mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 05:40:05 +00:00
954ceff2ec
Currently the return data has to fit in shared memory, 8MB (Linux, Windows) or 1MB (Apple) Preparation for streaming is added (to allow unlimited return data, see CMD_CUSTOM_COMMAND_STREAM_RETURN_DATA) New C-API: b3GetStatusPluginCommandReturnData PyBullet reports return data if available, in pybullet_executePluginCommand For the plugin developer: plugin can provide additional return data for executePluginCommand in the b3PluginContext, during executePluginCommand. Lifetime of this m_returnData pointer is minimum of next call to the next executePluginCommand or plugin termination.
95 lines
3.4 KiB
C++
95 lines
3.4 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 "LinearMath/btVector3.h"
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class PhysicsClient
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{
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public:
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virtual ~PhysicsClient();
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// return true if connection succesfull, can also check 'isConnected'
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virtual bool connect() = 0;
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virtual void disconnectSharedMemory() = 0;
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virtual bool isConnected() const = 0;
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// return non-null if there is a status, nullptr otherwise
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virtual const struct SharedMemoryStatus* processServerStatus() = 0;
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virtual struct SharedMemoryCommand* getAvailableSharedMemoryCommand() = 0;
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virtual bool canSubmitCommand() const = 0;
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virtual bool submitClientCommand(const struct SharedMemoryCommand& command) = 0;
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virtual int getNumBodies() const = 0;
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virtual int getBodyUniqueId(int serialIndex) const = 0;
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virtual bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const = 0;
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virtual int getNumJoints(int bodyUniqueId) const = 0;
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virtual int getNumDofs(int bodyUniqueId) const = 0;
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virtual bool getJointInfo(int bodyUniqueId, int jointIndex, struct b3JointInfo& info) const = 0;
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virtual int getNumUserConstraints() const = 0;
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virtual int getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint& info) const = 0;
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virtual int getUserConstraintId(int serialIndex) const = 0;
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virtual void setSharedMemoryKey(int key) = 0;
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virtual void uploadBulletFileToSharedMemory(const char* data, int len) = 0;
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virtual void uploadRaysToSharedMemory(struct SharedMemoryCommand& command, const double* rayFromWorldArray, const double* rayToWorldArray, int numRays) = 0;
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virtual int getNumDebugLines() const = 0;
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virtual const float* getDebugLinesFrom() const = 0;
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virtual const float* getDebugLinesTo() const = 0;
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virtual const float* getDebugLinesColor() const = 0;
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virtual void getCachedCameraImage(struct b3CameraImageData* cameraData) = 0;
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virtual void getCachedContactPointInformation(struct b3ContactInformation* contactPointData) = 0;
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virtual void getCachedOverlappingObjects(struct b3AABBOverlapData* overlappingObjects) = 0;
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virtual void getCachedVisualShapeInformation(struct b3VisualShapeInformation* visualShapesInfo) = 0;
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virtual void getCachedCollisionShapeInformation(struct b3CollisionShapeInformation* collisionShapesInfo) = 0;
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virtual void getCachedMeshData(struct b3MeshData* meshData) = 0;
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virtual void getCachedVREvents(struct b3VREventsData* vrEventsData) = 0;
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virtual void getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData) = 0;
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virtual void getCachedMouseEvents(struct b3MouseEventsData* mouseEventsData) = 0;
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virtual void getCachedRaycastHits(struct b3RaycastInformation* raycastHits) = 0;
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virtual void getCachedMassMatrix(int dofCountCheck, double* massMatrix) = 0;
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virtual bool getCachedReturnData(struct b3UserDataValue* returnData) = 0;
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virtual void setTimeOut(double timeOutInSeconds) = 0;
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virtual double getTimeOut() const = 0;
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virtual bool getCachedUserData(int userDataId, struct b3UserDataValue& valueOut) const = 0;
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virtual int getCachedUserDataId(int bodyUniqueId, int linkIndex, int visualShapeIndex, const char* key) const = 0;
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virtual int getNumUserData(int bodyUniqueId) const = 0;
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virtual void getUserDataInfo(int bodyUniqueId, int userDataIndex, const char** keyOut, int* userDataIdOut, int* linkIndexOut, int* visualShapeIndexOut) const = 0;
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virtual void pushProfileTiming(const char* timingName) = 0;
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virtual void popProfileTiming() = 0;
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};
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#endif // BT_PHYSICS_CLIENT_API_H
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