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add physics server loopback (both client and server in the same process, using shared memory)

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add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
This commit is contained in:
erwincoumans
2015-11-22 20:50:32 -08:00
parent 7d6c2b77f7
commit 03bf78ef49
23 changed files with 2914 additions and 2086 deletions
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62
examples/SharedMemory/PhysicsServer.h
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@@ -1,66 +1,46 @@
#ifndef PHYSICS_SERVER_SHARED_MEMORY_H
#define PHYSICS_SERVER_SHARED_MEMORY_H
#ifndef PHYSICS_SERVER_H
#define PHYSICS_SERVER_H
#include "LinearMath/btVector3.h"
struct SharedMemLines
class PhysicsServer
{
btVector3 m_from;
btVector3 m_to;
btVector3 m_color;
};
class PhysicsServerSharedMemory
{
struct PhysicsServerInternalData* m_data;
protected:
void createJointMotors(class btMultiBody* body);
virtual void createEmptyDynamicsWorld();
virtual void deleteDynamicsWorld();
void releaseSharedMemory();
bool loadUrdf(const char* fileName, const class btVector3& pos, const class btQuaternion& orn,
bool useMultiBody, bool useFixedBase, int* bodyUniqueId);
public:
PhysicsServerSharedMemory();
virtual ~PhysicsServerSharedMemory();
virtual void setSharedMemoryKey(int key);
//todo: implement option to allocated shared memory from client
virtual bool connectSharedMemory( struct GUIHelperInterface* guiHelper);
virtual ~PhysicsServer();
virtual void setSharedMemoryKey(int key)=0;
virtual bool connectSharedMemory( struct GUIHelperInterface* guiHelper)=0;
virtual void disconnectSharedMemory (bool deInitializeSharedMemory);
virtual void disconnectSharedMemory (bool deInitializeSharedMemory)=0;
virtual void processClientCommands();
virtual void processClientCommands()=0;
bool supportsJointMotor(class btMultiBody* body, int linkIndex);
// virtual bool supportsJointMotor(class btMultiBody* body, int linkIndex)=0;
//@todo(erwincoumans) Should we have shared memory commands for picking objects?
///The pickBody method will try to pick the first body along a ray, return true if succeeds, false otherwise
virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
virtual void removePickingConstraint();
virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)=0;
virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)=0;
virtual void removePickingConstraint()=0;
//for physicsDebugDraw and renderScene are mainly for debugging purposes
//and for physics visualization. The idea is that physicsDebugDraw can also send wireframe
//to a physics client, over shared memory
void physicsDebugDraw(int debugDrawFlags);
void renderScene();
virtual void physicsDebugDraw(int debugDrawFlags)=0;
virtual void renderScene()=0;
void enableCommandLogging(bool enable, const char* fileName);
void replayFromLogFile(const char* fileName);
virtual void enableCommandLogging(bool enable, const char* fileName)=0;
virtual void replayFromLogFile(const char* fileName)=0;
};
#endif //PHYSICS_SERVER_EXAMPLESHARED_MEMORY_H
#endif //PHYSICS_SERVER_H