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https://github.com/bulletphysics/bullet3
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47 lines
1.0 KiB
C++
47 lines
1.0 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 <string>
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struct PoweredJointInfo
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{
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std::string m_linkName;
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std::string m_jointName;
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int m_jointType;
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int m_qIndex;
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int m_uIndex;
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};
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class PhysicsClientSharedMemory //: public CommonPhysicsClientInterface
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{
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struct PhysicsClientSharedMemoryInternalData* m_data;
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protected:
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public:
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PhysicsClientSharedMemory();
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virtual ~PhysicsClientSharedMemory();
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//return true if connection succesfull, can also check 'isConnected'
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virtual bool connect(bool allowSharedMemoryInitialization = true);
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virtual bool isConnected() const;
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// return true if there is a status, and fill in 'serverStatus'
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virtual bool processServerStatus(ServerStatus& serverStatus);
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virtual bool canSubmitCommand() const;
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virtual bool submitClientCommand(const SharedMemoryCommand& command);
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virtual int getNumPoweredJoints() const;
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virtual void getPoweredJointInfo(int index, PoweredJointInfo& info) const;
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};
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#endif //BT_PHYSICS_CLIENT_API_H
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