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https://github.com/bulletphysics/bullet3
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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.
78 lines
2.2 KiB
C++
78 lines
2.2 KiB
C++
#ifndef B3_PLUGIN_MANAGER_H
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#define B3_PLUGIN_MANAGER_H
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#include "plugins/b3PluginAPI.h"
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enum b3PluginManagerTickMode
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{
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B3_PRE_TICK_MODE = 1,
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B3_POST_TICK_MODE,
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B3_PROCESS_CLIENT_COMMANDS_TICK,
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};
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struct b3PluginFunctions
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{
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//required
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PFN_INIT m_initFunc;
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PFN_EXIT m_exitFunc;
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PFN_EXECUTE m_executeCommandFunc;
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//optional
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PFN_TICK m_preTickFunc;
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PFN_TICK m_postTickFunc;
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PFN_GET_RENDER_INTERFACE m_getRendererFunc;
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PFN_TICK m_processClientCommandsFunc;
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PFN_TICK m_processNotificationsFunc;
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PFN_GET_COLLISION_INTERFACE m_getCollisionFunc;
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PFN_GET_FILEIO_INTERFACE m_fileIoFunc;
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b3PluginFunctions(PFN_INIT initFunc, PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc)
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:m_initFunc(initFunc),
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m_exitFunc(exitFunc),
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m_executeCommandFunc(executeCommandFunc),
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m_preTickFunc(0),
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m_postTickFunc(0),
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m_getRendererFunc(0),
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m_processClientCommandsFunc(0),
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m_processNotificationsFunc(0),
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m_getCollisionFunc(0),
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m_fileIoFunc(0)
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{
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}
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};
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class b3PluginManager
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{
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struct b3PluginManagerInternalData* m_data;
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public:
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b3PluginManager(class PhysicsCommandProcessorInterface* physSdk);
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virtual ~b3PluginManager();
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int loadPlugin(const char* pluginPath, const char* postFixStr = "");
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void unloadPlugin(int pluginUniqueId);
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int executePluginCommand(int pluginUniqueId, const struct b3PluginArguments* arguments);
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void addEvents(const struct b3VRControllerEvent* vrControllerEvents, int numVRControllerEvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents, const struct b3MouseEvent* mouseEvents, int numMouseEvents);
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void clearEvents();
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void addNotification(const struct b3Notification& notification);
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void reportNotifications();
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void tickPlugins(double timeStep, b3PluginManagerTickMode tickMode);
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int registerStaticLinkedPlugin(const char* pluginPath, b3PluginFunctions& functions, bool initPlugin = true);
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void selectPluginRenderer(int pluginUniqueId);
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struct UrdfRenderingInterface* getRenderInterface();
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void selectFileIOPlugin(int pluginUniqueId);
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struct CommonFileIOInterface* getFileIOInterface();
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void selectCollisionPlugin(int pluginUniqueId);
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struct b3PluginCollisionInterface* getCollisionInterface();
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const struct b3UserDataValue* getReturnData(int pluginUniqueId);
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};
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#endif //B3_PLUGIN_MANAGER_H
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