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!!! Make sure to add examples/SharedMemory/PhysicsServerExampleBullet2.cpp to your build system, if needed Bump up pybullet to version 1.0.9
68 lines
2.2 KiB
C++
68 lines
2.2 KiB
C++
#ifndef PHYSICS_SERVER_SHARED_MEMORY_H
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#define PHYSICS_SERVER_SHARED_MEMORY_H
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#include "PhysicsServer.h"
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#include "LinearMath/btQuaternion.h"
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class PhysicsServerSharedMemory : public PhysicsServer
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{
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struct PhysicsServerSharedMemoryInternalData* m_data;
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protected:
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void releaseSharedMemory();
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public:
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PhysicsServerSharedMemory(struct CommandProcessorCreationInterface* commandProcessorCreator, class SharedMemoryInterface* sharedMem, int bla);
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virtual ~PhysicsServerSharedMemory();
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virtual void setSharedMemoryKey(int key);
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//todo: implement option to allocated shared memory from client
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virtual bool connectSharedMemory( struct GUIHelperInterface* guiHelper);
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virtual void disconnectSharedMemory (bool deInitializeSharedMemory);
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virtual void processClientCommands();
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virtual void stepSimulationRealTime(double dtInSec,const struct b3VRControllerEvent* vrEvents, int numVREvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents);
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virtual void enableRealTimeSimulation(bool enableRealTimeSim);
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virtual bool isRealTimeSimulationEnabled() const;
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//bool supportsJointMotor(class btMultiBody* body, int linkIndex);
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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);
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virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
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virtual void removePickingConstraint();
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virtual const btVector3& getVRTeleportPosition() const;
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virtual void setVRTeleportPosition(const btVector3& vrReleportPos);
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virtual const btQuaternion& getVRTeleportOrientation() const;
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virtual void setVRTeleportOrientation(const btQuaternion& vrReleportOrn);
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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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void physicsDebugDraw(int debugDrawFlags);
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void renderScene(int renderFlags);
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void syncPhysicsToGraphics();
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void enableCommandLogging(bool enable, const char* fileName);
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void replayFromLogFile(const char* fileName);
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};
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#endif //PHYSICS_SERVER_EXAMPLESHARED_MEMORY_H
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