUIHelperInterface* guiHelper);
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virtual void renderScene();
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virtual void debugDraw(int debugDrawMode);
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virtual void setTimeOut(double timeOutInSeconds);
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virtual double getTimeOut() const;
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virtual bool getCachedUserData(int userDataId, struct b3UserDataValue &valueOut) const;
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virtual int getCachedUserDataId(int bodyUniqueId, int linkIndex, int visualShapeIndex, const char *key) const;
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virtual int getNumUserData(int bodyUniqueId) const;
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virtual void getUserDataInfo(int bodyUniqueId, int userDataIndex, const char **keyOut, int *userDataIdOut, int *linkIndexOut, int *visualShapeIndexOut) const;
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virtual void pushProfileTiming(const char* timingName);
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virtual void popProfileTiming();
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};
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#endif //PHYSICS_DIRECT_H
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