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initial implementation to send debug lines from physics server to client,

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need to add streaming because memory is too small to store all lines
initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
This commit is contained in:
erwincoumans
2015-08-19 22:51:16 -07:00
parent 89765ceccf
commit 081a40d254
14 changed files with 750 additions and 168 deletions
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13
examples/SharedMemory/PhysicsClient.h
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@@ -2,9 +2,9 @@
#define BT_PHYSICS_CLIENT_API_H
#include "SharedMemoryCommands.h"
#include "LinearMath/btVector3.h"
class PhysicsClientSharedMemory //: public CommonPhysicsClientInterface
class PhysicsClientSharedMemory
{
struct PhysicsClientSharedMemoryInternalData* m_data;
protected:
@@ -33,6 +33,15 @@ public:
virtual void getJointInfo(int index, b3JointInfo& info) const;
virtual void setSharedMemoryKey(int key);
virtual void uploadBulletFileToSharedMemory(const char* data, int len);
virtual int getNumDebugLines() const;
virtual const btVector3* getDebugLinesFrom() const;
virtual const btVector3* getDebugLinesTo() const;
virtual const btVector3* getDebugLinesColor() const;
};
#endif //BT_PHYSICS_CLIENT_API_H