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another step closer to useable shared memory C API

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(force/torque sensor needs new API)
in a nutshell, users of shared memory physics API should not
directly poke into shared memory, not fill 'SharedMemorCommand'
nor read SharedMemoryStatus directly. The C-API declares 'handles' for those,
to avoid it from happening.
This commit is contained in:
=
2015-09-16 23:09:10 -07:00
parent 4041748f55
commit 003a42478b
16 changed files with 671 additions and 489 deletions
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16
examples/SharedMemory/PhysicsClient.h
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@@ -1,7 +1,7 @@
#ifndef BT_PHYSICS_CLIENT_API_H
#define BT_PHYSICS_CLIENT_API_H
#include "SharedMemoryCommands.h"
//#include "SharedMemoryCommands.h"
#include "LinearMath/btVector3.h"
class PhysicsClientSharedMemory
@@ -22,15 +22,17 @@ public:
virtual bool isConnected() const;
// return true if there is a status, and fill in 'serverStatus'
virtual bool processServerStatus(SharedMemoryStatus& serverStatus);
virtual const struct SharedMemoryStatus* processServerStatus();
virtual struct SharedMemoryCommand* getAvailableSharedMemoryCommand();
virtual bool canSubmitCommand() const;
virtual bool submitClientCommand(const SharedMemoryCommand& command);
virtual bool submitClientCommand(const struct SharedMemoryCommand& command);
virtual int getNumJoints() const;
virtual void getJointInfo(int index, b3JointInfo& info) const;
virtual void getJointInfo(int index, struct b3JointInfo& info) const;
virtual void setSharedMemoryKey(int key);
@@ -38,9 +40,9 @@ public:
virtual int getNumDebugLines() const;
virtual const btVector3* getDebugLinesFrom() const;
virtual const btVector3* getDebugLinesTo() const;
virtual const btVector3* getDebugLinesColor() const;
virtual const float* getDebugLinesFrom() const;
virtual const float* getDebugLinesTo() const;
virtual const float* getDebugLinesColor() const;
};