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make PhysicsClient an interface class, and move shared memory implementation

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of physics client into PhysicsClientSharedMemory class/file.
This will allow implementation of UDP and other transport protocols to a physics server.
This commit is contained in:
=
2015-09-24 22:50:34 -07:00
parent e05825f639
commit 5e4badc099
10 changed files with 623 additions and 659 deletions
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34
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1,5 +1,5 @@
#include "PhysicsClientC_API.h"
#include "PhysicsClient.h"
#include "PhysicsClientSharedMemory.h"
#include "Bullet3Common/b3Scalar.h"
#include <string.h>
#include "SharedMemoryCommands.h"
@@ -8,7 +8,7 @@
b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName)
{
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
@@ -70,7 +70,7 @@ int b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHand
b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient)
{
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
@@ -101,7 +101,7 @@ int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double
b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient)
{
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
@@ -113,7 +113,7 @@ b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle ph
b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHandle physClient)
{
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
@@ -128,7 +128,7 @@ b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHand
b3SharedMemoryCommandHandle b3JointControlCommandInit( b3PhysicsClientHandle physClient, int controlMode)
{
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
@@ -191,7 +191,7 @@ int b3JointControlSetDesiredForceTorque(b3SharedMemoryCommandHandle commandHandl
b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandle physClient)
{
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
@@ -215,7 +215,7 @@ void b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandl
b3SharedMemoryCommandHandle b3CreateBoxShapeCommandInit(b3PhysicsClientHandle physClient)
{
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
@@ -270,7 +270,7 @@ int b3CreateBoxCommandSetHalfExtents(b3SharedMemoryCommandHandle commandHandle,
b3SharedMemoryCommandHandle b3CreateSensorCommandInit(b3PhysicsClientHandle physClient)
{
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
@@ -323,13 +323,13 @@ b3PhysicsClientHandle b3ConnectSharedMemory(int key)
void b3DisconnectSharedMemory(b3PhysicsClientHandle physClient)
{
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
PhysicsClient* cl = (PhysicsClient* ) physClient;
delete cl;
}
b3SharedMemoryStatusHandle b3ProcessServerStatus(b3PhysicsClientHandle physClient)
{
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
PhysicsClient* cl = (PhysicsClient* ) physClient;
const SharedMemoryStatus* stat = cl->processServerStatus();
return (b3SharedMemoryStatusHandle) stat;
@@ -352,14 +352,14 @@ int b3GetStatusType(b3SharedMemoryStatusHandle statusHandle)
int b3CanSubmitCommand(b3PhysicsClientHandle physClient)
{
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
PhysicsClient* cl = (PhysicsClient* ) physClient;
return (int)cl->canSubmitCommand();
}
int b3SubmitClientCommand(b3PhysicsClientHandle physClient, const b3SharedMemoryCommandHandle commandHandle)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
PhysicsClient* cl = (PhysicsClient* ) physClient;
return (int)cl->submitClientCommand(*command);
}
@@ -381,14 +381,14 @@ b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHan
int b3GetNumJoints(b3PhysicsClientHandle physClient)
{
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
PhysicsClient* cl = (PhysicsClient* ) physClient;
return cl->getNumJoints();
}
void b3GetJointInfo(b3PhysicsClientHandle physClient, int linkIndex, struct b3JointInfo* info)
{
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
PhysicsClient* cl = (PhysicsClient* ) physClient;
cl->getJointInfo(linkIndex,*info);
}
@@ -432,7 +432,7 @@ int b3RemovePickingConstraint(b3SharedMemoryCommandHandle commandHandle)
b3SharedMemoryCommandHandle b3InitRequestDebugLinesCommand(b3PhysicsClientHandle physClient, int debugMode)
{
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
@@ -445,7 +445,7 @@ b3SharedMemoryCommandHandle b3InitRequestDebugLinesCommand(b3PhysicsClientHandle
}
void b3GetDebugLines(b3PhysicsClientHandle physClient, struct b3DebugLines* lines)
{
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(lines);
if (lines)