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https://github.com/bulletphysics/bullet3
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9c7aa3a863
This removes the need to specify the body id/link index when retrieving a user data entry. Additionally, user data can now optionally be set to visual shapes as well. The following public pybullet APIs have changed (backwards incompatible) addUserData and getUserDataId Makes linkIndex parameter optional (default value is -1) Adds optional visualShapeIndex parameter (default value is -1) getUserData and removeUserData Removes required parameters bodyUniqueId and linkIndex getNumUserData Removes required bodyUniqueId parameter getUserDataInfo Removes required linkIndex parameter Changes returned tuple from (userDataId, key) to (userDataId, key, bodyUniqueId, linkIndex, visualShapeIndex)
102 lines
3.6 KiB
C++
102 lines
3.6 KiB
C++
#ifndef PHYSICS_LOOP_BACK_H
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#define PHYSICS_LOOP_BACK_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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///todo: the PhysicsClient API was designed with shared memory in mind,
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///now it become more general we need to move out the shared memory specifics away
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///for example naming [disconnectSharedMemory -> disconnect] [ move setSharedMemoryKey to shared memory specific subclass ]
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class PhysicsLoopBack : public PhysicsClient
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{
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struct PhysicsLoopBackInternalData* m_data;
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public:
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PhysicsLoopBack();
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virtual ~PhysicsLoopBack();
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// return true if connection succesfull, can also check 'isConnected'
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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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virtual int getNumUserConstraints() const;
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virtual int getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint&info) const;
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virtual int getUserConstraintId(int serialIndex) 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 void uploadRaysToSharedMemory(struct SharedMemoryCommand& command, const double* rayFromWorldArray, const double* rayToWorldArray, int numRays);
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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(struct b3CameraImageData* cameraData);
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virtual void getCachedContactPointInformation(struct b3ContactInformation* contactPointData);
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virtual void getCachedOverlappingObjects(struct b3AABBOverlapData* overlappingObjects);
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virtual void getCachedVisualShapeInformation(struct b3VisualShapeInformation* visualShapesInfo);
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virtual void getCachedCollisionShapeInformation(struct b3CollisionShapeInformation* collisionShapesInfo);
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virtual void getCachedVREvents(struct b3VREventsData* vrEventsData);
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virtual void getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData);
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virtual void getCachedMouseEvents(struct b3MouseEventsData* mouseEventsData);
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virtual void getCachedRaycastHits(struct b3RaycastInformation* raycastHits);
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virtual void getCachedMassMatrix(int dofCountCheck, double* massMatrix);
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virtual void setTimeOut(double timeOutInSeconds);
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virtual double getTimeOut() const;
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virtual bool getCachedUserData(int userDataId, struct b3UserDataValue &valueOut) const;
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virtual int getCachedUserDataId(int bodyUniqueId, int linkIndex, int visualShapeIndex, const char *key) const;
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virtual int getNumUserData(int bodyUniqueId) const;
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virtual void getUserDataInfo(int bodyUniqueId, int userDataIndex, const char **keyOut, int *userDataIdOut, int *linkIndexOut, int *visualShapeIndexOut) const;
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virtual void pushProfileTiming(const char* timingName);
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virtual void popProfileTiming();
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};
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#endif //PHYSICS_LOOP_BACK_H
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