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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 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
|
