mirror of
https://github.com/bulletphysics/bullet3
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826c5854a8
vrevent.py: add a Tiltbrush-style drawing example using pybullet Expose getVREvents to pybullet / shared memory API, access to any VR controller state & state changes. Improve performance of user debug lines (pybullet/shared memory API) by batching lines with same color/width expose rayTest to pybullet/shared memory API (single ray for now) add pybullet getMatrixFromQuaterion
62 lines
2.0 KiB
C++
62 lines
2.0 KiB
C++
#ifndef BT_PHYSICS_CLIENT_API_H
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#define BT_PHYSICS_CLIENT_API_H
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//#include "SharedMemoryCommands.h"
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#include "LinearMath/btVector3.h"
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class PhysicsClient {
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public:
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virtual ~PhysicsClient();
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// return true if connection succesfull, can also check 'isConnected'
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virtual bool connect() = 0;
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virtual void disconnectSharedMemory() = 0;
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virtual bool isConnected() const = 0;
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// return non-null if there is a status, nullptr otherwise
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virtual const struct SharedMemoryStatus* processServerStatus() = 0;
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virtual struct SharedMemoryCommand* getAvailableSharedMemoryCommand() = 0;
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virtual bool canSubmitCommand() const = 0;
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virtual bool submitClientCommand(const struct SharedMemoryCommand& command) = 0;
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virtual int getNumBodies() const = 0;
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virtual int getBodyUniqueId(int serialIndex) const = 0;
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virtual bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const = 0;
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virtual int getNumJoints(int bodyUniqueId) const = 0;
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virtual bool getJointInfo(int bodyUniqueId, int jointIndex, struct b3JointInfo& info) const = 0;
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virtual void setSharedMemoryKey(int key) = 0;
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virtual void uploadBulletFileToSharedMemory(const char* data, int len) = 0;
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virtual int getNumDebugLines() const = 0;
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virtual const float* getDebugLinesFrom() const = 0;
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virtual const float* getDebugLinesTo() const = 0;
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virtual const float* getDebugLinesColor() const = 0;
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virtual void getCachedCameraImage(struct b3CameraImageData* cameraData)=0;
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virtual void getCachedContactPointInformation(struct b3ContactInformation* contactPointData)=0;
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virtual void getCachedOverlappingObjects(struct b3AABBOverlapData* overlappingObjects) = 0;
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virtual void getCachedVisualShapeInformation(struct b3VisualShapeInformation* visualShapesInfo) = 0;
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virtual void getCachedVREvents(struct b3VREventsData* vrEventsData) = 0;
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virtual void getCachedRaycastHits(struct b3RaycastInformation* raycastHits) = 0;
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};
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#endif // BT_PHYSICS_CLIENT_API_H
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