Unity/AirLibWrapper/AirsimWrapper/Source/PInvokeWrapper.cpp - master - vasandi/AirSim

Unity/AirLibWrapper/AirsimWrapper/Source/PInvokeWrapper.cpp
73 строки4 KB
Андрей Васильченко
сборка под ubuntu 26.04
08 июл 2026, 10:15
08 июл 2026, 10:15d53c5a2
#include "PInvokeWrapper.h"

//Function pointers to hold the addresses of the functions that are defined in Unity
bool (*SetPose)(AirSimPose pose, bool ignoreCollision, const char* vehicleName);
AirSimPose (*GetPose)(const char* vehicleName);
AirSimCollisionInfo (*GetCollisionInfo)(const char* vehicleName);
AirSimRCData (*GetRCData)(const char* vehicleName);
AirSimImageResponse (*GetSimImages)(AirSimImageRequest request, const char* vehicleName);
bool (*SetRotorSpeed)(int rotorIndex, RotorInfo rotorInfo, const char* vehicleName);
bool (*SetEnableApi)(bool enableApi, const char* vehicleName);
bool (*SetCarApiControls)(msr::airlib::CarApiBase::CarControls controls, const char* vehicleName);
AirSimCarState (*GetCarState)(const char* vehicleName);
AirSimCameraInfo (*GetCameraInfo)(const char* cameraName, const char* vehicleName);
bool (*SetCameraPose)(const char* cameraName, AirSimPose pose, const char* vehicleName);
bool (*SetCameraFoV)(const char* cameraName, const float fov_degrees, const char* vehicleName);
bool (*SetCameraDistortionParam)(const char* cameraName, const char* paramName, const float value, const char* vehicleName);
bool (*GetCameraDistortionParams)(const char* cameraName, const char* vehicleName);
bool (*SetSegmentationObjectId)(const char* meshName, int objectId, bool isNameRegex);
int (*GetSegmentationObjectId)(const char* meshName);
bool (*PrintLogMessage)(const char* message, const char* messageParam, const char* vehicleName, int severity);
UnityTransform (*GetTransformFromUnity)(const char* vehicleName);
bool (*Reset)();
AirSimVector (*GetVelocity)(const char* vehicleName);
RayCastHitResult (*GetRayCastHit)(AirSimVector startVec, AirSimVector endVec, const char* vehicleName);
bool (*Pause)(float timeScale);

void InitVehicleManager(
    bool (*setPose)(AirSimPose pose, bool ignoreCollision, const char* vehicleName),
    AirSimPose (*getPose)(const char* vehicleName),
    AirSimCollisionInfo (*getCollisionInfo)(const char* vehicleName),
    AirSimRCData (*getDroneRCData)(const char* vehicleName),
    AirSimImageResponse (*getSimImages)(AirSimImageRequest request, const char* vehicleName),
    bool (*setRotorSpeed)(int rotorIndex, RotorInfo rotorInfo, const char* vehicleName),
    bool (*setEnableApi)(bool enableApi, const char* vehicleName),
    bool (*setCarApiControls)(msr::airlib::CarApiBase::CarControls controls, const char* vehicleName),
    AirSimCarState (*getCarState)(const char* vehicleName),
    AirSimCameraInfo (*getCameraInfo)(const char* cameraName, const char* vehicleName),
    bool (*setCameraPose)(const char* cameraName, AirSimPose pose, const char* vehicleName),
    bool (*setCameraFoV)(const char* cameraName, const float fov_degrees, const char* vehicleName),
    bool (*setDistortionParam)(const char* cameraName, const char* paramName, const float value, const char* vehicleName),
    bool (*getDistortionParams)(const char* cameraName, const char* vehicleName),
    bool (*setSegmentationObjectId)(const char* meshName, int objectId, bool isNameRegex),
    int (*getSegmentationObjectId)(const char* meshName),
    bool (*printLogMessage)(const char* message, const char* messageParam, const char* vehicleName, int severity),
    UnityTransform (*getTransformFromUnity)(const char* vehicleName),
    bool (*reset)(),
    AirSimVector (*getVelocity)(const char* vehicleName),
    RayCastHitResult (*getRayCastHit)(AirSimVector startVec, AirSimVector endVec, const char* vehicleName),
    bool (*pause)(float timeScale))
{
    SetPose = setPose;
    GetPose = getPose;
    GetCollisionInfo = getCollisionInfo;
    GetRCData = getDroneRCData;
    GetSimImages = getSimImages;
    SetRotorSpeed = setRotorSpeed;
    SetEnableApi = setEnableApi;
    SetCarApiControls = setCarApiControls;
    GetCarState = getCarState;
    GetCameraInfo = getCameraInfo;
    SetCameraPose = setCameraPose;
    SetCameraFoV = setCameraFoV;
    SetCameraDistortionParam = setDistortionParam;
    GetCameraDistortionParams = getDistortionParams;
    SetSegmentationObjectId = setSegmentationObjectId;
    GetSegmentationObjectId = getSegmentationObjectId;
    PrintLogMessage = printLogMessage;
    GetTransformFromUnity = getTransformFromUnity;
    Reset = reset;
    GetVelocity = getVelocity;
    GetRayCastHit = getRayCastHit;
    Pause = pause;
}