mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 22:00:05 +00:00
6a7efac4c3
see readme.txt for details.
259 lines
7.7 KiB
C++
259 lines
7.7 KiB
C++
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#include "SharedMemoryInProcessPhysicsC_API.h"
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#include "../Utils/b3Clock.h"
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#include "PhysicsClientSharedMemory.h"
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#include"../ExampleBrowser/InProcessExampleBrowser.h"
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#include <stdio.h>
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#include <string.h>
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#include "PhysicsServerExampleBullet2.h"
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#include "../CommonInterfaces/CommonExampleInterface.h"
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#include "InProcessMemory.h"
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#include "Bullet3Common/b3Logging.h"
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class InProcessPhysicsClientSharedMemoryMainThread : public PhysicsClientSharedMemory
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{
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btInProcessExampleBrowserMainThreadInternalData* m_data;
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b3Clock m_clock;
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public:
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InProcessPhysicsClientSharedMemoryMainThread(int argc, char* argv[], bool useInProcessMemory)
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{
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int newargc = argc+2;
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char** newargv = (char**)malloc(sizeof(void*)*newargc);
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for (int i=0;i<argc;i++)
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newargv[i] = argv[i];
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char* t0 = (char*)"--logtostderr";
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char* t1 = (char*)"--start_demo_name=Physics Server";
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newargv[argc] = t0;
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newargv[argc+1] = t1;
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m_data = btCreateInProcessExampleBrowserMainThread(newargc,newargv, useInProcessMemory);
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SharedMemoryInterface* shMem = btGetSharedMemoryInterfaceMainThread(m_data);
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setSharedMemoryInterface(shMem);
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}
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virtual ~InProcessPhysicsClientSharedMemoryMainThread()
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{
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setSharedMemoryInterface(0);
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btShutDownExampleBrowserMainThread(m_data);
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}
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// return non-null if there is a status, nullptr otherwise
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virtual const struct SharedMemoryStatus* processServerStatus()
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{
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{
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if (btIsExampleBrowserMainThreadTerminated(m_data))
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{
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PhysicsClientSharedMemory::disconnectSharedMemory();
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}
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}
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{
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unsigned long int ms = m_clock.getTimeMilliseconds();
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if (ms>2)
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{
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B3_PROFILE("m_clock.reset()");
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btUpdateInProcessExampleBrowserMainThread(m_data);
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m_clock.reset();
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}
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}
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{
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b3Clock::usleep(0);
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}
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const SharedMemoryStatus* stat = 0;
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{
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stat = PhysicsClientSharedMemory::processServerStatus();
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}
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return stat;
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}
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virtual bool submitClientCommand(const struct SharedMemoryCommand& command)
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{
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// btUpdateInProcessExampleBrowserMainThread(m_data);
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return PhysicsClientSharedMemory::submitClientCommand(command);
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}
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};
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B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThread(int argc, char* argv[])
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{
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InProcessPhysicsClientSharedMemoryMainThread* cl = new InProcessPhysicsClientSharedMemoryMainThread(argc, argv, 1);
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cl->setSharedMemoryKey(SHARED_MEMORY_KEY+1);
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cl->connect();
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return (b3PhysicsClientHandle ) cl;
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}
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B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThreadSharedMemory(int argc, char* argv[])
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{
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InProcessPhysicsClientSharedMemoryMainThread* cl = new InProcessPhysicsClientSharedMemoryMainThread(argc, argv, 0);
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cl->setSharedMemoryKey(SHARED_MEMORY_KEY+1);
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cl->connect();
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return (b3PhysicsClientHandle ) cl;
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}
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class InProcessPhysicsClientSharedMemory : public PhysicsClientSharedMemory
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{
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btInProcessExampleBrowserInternalData* m_data;
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char** m_newargv;
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public:
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InProcessPhysicsClientSharedMemory(int argc, char* argv[], bool useInProcessMemory)
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{
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int newargc = argc+2;
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m_newargv = (char**)malloc(sizeof(void*)*newargc);
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for (int i=0;i<argc;i++)
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m_newargv[i] = argv[i];
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char* t0 = (char*)"--logtostderr";
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char* t1 = (char*)"--start_demo_name=Physics Server";
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m_newargv[argc] = t0;
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m_newargv[argc+1] = t1;
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m_data = btCreateInProcessExampleBrowser(newargc,m_newargv, useInProcessMemory);
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SharedMemoryInterface* shMem = btGetSharedMemoryInterface(m_data);
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setSharedMemoryInterface(shMem);
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}
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virtual ~InProcessPhysicsClientSharedMemory()
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{
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setSharedMemoryInterface(0);
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btShutDownExampleBrowser(m_data);
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free(m_newargv);
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}
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};
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B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnect(int argc, char* argv[])
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{
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InProcessPhysicsClientSharedMemory* cl = new InProcessPhysicsClientSharedMemory(argc, argv, 1);
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cl->setSharedMemoryKey(SHARED_MEMORY_KEY+1);
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cl->connect();
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return (b3PhysicsClientHandle ) cl;
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}
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B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectSharedMemory(int argc, char* argv[])
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{
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InProcessPhysicsClientSharedMemory* cl = new InProcessPhysicsClientSharedMemory(argc, argv, 0);
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cl->setSharedMemoryKey(SHARED_MEMORY_KEY+1);
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cl->connect();
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return (b3PhysicsClientHandle ) cl;
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}
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class InProcessPhysicsClientExistingExampleBrowser : public PhysicsClientSharedMemory
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{
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CommonExampleInterface* m_physicsServerExample;
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SharedMemoryInterface* m_sharedMem;
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b3Clock m_clock;
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unsigned long long int m_prevTime;
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public:
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InProcessPhysicsClientExistingExampleBrowser (struct GUIHelperInterface* guiHelper)
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{
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m_sharedMem = new InProcessMemory;
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CommonExampleOptions options(guiHelper);
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options.m_sharedMem = m_sharedMem;
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m_physicsServerExample = PhysicsServerCreateFuncBullet2(options);
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m_physicsServerExample ->initPhysics();
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m_physicsServerExample ->resetCamera();
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setSharedMemoryInterface(m_sharedMem);
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m_clock.reset();
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m_prevTime = m_clock.getTimeMicroseconds();
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}
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virtual ~InProcessPhysicsClientExistingExampleBrowser()
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{
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m_physicsServerExample->exitPhysics();
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//s_instancingRenderer->removeAllInstances();
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delete m_physicsServerExample;
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delete m_sharedMem;
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}
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// return non-null if there is a status, nullptr otherwise
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virtual const struct SharedMemoryStatus* processServerStatus()
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{
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m_physicsServerExample->updateGraphics();
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unsigned long long int curTime = m_clock.getTimeMicroseconds();
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unsigned long long int dtMicro = curTime - m_prevTime;
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m_prevTime = curTime;
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double dt = double(dtMicro)/1000000.;
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m_physicsServerExample->stepSimulation(dt);
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{
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b3Clock::usleep(0);
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}
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const SharedMemoryStatus* stat = 0;
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{
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stat = PhysicsClientSharedMemory::processServerStatus();
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}
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return stat;
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}
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virtual void renderScene()
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{
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m_physicsServerExample->renderScene();
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}
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virtual void debugDraw(int debugDrawMode)
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{
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m_physicsServerExample->physicsDebugDraw(debugDrawMode);
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}
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virtual bool mouseMoveCallback(float x, float y)
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{
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return m_physicsServerExample->mouseMoveCallback(x,y);
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}
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virtual bool mouseButtonCallback(int button, int state, float x, float y)
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{
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return m_physicsServerExample->mouseButtonCallback(button,state,x,y);
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}
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};
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void b3InProcessDebugDrawInternal(b3PhysicsClientHandle clientHandle, int debugDrawMode)
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{
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InProcessPhysicsClientExistingExampleBrowser* cl = (InProcessPhysicsClientExistingExampleBrowser*) clientHandle;
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cl->debugDraw(debugDrawMode);
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}
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void b3InProcessRenderSceneInternal(b3PhysicsClientHandle clientHandle)
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{
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InProcessPhysicsClientExistingExampleBrowser* cl = (InProcessPhysicsClientExistingExampleBrowser*) clientHandle;
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cl->renderScene();
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}
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int b3InProcessMouseMoveCallback(b3PhysicsClientHandle clientHandle,float x,float y)
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{
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InProcessPhysicsClientExistingExampleBrowser* cl = (InProcessPhysicsClientExistingExampleBrowser*) clientHandle;
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return cl->mouseMoveCallback(x,y);
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}
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int b3InProcessMouseButtonCallback(b3PhysicsClientHandle clientHandle, int button, int state, float x, float y)
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{
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InProcessPhysicsClientExistingExampleBrowser* cl = (InProcessPhysicsClientExistingExampleBrowser*) clientHandle;
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return cl->mouseButtonCallback(button,state, x,y);
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}
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B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect(void* guiHelperPtr)
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{
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GUIHelperInterface* guiHelper = (GUIHelperInterface*) guiHelperPtr;
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InProcessPhysicsClientExistingExampleBrowser* cl = new InProcessPhysicsClientExistingExampleBrowser(guiHelper);
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//InProcessPhysicsClientFromGuiHelper* cl = new InProcessPhysicsClientFromGuiHelper(guiHelper);
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cl->connect();
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return (b3PhysicsClientHandle ) cl;
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}
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