PyBullet / BulletRobotics: prepare for pdControlPlugin and collisionFilterPlugin

Split examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.* and move to examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp and examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
2018-06-05 11:41:41 +10:00
parent e4cd88e24f
commit 7bd84740d7
23 changed files with 719 additions and 198 deletions
--- a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp
+++ b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp
@@ -0,0 +1,112 @@
+#include "b3RobotSimulatorClientAPI_NoGUI.h"
+
+#include "PhysicsClientC_API.h"
+#include "b3RobotSimulatorClientAPI_InternalData.h"
+
+#ifdef BT_ENABLE_ENET
+#include "PhysicsClientUDP_C_API.h"
+#endif  //PHYSICS_UDP
+
+#ifdef BT_ENABLE_CLSOCKET
+#include "PhysicsClientTCP_C_API.h"
+#endif  //PHYSICS_TCP
+
+#ifndef BT_DISABLE_PHYSICS_DIRECT
+#include "PhysicsDirectC_API.h"
+#endif //BT_DISABLE_PHYSICS_DIRECT
+
+#include "SharedMemoryPublic.h"
+#include "Bullet3Common/b3Logging.h"
+
+
+
+b3RobotSimulatorClientAPI_NoGUI::b3RobotSimulatorClientAPI_NoGUI()
+{
+}
+
+b3RobotSimulatorClientAPI_NoGUI::~b3RobotSimulatorClientAPI_NoGUI()
+{
+}
+
+
+bool b3RobotSimulatorClientAPI_NoGUI::connect(int mode, const std::string& hostName, int portOrKey)
+{
+	if (m_data->m_physicsClientHandle)
+	{
+		b3Warning("Already connected, disconnect first.");
+		return false;
+	}
+	b3PhysicsClientHandle sm = 0;
+	int udpPort = 1234;
+	int tcpPort = 6667;
+	int key = SHARED_MEMORY_KEY;
+	bool connected = false;
+
+	switch (mode)
+	{
+	
+	case eCONNECT_DIRECT:
+		{
+#ifndef BT_DISABLE_PHYSICS_DIRECT
+			sm = b3ConnectPhysicsDirect();
+#endif //BT_DISABLE_PHYSICS_DIRECT
+
+			break;
+		}
+	case eCONNECT_SHARED_MEMORY:
+		{
+			if (portOrKey >= 0)
+			{
+				key = portOrKey;
+			}
+			sm = b3ConnectSharedMemory(key);
+			break;
+		}
+	case eCONNECT_UDP:
+		{
+			if (portOrKey >= 0)
+			{
+				udpPort = portOrKey;
+			}
+#ifdef BT_ENABLE_ENET
+
+			sm = b3ConnectPhysicsUDP(hostName.c_str(), udpPort);
+#else
+			b3Warning("UDP is not enabled in this build");
+#endif  //BT_ENABLE_ENET
+
+			break;
+		}
+	case eCONNECT_TCP:
+		{
+			if (portOrKey >= 0)
+			{
+				tcpPort = portOrKey;
+			}
+#ifdef BT_ENABLE_CLSOCKET
+
+			sm = b3ConnectPhysicsTCP(hostName.c_str(), tcpPort);
+#else
+			b3Warning("TCP is not enabled in this pybullet build");
+#endif  //BT_ENABLE_CLSOCKET
+			break;
+		}
+
+	default:
+		{
+			b3Warning("connectPhysicsServer unexpected argument");
+		}
+	};
+
+	if (sm)
+	{
+		m_data->m_physicsClientHandle = sm;
+		if (!b3CanSubmitCommand(m_data->m_physicsClientHandle))
+		{
+			disconnect();
+			return false;
+		}
+		return true;
+	}
+	return false;
+}