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https://github.com/bulletphysics/bullet3
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36 lines
952 B
C++
36 lines
952 B
C++
#ifndef PHYSICS_SERVER_SHARED_MEMORY_H
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#define PHYSICS_SERVER_SHARED_MEMORY_H
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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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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);
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public:
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PhysicsServerSharedMemory();
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virtual ~PhysicsServerSharedMemory();
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//todo: implement option to allocated shared memory from client
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virtual bool connectSharedMemory(bool allowSharedMemoryInitialization, class btMultiBodyDynamicsWorld* dynamicsWorld, 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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};
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#endif //PHYSICS_SERVER_EXAMPLESHARED_MEMORY_H
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