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- #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
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