mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 13:50:04 +00:00
125 lines
4.4 KiB
C++
125 lines
4.4 KiB
C++
#ifndef DART_PHYSICS_CLIENT_H
|
|
#define DART_PHYSICS_CLIENT_H
|
|
|
|
|
|
#include "../PhysicsClient.h"
|
|
|
|
///PhysicsDirect executes the commands directly, without transporting them or having a separate server executing commands
|
|
class DARTPhysicsClient : public PhysicsClient
|
|
{
|
|
protected:
|
|
|
|
struct DARTPhysicsDirectInternalData* m_data;
|
|
|
|
bool processDebugLines(const struct SharedMemoryCommand& orgCommand);
|
|
|
|
bool processCamera(const struct SharedMemoryCommand& orgCommand);
|
|
|
|
bool processContactPointData(const struct SharedMemoryCommand& orgCommand);
|
|
|
|
bool processOverlappingObjects(const struct SharedMemoryCommand& orgCommand);
|
|
|
|
bool processVisualShapeData(const struct SharedMemoryCommand& orgCommand);
|
|
|
|
void processBodyJointInfo(int bodyUniqueId, const struct SharedMemoryStatus& serverCmd);
|
|
|
|
void processAddUserData(const struct SharedMemoryStatus& serverCmd);
|
|
|
|
void postProcessStatus(const struct SharedMemoryStatus& serverCmd);
|
|
|
|
void resetData();
|
|
|
|
void removeCachedBody(int bodyUniqueId);
|
|
|
|
public:
|
|
|
|
DARTPhysicsClient(class PhysicsCommandProcessorInterface* physSdk, bool passSdkOwnership);
|
|
|
|
virtual ~DARTPhysicsClient();
|
|
|
|
// return true if connection succesfull, can also check 'isConnected'
|
|
//it is OK to pass a null pointer for the gui helper
|
|
virtual bool connect();
|
|
|
|
////todo: rename to 'disconnect'
|
|
virtual void disconnectSharedMemory();
|
|
|
|
virtual bool isConnected() const;
|
|
|
|
// return non-null if there is a status, nullptr otherwise
|
|
virtual const SharedMemoryStatus* processServerStatus();
|
|
|
|
virtual SharedMemoryCommand* getAvailableSharedMemoryCommand();
|
|
|
|
virtual bool canSubmitCommand() const;
|
|
|
|
virtual bool submitClientCommand(const struct SharedMemoryCommand& command);
|
|
|
|
virtual int getNumBodies() const;
|
|
|
|
virtual int getBodyUniqueId(int serialIndex) const;
|
|
|
|
virtual bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const;
|
|
|
|
virtual int getNumJoints(int bodyIndex) const;
|
|
|
|
virtual bool getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const;
|
|
|
|
virtual int getNumUserConstraints() const;
|
|
|
|
virtual int getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint& info) const;
|
|
|
|
virtual int getUserConstraintId(int serialIndex) const;
|
|
|
|
///todo: move this out of the
|
|
virtual void setSharedMemoryKey(int key);
|
|
|
|
void uploadBulletFileToSharedMemory(const char* data, int len);
|
|
|
|
virtual void uploadRaysToSharedMemory(struct SharedMemoryCommand& command, const double* rayFromWorldArray, const double* rayToWorldArray, int numRays);
|
|
|
|
virtual int getNumDebugLines() const;
|
|
|
|
virtual const float* getDebugLinesFrom() const;
|
|
virtual const float* getDebugLinesTo() const;
|
|
virtual const float* getDebugLinesColor() const;
|
|
|
|
virtual void getCachedCameraImage(b3CameraImageData* cameraData);
|
|
|
|
virtual void getCachedContactPointInformation(struct b3ContactInformation* contactPointData);
|
|
|
|
virtual void getCachedOverlappingObjects(struct b3AABBOverlapData* overlappingObjects);
|
|
|
|
virtual void getCachedVisualShapeInformation(struct b3VisualShapeInformation* visualShapesInfo);
|
|
|
|
virtual void getCachedCollisionShapeInformation(struct b3CollisionShapeInformation* collisionShapesInfo);
|
|
|
|
virtual void getCachedVREvents(struct b3VREventsData* vrEventsData);
|
|
|
|
virtual void getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData);
|
|
|
|
virtual void getCachedMouseEvents(struct b3MouseEventsData* mouseEventsData);
|
|
|
|
virtual void getCachedRaycastHits(struct b3RaycastInformation* raycastHits);
|
|
|
|
virtual void getCachedMassMatrix(int dofCountCheck, double* massMatrix);
|
|
|
|
//the following APIs are for internal use for visualization:
|
|
virtual bool connect(struct GUIHelperInterface* guiHelper);
|
|
virtual void renderScene();
|
|
virtual void debugDraw(int debugDrawMode);
|
|
|
|
virtual void setTimeOut(double timeOutInSeconds);
|
|
virtual double getTimeOut() const;
|
|
|
|
virtual bool getCachedUserData(int bodyUniqueId, int linkIndex, int userDataId, struct b3UserDataValue &valueOut) const;
|
|
virtual int getCachedUserDataId(int bodyUniqueId, int linkIndex, const char *key) const;
|
|
virtual int getNumUserData(int bodyUniqueId, int linkIndex) const;
|
|
virtual void getUserDataInfo(int bodyUniqueId, int linkIndex, int userDataIndex, const char **keyOut, int *userDataIdOut) const;
|
|
|
|
virtual void pushProfileTiming(const char* timingName);
|
|
virtual void popProfileTiming();
|
|
};
|
|
|
|
#endif //DART_PHYSICS__H
|