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https://github.com/bulletphysics/bullet3
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63 lines
1.8 KiB
C++
63 lines
1.8 KiB
C++
#ifndef PHYSICS_SERVER_SHARED_MEMORY_H
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#define PHYSICS_SERVER_SHARED_MEMORY_H
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#include "LinearMath/btVector3.h"
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struct SharedMemLines
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{
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btVector3 m_from;
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btVector3 m_to;
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btVector3 m_color;
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};
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class PhysicsServerSharedMemory
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{
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struct PhysicsServerInternalData* m_data;
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protected:
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void createJointMotors(class btMultiBody* body);
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virtual void createEmptyDynamicsWorld();
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virtual void deleteDynamicsWorld();
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void releaseSharedMemory();
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bool loadUrdf(const char* fileName, const class btVector3& pos, const class btQuaternion& orn,
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bool useMultiBody, bool useFixedBase, int* bodyUniqueId);
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public:
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PhysicsServerSharedMemory();
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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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bool supportsJointMotor(class btMultiBody* body, int linkIndex);
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//@todo(erwincoumans) Should we have shared memory commands for picking objects?
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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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};
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#endif //PHYSICS_SERVER_EXAMPLESHARED_MEMORY_H
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