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https://github.com/bulletphysics/bullet3
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5436b8f048
fix in b3HashString remove many unused dependencies from kuka_grasp_block_playback.py (time,math, datetime ,numpy,pylab ,sys, os, fnmatch,argparse were not used!) move block_grasp_log.bin from Bullet3/data to Bullet3/examples/pybullet/examples/data folder. PhysicsServerCommandProcessor, derive from CommandProcessorInterface to prepare for different back-end implementation
47 lines
1.4 KiB
C++
47 lines
1.4 KiB
C++
#ifndef PHYSICS_SERVER_H
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#define PHYSICS_SERVER_H
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#include "LinearMath/btVector3.h"
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class PhysicsServer
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{
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public:
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virtual ~PhysicsServer();
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virtual void setSharedMemoryKey(int key)=0;
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virtual bool connectSharedMemory( struct GUIHelperInterface* guiHelper)=0;
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virtual void disconnectSharedMemory (bool deInitializeSharedMemory)=0;
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virtual void processClientCommands()=0;
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// virtual bool supportsJointMotor(class btMultiBody* body, int linkIndex)=0;
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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){return false;}
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virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld){return false;}
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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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virtual void physicsDebugDraw(int debugDrawFlags){}
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virtual void renderScene(int renderFlags){}
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virtual void enableCommandLogging(bool enable, const char* fileName){}
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virtual void replayFromLogFile(const char* fileName){}
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};
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#endif //PHYSICS_SERVER_H
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