mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 05:40:05 +00:00
147 lines
3.8 KiB
C++
147 lines
3.8 KiB
C++
#include "PhysicsLoopBack.h"
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#include "PhysicsServerSharedMemory.h"
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#include "PhysicsClientSharedMemory.h"
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#include "../CommonInterfaces/CommonGUIHelperInterface.h"
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struct PhysicsLoopBackInternalData
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{
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PhysicsClientSharedMemory* m_physicsClient;
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PhysicsServerSharedMemory* m_physicsServer;
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DummyGUIHelper m_noGfx;
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PhysicsLoopBackInternalData()
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:m_physicsClient(0),
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m_physicsServer(0)
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{
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}
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};
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PhysicsLoopBack::PhysicsLoopBack()
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{
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m_data = new PhysicsLoopBackInternalData;
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m_data->m_physicsServer = new PhysicsServerSharedMemory();
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m_data->m_physicsClient = new PhysicsClientSharedMemory();
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}
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PhysicsLoopBack::~PhysicsLoopBack()
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{
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delete m_data->m_physicsClient;
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delete m_data->m_physicsServer;
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delete m_data;
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}
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// return true if connection succesfull, can also check 'isConnected'
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bool PhysicsLoopBack::connect()
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{
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m_data->m_physicsServer->connectSharedMemory(&m_data->m_noGfx);
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m_data->m_physicsClient->connect();
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return m_data->m_physicsClient->isConnected();
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}
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////todo: rename to 'disconnect'
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void PhysicsLoopBack::disconnectSharedMemory()
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{
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m_data->m_physicsClient->disconnectSharedMemory();
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m_data->m_physicsServer->disconnectSharedMemory(true);
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}
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bool PhysicsLoopBack::isConnected() const
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{
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return m_data->m_physicsClient->isConnected();
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}
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// return non-null if there is a status, nullptr otherwise
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const SharedMemoryStatus* PhysicsLoopBack::processServerStatus()
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{
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m_data->m_physicsServer->processClientCommands();
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return m_data->m_physicsClient->processServerStatus();
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}
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SharedMemoryCommand* PhysicsLoopBack::getAvailableSharedMemoryCommand()
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{
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return m_data->m_physicsClient->getAvailableSharedMemoryCommand();
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}
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bool PhysicsLoopBack::canSubmitCommand() const
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{
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return m_data->m_physicsClient->canSubmitCommand();
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}
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bool PhysicsLoopBack::submitClientCommand(const struct SharedMemoryCommand& command)
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{
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return m_data->m_physicsClient->submitClientCommand(command);
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}
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int PhysicsLoopBack::getNumBodies() const
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{
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return m_data->m_physicsClient->getNumBodies();
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}
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int PhysicsLoopBack::getBodyUniqueId(int serialIndex) const
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{
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return m_data->m_physicsClient->getBodyUniqueId(serialIndex);
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}
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bool PhysicsLoopBack::getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const
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{
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return m_data->m_physicsClient->getBodyInfo(bodyUniqueId, info);
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}
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int PhysicsLoopBack::getNumJoints(int bodyIndex) const
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{
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return m_data->m_physicsClient->getNumJoints(bodyIndex);
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}
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bool PhysicsLoopBack::getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const
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{
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return m_data->m_physicsClient->getJointInfo(bodyIndex,jointIndex,info);
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}
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///todo: move this out of the
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void PhysicsLoopBack::setSharedMemoryKey(int key)
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{
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m_data->m_physicsServer->setSharedMemoryKey(key);
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m_data->m_physicsClient->setSharedMemoryKey(key);
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}
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void PhysicsLoopBack::uploadBulletFileToSharedMemory(const char* data, int len)
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{
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m_data->m_physicsClient->uploadBulletFileToSharedMemory(data,len);
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}
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int PhysicsLoopBack::getNumDebugLines() const
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{
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return m_data->m_physicsClient->getNumDebugLines();
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}
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const float* PhysicsLoopBack::getDebugLinesFrom() const
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{
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return m_data->m_physicsClient->getDebugLinesFrom();
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}
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const float* PhysicsLoopBack::getDebugLinesTo() const
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{
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return m_data->m_physicsClient->getDebugLinesTo();
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}
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const float* PhysicsLoopBack::getDebugLinesColor() const
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{
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return m_data->m_physicsClient->getDebugLinesColor();
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}
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void PhysicsLoopBack::getCachedCameraImage(struct b3CameraImageData* cameraData)
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{
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return m_data->m_physicsClient->getCachedCameraImage(cameraData);
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}
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void PhysicsLoopBack::getCachedContactPointInformation(struct b3ContactInformation* contactPointData)
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{
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return m_data->m_physicsClient->getCachedContactPointInformation(contactPointData);
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}
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void PhysicsLoopBack::getCachedVisualShapeInformation(struct b3VisualShapeInformation* visualShapesInfo)
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{
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return m_data->m_physicsClient->getCachedVisualShapeInformation(visualShapesInfo);
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} |