mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 13:50:04 +00:00
03bf78ef49
add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
54 lines
1.7 KiB
C++
54 lines
1.7 KiB
C++
#ifndef PHYSICS_SERVER_COMMAND_PROCESSOR_H
|
|
#define PHYSICS_SERVER_COMMAND_PROCESSOR_H
|
|
|
|
#include "LinearMath/btVector3.h"
|
|
|
|
struct SharedMemLines
|
|
{
|
|
btVector3 m_from;
|
|
btVector3 m_to;
|
|
btVector3 m_color;
|
|
};
|
|
|
|
///todo: naming. Perhaps PhysicsSdkCommandprocessor?
|
|
class PhysicsServerCommandProcessor
|
|
{
|
|
|
|
struct PhysicsServerCommandProcessorInternalData* m_data;
|
|
|
|
protected:
|
|
|
|
|
|
bool loadUrdf(const char* fileName, const class btVector3& pos, const class btQuaternion& orn,
|
|
bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes);
|
|
|
|
bool supportsJointMotor(class btMultiBody* body, int linkIndex);
|
|
|
|
public:
|
|
PhysicsServerCommandProcessor();
|
|
virtual ~PhysicsServerCommandProcessor();
|
|
|
|
void createJointMotors(class btMultiBody* body);
|
|
|
|
virtual void createEmptyDynamicsWorld();
|
|
virtual void deleteDynamicsWorld();
|
|
|
|
virtual bool processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes );
|
|
|
|
virtual void renderScene();
|
|
virtual void physicsDebugDraw(int debugDrawFlags);
|
|
virtual void setGuiHelper(struct GUIHelperInterface* guiHelper);
|
|
|
|
//@todo(erwincoumans) Should we have shared memory commands for picking objects?
|
|
///The pickBody method will try to pick the first body along a ray, return true if succeeds, false otherwise
|
|
virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
|
|
virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
|
|
virtual void removePickingConstraint();
|
|
|
|
void enableCommandLogging(bool enable, const char* fileName);
|
|
void replayFromLogFile(const char* fileName);
|
|
|
|
};
|
|
|
|
#endif //PHYSICS_SERVER_COMMAND_PROCESSOR_H
|