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

examples/SharedMemory/RemoteGUIHelper.h

78 строк4 KB

Erwin Coumans

add pybullet.unsupportedChangeScaling feature for some small experiments, this is not general and has many limitations that are not likely are going to be resolved,

17 май 2020, 23:46

17 май 2020, 23:46754dbd5

#ifndef REMOTE_HELPER_H
#define REMOTE_HELPER_H

#include "../CommonInterfaces/CommonGUIHelperInterface.h"

///a RemoteGUIHelper will connect to an existing graphics server through shared memory
struct RemoteGUIHelper : public GUIHelperInterface
{
	struct RemoteGUIHelperInternalData* m_data;

	RemoteGUIHelper();

	virtual ~RemoteGUIHelper();

	bool isConnected() const;

	virtual void setVisualizerFlag(int flag, int enable);

	virtual void createRigidBodyGraphicsObject(btRigidBody* body, const btVector3& color);

	virtual void createCollisionObjectGraphicsObject(btCollisionObject* body, const btVector3& color);

	virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape);

	virtual bool getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3], float hor[3], float vert[3], float* yaw, float* pitch, float* camDist, float camTarget[3]) const;

	virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld);
	virtual void syncPhysicsToGraphics2(const class btDiscreteDynamicsWorld* rbWorld);
	virtual void syncPhysicsToGraphics2(const GUISyncPosition* positions, int numPositions);

	virtual void render(const btDiscreteDynamicsWorld* rbWorld);

	virtual void createPhysicsDebugDrawer(btDiscreteDynamicsWorld* rbWorld);

	virtual int registerTexture(const unsigned char* texels, int width, int height);
	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices, int primitiveType, int textureId);
	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling);
	virtual void removeAllGraphicsInstances();
	virtual void removeGraphicsInstance(int graphicsUid);
	virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]);
	virtual void changeScaling(int instanceUid, const double scaling[3]);

	virtual Common2dCanvasInterface* get2dCanvasInterface();

	virtual CommonParameterInterface* getParameterInterface();

	virtual CommonRenderInterface* getRenderInterface();

	virtual CommonGraphicsApp* getAppInterface();

	virtual void setUpAxis(int axis);
	
	virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX, float camPosY, float camPosZ);
	
	virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
									 unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
									 float* depthBuffer, int depthBufferSizeInPixels,
									 int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
									 int startPixelIndex, int width, int height, int* numPixelsCopied);

	virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16]);
	
	virtual void setProjectiveTexture(bool useProjectiveTexture);

	virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld);

	virtual void drawText3D(const char* txt, float posX, float posZY, float posZ, float size);

	virtual void drawText3D(const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlag);

	virtual int addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime, int trackingVisualShapeIndex, int replaceItemUid);
	virtual void removeUserDebugItem(int debugItemUniqueId);
	virtual void removeAllUserDebugItems();

	int uploadData(const unsigned char* data, int sizeInBytes, int slot);
};

#endif  //REMOTE_HELPER_H