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

examples/SharedMemory/PhysicsClient.h

53 строки2 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

#ifndef BT_PHYSICS_CLIENT_API_H
#define BT_PHYSICS_CLIENT_API_H

//#include "SharedMemoryCommands.h"
#include "LinearMath/btVector3.h"

class PhysicsClient {
public:
    virtual ~PhysicsClient();

    // return true if connection succesfull, can also check 'isConnected'
    virtual bool connect() = 0;

    virtual void disconnectSharedMemory() = 0;

    virtual bool isConnected() const = 0;

    // return non-null if there is a status, nullptr otherwise
    virtual const struct SharedMemoryStatus* processServerStatus() = 0;

    virtual struct SharedMemoryCommand* getAvailableSharedMemoryCommand() = 0;

    virtual bool canSubmitCommand() const = 0;

    virtual bool submitClientCommand(const struct SharedMemoryCommand& command) = 0;

	virtual int getNumBodies() const = 0;

	virtual int getBodyUniqueId(int serialIndex) const = 0;

	virtual bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const = 0;
	
    virtual int getNumJoints(int bodyUniqueId) const = 0;

    virtual bool getJointInfo(int bodyUniqueId, int jointIndex, struct b3JointInfo& info) const = 0;

    virtual void setSharedMemoryKey(int key) = 0;

    virtual void uploadBulletFileToSharedMemory(const char* data, int len) = 0;

    virtual int getNumDebugLines() const = 0;

    virtual const float* getDebugLinesFrom() const = 0;
    virtual const float* getDebugLinesTo() const = 0;
    virtual const float* getDebugLinesColor() const = 0;

	virtual void getCachedCameraImage(struct b3CameraImageData* cameraData)=0;
	
	virtual void getCachedContactPointInformation(struct b3ContactInformation* contactPointData)=0;
	
};

#endif  // BT_PHYSICS_CLIENT_API_H