mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-18 21:10:05 +00:00
81 lines
1.8 KiB
C++
81 lines
1.8 KiB
C++
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#include "PhysicsClient.h"
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#include "../CommonInterfaces/CommonMultiBodyBase.h"
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#include "PosixSharedMemory.h"
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class PhysicsClient : public CommonMultiBodyBase
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{
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SharedMemoryInterface* m_sharedMemory;
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SharedMemoryExampleData* m_testBlock1;
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public:
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PhysicsClient(GUIHelperInterface* helper);
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virtual ~PhysicsClient();
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virtual void initPhysics();
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virtual void stepSimulation(float deltaTime);
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virtual void resetCamera()
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{
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float dist = 1;
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float pitch = 50;
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float yaw = 35;
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float targetPos[3]={-3,2.8,-2.5};
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m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
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}
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};
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PhysicsClient::PhysicsClient(GUIHelperInterface* helper)
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:CommonMultiBodyBase(helper),
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m_testBlock1(0)
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{
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b3Printf("Started PhysicsClient");
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m_sharedMemory = new PosixSharedMemory();
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}
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PhysicsClient::~PhysicsClient()
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{
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b3Printf("~PhysicsClient");
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m_sharedMemory->releaseSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
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delete m_sharedMemory;
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}
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void PhysicsClient::initPhysics()
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{
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m_testBlock1 = (SharedMemoryExampleData*)m_sharedMemory->allocateSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
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if (m_testBlock1)
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{
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btAssert(m_testBlock1->m_magicId == SHARED_MEMORY_MAGIC_NUMBER);
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}
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}
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void PhysicsClient::stepSimulation(float deltaTime)
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{
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static int once = true;
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if (m_testBlock1)
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{
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if (once)
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{
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once=false;
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b3Printf("Client created CMD_LOAD_URDF");
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m_testBlock1->m_clientCommands[0] =CMD_LOAD_URDF;
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m_testBlock1->m_numClientCommands++;
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}
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}
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}
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class CommonExampleInterface* PhysicsClientCreateFunc(struct CommonExampleOptions& options)
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{
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return new PhysicsClient(options.m_guiHelper);
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}
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