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
94 строки3 KB
Erwin Coumans
Add an option for a plugin to report return data after calling executePluginCommand. Also add python binding.
07 окт 2020, 06:19
07 окт 2020, 06:19954ceff
#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 int getNumDofs(int bodyUniqueId) const = 0;

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

	virtual int getNumUserConstraints() const = 0;

	virtual int getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint& info) const = 0;

	virtual int getUserConstraintId(int serialIndex) const = 0;

	virtual void setSharedMemoryKey(int key) = 0;

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

	virtual void uploadRaysToSharedMemory(struct SharedMemoryCommand& command, const double* rayFromWorldArray, const double* rayToWorldArray, int numRays) = 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;

	virtual void getCachedOverlappingObjects(struct b3AABBOverlapData* overlappingObjects) = 0;

	virtual void getCachedVisualShapeInformation(struct b3VisualShapeInformation* visualShapesInfo) = 0;

	virtual void getCachedCollisionShapeInformation(struct b3CollisionShapeInformation* collisionShapesInfo) = 0;

	virtual void getCachedMeshData(struct b3MeshData* meshData) = 0;

	virtual void getCachedVREvents(struct b3VREventsData* vrEventsData) = 0;

	virtual void getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData) = 0;

	virtual void getCachedMouseEvents(struct b3MouseEventsData* mouseEventsData) = 0;

	virtual void getCachedRaycastHits(struct b3RaycastInformation* raycastHits) = 0;

	virtual void getCachedMassMatrix(int dofCountCheck, double* massMatrix) = 0;

	virtual bool getCachedReturnData(struct b3UserDataValue* returnData) = 0;

	virtual void setTimeOut(double timeOutInSeconds) = 0;
	virtual double getTimeOut() const = 0;

	virtual bool getCachedUserData(int userDataId, struct b3UserDataValue& valueOut) const = 0;
	virtual int getCachedUserDataId(int bodyUniqueId, int linkIndex, int visualShapeIndex, const char* key) const = 0;
	virtual int getNumUserData(int bodyUniqueId) const = 0;
	virtual void getUserDataInfo(int bodyUniqueId, int userDataIndex, const char** keyOut, int* userDataIdOut, int* linkIndexOut, int* visualShapeIndexOut) const = 0;

	virtual void pushProfileTiming(const char* timingName) = 0;
	virtual void popProfileTiming() = 0;
};

#endif  // BT_PHYSICS_CLIENT_API_H