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https://github.com/bulletphysics/bullet3
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9708392322
add UDP network connection for physics client <-> server. also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever)
88 lines
2.6 KiB
C++
88 lines
2.6 KiB
C++
#ifndef PHYSICS_DIRECT_H
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#define PHYSICS_DIRECT_H
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//#include "SharedMemoryCommands.h"
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#include "PhysicsClient.h"
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#include "LinearMath/btVector3.h"
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///PhysicsDirect executes the commands directly, without transporting them or having a separate server executing commands
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class PhysicsDirect : public PhysicsClient
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{
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protected:
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struct PhysicsDirectInternalData* m_data;
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bool processDebugLines(const struct SharedMemoryCommand& orgCommand);
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bool processCamera(const struct SharedMemoryCommand& orgCommand);
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bool processContactPointData(const struct SharedMemoryCommand& orgCommand);
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bool processVisualShapeData(const struct SharedMemoryCommand& orgCommand);
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void processBodyJointInfo(int bodyUniqueId, const struct SharedMemoryStatus& serverCmd);
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void postProcessStatus(const struct SharedMemoryStatus& serverCmd);
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public:
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PhysicsDirect(class PhysicsCommandProcessorInterface* physSdk);
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virtual ~PhysicsDirect();
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// return true if connection succesfull, can also check 'isConnected'
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//it is OK to pass a null pointer for the gui helper
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virtual bool connect();
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////todo: rename to 'disconnect'
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virtual void disconnectSharedMemory();
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virtual bool isConnected() const;
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// return non-null if there is a status, nullptr otherwise
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virtual const SharedMemoryStatus* processServerStatus();
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virtual SharedMemoryCommand* getAvailableSharedMemoryCommand();
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virtual bool canSubmitCommand() const;
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virtual bool submitClientCommand(const struct SharedMemoryCommand& command);
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virtual int getNumBodies() const;
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virtual int getBodyUniqueId(int serialIndex) const;
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virtual bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const;
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virtual int getNumJoints(int bodyIndex) const;
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virtual bool getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const;
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///todo: move this out of the
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virtual void setSharedMemoryKey(int key);
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void uploadBulletFileToSharedMemory(const char* data, int len);
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virtual int getNumDebugLines() const;
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virtual const float* getDebugLinesFrom() const;
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virtual const float* getDebugLinesTo() const;
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virtual const float* getDebugLinesColor() const;
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virtual void getCachedCameraImage(b3CameraImageData* cameraData);
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virtual void getCachedContactPointInformation(struct b3ContactInformation* contactPointData);
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virtual void getCachedVisualShapeInformation(struct b3VisualShapeInformation* visualShapesInfo);
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//those 2 APIs are for internal use for visualization
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virtual bool connect(struct GUIHelperInterface* guiHelper);
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virtual void renderScene();
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virtual void debugDraw(int debugDrawMode);
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};
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#endif //PHYSICS_DIRECT_H
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