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954ceff2ec
Currently the return data has to fit in shared memory, 8MB (Linux, Windows) or 1MB (Apple) Preparation for streaming is added (to allow unlimited return data, see CMD_CUSTOM_COMMAND_STREAM_RETURN_DATA) New C-API: b3GetStatusPluginCommandReturnData PyBullet reports return data if available, in pybullet_executePluginCommand For the plugin developer: plugin can provide additional return data for executePluginCommand in the b3PluginContext, during executePluginCommand. Lifetime of this m_returnData pointer is minimum of next call to the next executePluginCommand or plugin termination.
135 lines
4.6 KiB
C++
135 lines
4.6 KiB
C++
#ifndef PHYSICS_DIRECT_H
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#define PHYSICS_DIRECT_H
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//#include "SharedMemoryCommands.h"
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#include "PhysicsClient.h"
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#include "LinearMath/btVector3.h"
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///PhysicsDirect executes the commands directly, without transporting them or having a separate server executing commands
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class PhysicsDirect : public PhysicsClient
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{
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protected:
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struct PhysicsDirectInternalData* m_data;
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bool processDebugLines(const struct SharedMemoryCommand& orgCommand);
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bool processCamera(const struct SharedMemoryCommand& orgCommand);
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bool processContactPointData(const struct SharedMemoryCommand& orgCommand);
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bool processOverlappingObjects(const struct SharedMemoryCommand& orgCommand);
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bool processVisualShapeData(const struct SharedMemoryCommand& orgCommand);
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bool processMeshData(const struct SharedMemoryCommand& orgCommand);
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void processBodyJointInfo(int bodyUniqueId, const struct SharedMemoryStatus& serverCmd);
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void processAddUserData(const struct SharedMemoryStatus& serverCmd);
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void postProcessStatus(const struct SharedMemoryStatus& serverCmd);
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void resetData();
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void removeCachedBody(int bodyUniqueId);
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void clearCachedBodies();
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public:
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PhysicsDirect(class PhysicsCommandProcessorInterface* physSdk, bool passSdkOwnership);
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virtual ~PhysicsDirect();
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// return true if connection succesfull, can also check 'isConnected'
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//it is OK to pass a null pointer for the gui helper
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virtual bool connect();
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////todo: rename to 'disconnect'
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virtual void disconnectSharedMemory();
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virtual bool isConnected() const;
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// return non-null if there is a status, nullptr otherwise
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virtual const SharedMemoryStatus* processServerStatus();
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virtual SharedMemoryCommand* getAvailableSharedMemoryCommand();
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virtual bool canSubmitCommand() const;
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virtual bool submitClientCommand(const struct SharedMemoryCommand& command);
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virtual int getNumBodies() const;
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virtual int getBodyUniqueId(int serialIndex) const;
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virtual bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const;
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virtual int getNumJoints(int bodyUniqueId) const;
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virtual int getNumDofs(int bodyUniqueId) const;
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virtual bool getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const;
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virtual int getNumUserConstraints() const;
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virtual int getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint& info) const;
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virtual int getUserConstraintId(int serialIndex) const;
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///todo: move this out of the
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virtual void setSharedMemoryKey(int key);
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void uploadBulletFileToSharedMemory(const char* data, int len);
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virtual void uploadRaysToSharedMemory(struct SharedMemoryCommand& command, const double* rayFromWorldArray, const double* rayToWorldArray, int numRays);
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virtual int getNumDebugLines() const;
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virtual const float* getDebugLinesFrom() const;
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virtual const float* getDebugLinesTo() const;
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virtual const float* getDebugLinesColor() const;
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virtual void getCachedCameraImage(b3CameraImageData* cameraData);
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virtual void getCachedContactPointInformation(struct b3ContactInformation* contactPointData);
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virtual void getCachedOverlappingObjects(struct b3AABBOverlapData* overlappingObjects);
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virtual void getCachedVisualShapeInformation(struct b3VisualShapeInformation* visualShapesInfo);
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virtual void getCachedCollisionShapeInformation(struct b3CollisionShapeInformation* collisionShapesInfo);
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virtual void getCachedMeshData(struct b3MeshData* meshData);
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virtual void getCachedVREvents(struct b3VREventsData* vrEventsData);
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virtual void getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData);
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virtual void getCachedMouseEvents(struct b3MouseEventsData* mouseEventsData);
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virtual void getCachedRaycastHits(struct b3RaycastInformation* raycastHits);
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virtual void getCachedMassMatrix(int dofCountCheck, double* massMatrix);
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virtual bool getCachedReturnData(b3UserDataValue* returnData);
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//the following APIs are for internal use for visualization:
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virtual bool connect(struct GUIHelperInterface* guiHelper);
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virtual void renderScene();
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virtual void debugDraw(int debugDrawMode);
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virtual void setTimeOut(double timeOutInSeconds);
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virtual double getTimeOut() const;
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virtual bool getCachedUserData(int userDataId, struct b3UserDataValue& valueOut) const;
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virtual int getCachedUserDataId(int bodyUniqueId, int linkIndex, int visualShapeIndex, const char* key) const;
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virtual int getNumUserData(int bodyUniqueId) const;
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virtual void getUserDataInfo(int bodyUniqueId, int userDataIndex, const char** keyOut, int* userDataIdOut, int* linkIndexOut, int* visualShapeIndexOut) const;
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virtual void pushProfileTiming(const char* timingName);
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virtual void popProfileTiming();
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};
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#endif //PHYSICS_DIRECT_H
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