mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 14:10:11 +00:00
112 lines
2.0 KiB
C++
112 lines
2.0 KiB
C++
#include "b3RobotSimulatorClientAPI_NoGUI.h"
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#include "PhysicsClientC_API.h"
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#include "b3RobotSimulatorClientAPI_InternalData.h"
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#ifdef BT_ENABLE_ENET
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#include "PhysicsClientUDP_C_API.h"
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#endif //PHYSICS_UDP
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#ifdef BT_ENABLE_CLSOCKET
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#include "PhysicsClientTCP_C_API.h"
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#endif //PHYSICS_TCP
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#ifndef BT_DISABLE_PHYSICS_DIRECT
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#include "PhysicsDirectC_API.h"
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#endif //BT_DISABLE_PHYSICS_DIRECT
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#include "SharedMemoryPublic.h"
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#include "Bullet3Common/b3Logging.h"
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b3RobotSimulatorClientAPI_NoGUI::b3RobotSimulatorClientAPI_NoGUI()
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{
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}
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b3RobotSimulatorClientAPI_NoGUI::~b3RobotSimulatorClientAPI_NoGUI()
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{
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}
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bool b3RobotSimulatorClientAPI_NoGUI::connect(int mode, const std::string& hostName, int portOrKey)
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{
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if (m_data->m_physicsClientHandle)
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{
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b3Warning("Already connected, disconnect first.");
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return false;
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}
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b3PhysicsClientHandle sm = 0;
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int udpPort = 1234;
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int tcpPort = 6667;
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int key = SHARED_MEMORY_KEY;
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switch (mode)
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{
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case eCONNECT_DIRECT:
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{
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#ifndef BT_DISABLE_PHYSICS_DIRECT
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sm = b3ConnectPhysicsDirect();
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#endif //BT_DISABLE_PHYSICS_DIRECT
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break;
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}
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case eCONNECT_SHARED_MEMORY:
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{
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if (portOrKey >= 0)
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{
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key = portOrKey;
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}
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sm = b3ConnectSharedMemory(key);
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break;
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}
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case eCONNECT_UDP:
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{
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if (portOrKey >= 0)
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{
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udpPort = portOrKey;
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}
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#ifdef BT_ENABLE_ENET
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sm = b3ConnectPhysicsUDP(hostName.c_str(), udpPort);
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#else
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b3Warning("UDP is not enabled in this build");
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#endif //BT_ENABLE_ENET
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break;
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}
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case eCONNECT_TCP:
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{
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if (portOrKey >= 0)
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{
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tcpPort = portOrKey;
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}
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#ifdef BT_ENABLE_CLSOCKET
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sm = b3ConnectPhysicsTCP(hostName.c_str(), tcpPort);
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#else
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b3Warning("TCP is not enabled in this pybullet build");
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#endif //BT_ENABLE_CLSOCKET
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break;
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}
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default:
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{
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b3Warning("connectPhysicsServer unexpected argument");
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}
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};
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if (sm)
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{
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m_data->m_physicsClientHandle = sm;
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if (!b3CanSubmitCommand(m_data->m_physicsClientHandle))
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{
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disconnect();
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return false;
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}
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return true;
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}
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return false;
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}
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