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
271 строка8 KB
Erwin Coumans
Support getCachedReturnData for PhysicsLoopBack
07 окт 2020, 18:24
07 окт 2020, 18:24bc51ac3
#include "PhysicsLoopBack.h"
#include "PhysicsServerSharedMemory.h"
#include "PhysicsClientSharedMemory.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "PhysicsServerCommandProcessor.h"
#include "../CommonInterfaces/CommonExampleInterface.h"
struct PhysicsLoopBackInternalData
{
	CommandProcessorInterface* m_commandProcessor;
	PhysicsClientSharedMemory* m_physicsClient;
	PhysicsServerSharedMemory* m_physicsServer;
	DummyGUIHelper m_noGfx;

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

struct Bullet2CommandProcessorCreation2 : public CommandProcessorCreationInterface
{
	virtual class CommandProcessorInterface* createCommandProcessor()
	{
		PhysicsServerCommandProcessor* proc = new PhysicsServerCommandProcessor;
		return proc;
	}

	virtual void deleteCommandProcessor(CommandProcessorInterface* proc)
	{
		delete proc;
	}
};

static Bullet2CommandProcessorCreation2 sB2Proc;

PhysicsLoopBack::PhysicsLoopBack()
{
	m_data = new PhysicsLoopBackInternalData;
	m_data->m_physicsServer = new PhysicsServerSharedMemory(&sB2Proc, 0, 0);
	m_data->m_physicsClient = new PhysicsClientSharedMemory();
}

PhysicsLoopBack::~PhysicsLoopBack()
{
	delete m_data->m_physicsClient;
	delete m_data->m_physicsServer;
	delete m_data->m_commandProcessor;
	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 bodyUniqueId) const
{
	return m_data->m_physicsClient->getNumJoints(bodyUniqueId);
}

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

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

int PhysicsLoopBack::getNumUserConstraints() const
{
	return m_data->m_physicsClient->getNumUserConstraints();
}
int PhysicsLoopBack::getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint& info) const
{
	return m_data->m_physicsClient->getUserConstraintInfo(constraintUniqueId, info);
}

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

///todo: move this out of the interface
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);
}

void PhysicsLoopBack::uploadRaysToSharedMemory(struct SharedMemoryCommand& command, const double* rayFromWorldArray, const double* rayToWorldArray, int numRays)
{
	m_data->m_physicsClient->uploadRaysToSharedMemory(command, rayFromWorldArray, rayToWorldArray, numRays);
}

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::getCachedMeshData(struct b3MeshData* meshData)
{
	return m_data->m_physicsClient->getCachedMeshData(meshData);
}

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

void PhysicsLoopBack::getCachedVisualShapeInformation(struct b3VisualShapeInformation* visualShapesInfo)
{
	return m_data->m_physicsClient->getCachedVisualShapeInformation(visualShapesInfo);
}

void PhysicsLoopBack::getCachedCollisionShapeInformation(struct b3CollisionShapeInformation* collisionShapesInfo)
{
	return m_data->m_physicsClient->getCachedCollisionShapeInformation(collisionShapesInfo);
}

void PhysicsLoopBack::getCachedVREvents(struct b3VREventsData* vrEventsData)
{
	return m_data->m_physicsClient->getCachedVREvents(vrEventsData);
}

void PhysicsLoopBack::getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData)
{
	return m_data->m_physicsClient->getCachedKeyboardEvents(keyboardEventsData);
}

void PhysicsLoopBack::getCachedMouseEvents(struct b3MouseEventsData* mouseEventsData)
{
	return m_data->m_physicsClient->getCachedMouseEvents(mouseEventsData);
}

void PhysicsLoopBack::getCachedOverlappingObjects(struct b3AABBOverlapData* overlappingObjects)
{
	return m_data->m_physicsClient->getCachedOverlappingObjects(overlappingObjects);
}

void PhysicsLoopBack::getCachedRaycastHits(struct b3RaycastInformation* raycastHits)
{
	return m_data->m_physicsClient->getCachedRaycastHits(raycastHits);
}

void PhysicsLoopBack::getCachedMassMatrix(int dofCountCheck, double* massMatrix)
{
	m_data->m_physicsClient->getCachedMassMatrix(dofCountCheck, massMatrix);
}
bool PhysicsLoopBack::getCachedReturnData(struct b3UserDataValue* returnData)
{
	return m_data->m_physicsClient->getCachedReturnData(returnData);
}

void PhysicsLoopBack::setTimeOut(double timeOutInSeconds)
{
	m_data->m_physicsClient->setTimeOut(timeOutInSeconds);
}
double PhysicsLoopBack::getTimeOut() const
{
	return m_data->m_physicsClient->getTimeOut();
}

bool PhysicsLoopBack::getCachedUserData(int userDataId, struct b3UserDataValue& valueOut) const
{
	return m_data->m_physicsClient->getCachedUserData(userDataId, valueOut);
}

int PhysicsLoopBack::getCachedUserDataId(int bodyUniqueId, int linkIndex, int visualShapeIndex, const char* key) const
{
	return m_data->m_physicsClient->getCachedUserDataId(bodyUniqueId, linkIndex, visualShapeIndex, key);
}

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

void PhysicsLoopBack::getUserDataInfo(int bodyUniqueId, int userDataIndex, const char** keyOut, int* userDataIdOut, int* linkIndexOut, int* visualShapeIndexOut) const
{
	m_data->m_physicsClient->getUserDataInfo(bodyUniqueId, userDataIndex, keyOut, userDataIdOut, linkIndexOut, visualShapeIndexOut);
}

void PhysicsLoopBack::pushProfileTiming(const char* timingName)
{
	m_data->m_physicsClient->pushProfileTiming(timingName);
}
void PhysicsLoopBack::popProfileTiming()
{
	m_data->m_physicsClient->popProfileTiming();
}