redgpu/bullet: Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.

examples/SharedMemory/PhysicsLoopBack.cpp

142 строки4 KB

erwin coumans

expose getNumBodies, getBodyUniqueId, getBodyInfo (char* baseName) to shared memory API and pybullet., making it easier to serialize the state of the world.

27 сен 2016, 22:13

27 сен 2016, 22:130936ae6

#include "PhysicsLoopBack.h"
#include "PhysicsServerSharedMemory.h"
#include "PhysicsClientSharedMemory.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"

struct PhysicsLoopBackInternalData
{
	PhysicsClientSharedMemory* m_physicsClient;
	PhysicsServerSharedMemory* m_physicsServer;
	DummyGUIHelper m_noGfx;
	

	PhysicsLoopBackInternalData()
		:m_physicsClient(0),
		m_physicsServer(0)
	{
	}
};

PhysicsLoopBack::PhysicsLoopBack()
{
	m_data = new PhysicsLoopBackInternalData;
	m_data->m_physicsServer = new PhysicsServerSharedMemory();
	m_data->m_physicsClient = new PhysicsClientSharedMemory();
}

PhysicsLoopBack::~PhysicsLoopBack()
{
	delete m_data->m_physicsClient;
	delete m_data->m_physicsServer;
	delete m_data;
}


// return true if connection succesfull, can also check 'isConnected'
bool PhysicsLoopBack::connect()
{
	m_data->m_physicsServer->connectSharedMemory(&m_data->m_noGfx);
	m_data->m_physicsClient->connect();
	return m_data->m_physicsClient->isConnected();
}

////todo: rename to 'disconnect'
void PhysicsLoopBack::disconnectSharedMemory()
{
	m_data->m_physicsClient->disconnectSharedMemory();
	m_data->m_physicsServer->disconnectSharedMemory(true);
}

bool PhysicsLoopBack::isConnected() const
{
	return m_data->m_physicsClient->isConnected();
}

// return non-null if there is a status, nullptr otherwise
const  SharedMemoryStatus* PhysicsLoopBack::processServerStatus()
{
	m_data->m_physicsServer->processClientCommands();
	return m_data->m_physicsClient->processServerStatus();
}

SharedMemoryCommand* PhysicsLoopBack::getAvailableSharedMemoryCommand()
{
	return m_data->m_physicsClient->getAvailableSharedMemoryCommand();
}

bool PhysicsLoopBack::canSubmitCommand() const
{
	return m_data->m_physicsClient->canSubmitCommand();
}

bool PhysicsLoopBack::submitClientCommand(const struct SharedMemoryCommand& command)
{
	return  m_data->m_physicsClient->submitClientCommand(command);
}

int PhysicsLoopBack::getNumBodies() const
{
	return m_data->m_physicsClient->getNumBodies();
}

int PhysicsLoopBack::getBodyUniqueId(int serialIndex) const
{
	return m_data->m_physicsClient->getBodyUniqueId(serialIndex);
}

bool PhysicsLoopBack::getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const
{
	return m_data->m_physicsClient->getBodyInfo(bodyUniqueId, info);
}

int PhysicsLoopBack::getNumJoints(int bodyIndex) const
{
	return m_data->m_physicsClient->getNumJoints(bodyIndex);
}

bool PhysicsLoopBack::getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const
{
	return m_data->m_physicsClient->getJointInfo(bodyIndex,jointIndex,info);
}

///todo: move this out of the
void PhysicsLoopBack::setSharedMemoryKey(int key)
{
	m_data->m_physicsServer->setSharedMemoryKey(key);
	m_data->m_physicsClient->setSharedMemoryKey(key);
}

void PhysicsLoopBack::uploadBulletFileToSharedMemory(const char* data, int len)
{
	m_data->m_physicsClient->uploadBulletFileToSharedMemory(data,len);
}

int PhysicsLoopBack::getNumDebugLines() const
{
	return m_data->m_physicsClient->getNumDebugLines();
}

const float* PhysicsLoopBack::getDebugLinesFrom() const
{
	return m_data->m_physicsClient->getDebugLinesFrom();
}

const float* PhysicsLoopBack::getDebugLinesTo() const
{
	return m_data->m_physicsClient->getDebugLinesTo();
}

const float* PhysicsLoopBack::getDebugLinesColor() const
{
	return m_data->m_physicsClient->getDebugLinesColor();
}

void PhysicsLoopBack::getCachedCameraImage(struct b3CameraImageData* cameraData)
{
	return m_data->m_physicsClient->getCachedCameraImage(cameraData);
}

void PhysicsLoopBack::getCachedContactPointInformation(struct b3ContactInformation* contactPointData)
{
    return m_data->m_physicsClient->getCachedContactPointInformation(contactPointData);
}