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https://github.com/bulletphysics/bullet3
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69 lines
2.0 KiB
C++
69 lines
2.0 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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///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(struct 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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};
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#endif //PHYSICS_LOOP_BACK_H
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