mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 13:50:04 +00:00
bc51ac3f0f
re-use existing code path for streaming plugin return data (work-in-progress)
272 lines
7.9 KiB
C++
272 lines
7.9 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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#include "PhysicsServerCommandProcessor.h"
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#include "../CommonInterfaces/CommonExampleInterface.h"
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struct PhysicsLoopBackInternalData
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{
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CommandProcessorInterface* m_commandProcessor;
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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_commandProcessor(0),
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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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struct Bullet2CommandProcessorCreation2 : public CommandProcessorCreationInterface
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{
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virtual class CommandProcessorInterface* createCommandProcessor()
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{
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PhysicsServerCommandProcessor* proc = new PhysicsServerCommandProcessor;
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return proc;
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}
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virtual void deleteCommandProcessor(CommandProcessorInterface* proc)
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{
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delete proc;
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}
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};
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static Bullet2CommandProcessorCreation2 sB2Proc;
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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(&sB2Proc, 0, 0);
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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->m_commandProcessor;
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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 bodyUniqueId) const
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{
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return m_data->m_physicsClient->getNumJoints(bodyUniqueId);
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}
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int PhysicsLoopBack::getNumDofs(int bodyUniqueId) const
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{
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return m_data->m_physicsClient->getNumDofs(bodyUniqueId);
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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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int PhysicsLoopBack::getNumUserConstraints() const
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{
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return m_data->m_physicsClient->getNumUserConstraints();
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}
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int PhysicsLoopBack::getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint& info) const
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{
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return m_data->m_physicsClient->getUserConstraintInfo(constraintUniqueId, info);
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}
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int PhysicsLoopBack::getUserConstraintId(int serialIndex) const
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{
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return m_data->m_physicsClient->getUserConstraintId(serialIndex);
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}
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///todo: move this out of the interface
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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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void PhysicsLoopBack::uploadRaysToSharedMemory(struct SharedMemoryCommand& command, const double* rayFromWorldArray, const double* rayToWorldArray, int numRays)
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{
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m_data->m_physicsClient->uploadRaysToSharedMemory(command, rayFromWorldArray, rayToWorldArray, numRays);
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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::getCachedMeshData(struct b3MeshData* meshData)
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{
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return m_data->m_physicsClient->getCachedMeshData(meshData);
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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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}
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void PhysicsLoopBack::getCachedCollisionShapeInformation(struct b3CollisionShapeInformation* collisionShapesInfo)
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{
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return m_data->m_physicsClient->getCachedCollisionShapeInformation(collisionShapesInfo);
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}
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void PhysicsLoopBack::getCachedVREvents(struct b3VREventsData* vrEventsData)
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{
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return m_data->m_physicsClient->getCachedVREvents(vrEventsData);
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}
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void PhysicsLoopBack::getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData)
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{
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return m_data->m_physicsClient->getCachedKeyboardEvents(keyboardEventsData);
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}
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void PhysicsLoopBack::getCachedMouseEvents(struct b3MouseEventsData* mouseEventsData)
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{
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return m_data->m_physicsClient->getCachedMouseEvents(mouseEventsData);
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}
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void PhysicsLoopBack::getCachedOverlappingObjects(struct b3AABBOverlapData* overlappingObjects)
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{
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return m_data->m_physicsClient->getCachedOverlappingObjects(overlappingObjects);
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}
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void PhysicsLoopBack::getCachedRaycastHits(struct b3RaycastInformation* raycastHits)
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{
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return m_data->m_physicsClient->getCachedRaycastHits(raycastHits);
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}
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void PhysicsLoopBack::getCachedMassMatrix(int dofCountCheck, double* massMatrix)
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{
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m_data->m_physicsClient->getCachedMassMatrix(dofCountCheck, massMatrix);
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}
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bool PhysicsLoopBack::getCachedReturnData(struct b3UserDataValue* returnData)
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{
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return m_data->m_physicsClient->getCachedReturnData(returnData);
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}
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void PhysicsLoopBack::setTimeOut(double timeOutInSeconds)
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{
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m_data->m_physicsClient->setTimeOut(timeOutInSeconds);
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}
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double PhysicsLoopBack::getTimeOut() const
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{
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return m_data->m_physicsClient->getTimeOut();
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}
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bool PhysicsLoopBack::getCachedUserData(int userDataId, struct b3UserDataValue& valueOut) const
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{
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return m_data->m_physicsClient->getCachedUserData(userDataId, valueOut);
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}
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int PhysicsLoopBack::getCachedUserDataId(int bodyUniqueId, int linkIndex, int visualShapeIndex, const char* key) const
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{
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return m_data->m_physicsClient->getCachedUserDataId(bodyUniqueId, linkIndex, visualShapeIndex, key);
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}
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int PhysicsLoopBack::getNumUserData(int bodyUniqueId) const
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{
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return m_data->m_physicsClient->getNumUserData(bodyUniqueId);
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}
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void PhysicsLoopBack::getUserDataInfo(int bodyUniqueId, int userDataIndex, const char** keyOut, int* userDataIdOut, int* linkIndexOut, int* visualShapeIndexOut) const
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{
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m_data->m_physicsClient->getUserDataInfo(bodyUniqueId, userDataIndex, keyOut, userDataIdOut, linkIndexOut, visualShapeIndexOut);
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}
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void PhysicsLoopBack::pushProfileTiming(const char* timingName)
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{
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m_data->m_physicsClient->pushProfileTiming(timingName);
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}
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void PhysicsLoopBack::popProfileTiming()
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{
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m_data->m_physicsClient->popProfileTiming();
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}
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