Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

print better error warning, in case the physics client/server version mismatch.

Browse Source 
fix in b3HashString
remove many unused dependencies from kuka_grasp_block_playback.py (time,math, datetime ,numpy,pylab ,sys, os, fnmatch,argparse were not used!)
move block_grasp_log.bin from Bullet3/data to Bullet3/examples/pybullet/examples/data folder.
PhysicsServerCommandProcessor, derive from CommandProcessorInterface to prepare for different back-end implementation
This commit is contained in:
erwincoumans
2017-05-28 17:05:18 -07:00
parent c36792c950
commit 5436b8f048
10 changed files with 59 additions and 36 deletions
Download Patch File Download Diff File Expand all files Collapse all files

25
examples/SharedMemory/PhysicsCommandProcessorInterface.h
View File

@@ -1,7 +1,7 @@
#ifndef PHYSICS_COMMAND_PROCESSOR_INTERFACE_H
#define PHYSICS_COMMAND_PROCESSOR_INTERFACE_H
enum PhysicsCOmmandRenderFlags
enum PhysicsCommandRenderFlags
{
COV_DISABLE_SYNC_RENDERING=1
};
@@ -29,4 +29,27 @@ public:
};
class btVector3;
class CommandProcessorInterface : public PhysicsCommandProcessorInterface
{
public:
virtual ~CommandProcessorInterface(){}
virtual void syncPhysicsToGraphics()=0;
virtual void stepSimulationRealTime(double dtInSec,const struct b3VRControllerEvent* vrEvents, int numVREvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents)=0;
virtual void enableRealTimeSimulation(bool enableRealTimeSim)=0;
virtual void enableCommandLogging(bool enable, const char* fileName)=0;
virtual void replayFromLogFile(const char* fileName)=0;
virtual void replayLogCommand(char* bufferServerToClient, int bufferSizeInBytes )=0;
virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)=0;
virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)=0;
virtual void removePickingConstraint()=0;
};
#endif //PHYSICS_COMMAND_PROCESSOR_INTERFACE_H