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Prepare/allow for non-Bullet2-based physics command processor in pybullet/Bullet-C-API

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!!! Make sure to add examples/SharedMemory/PhysicsServerExampleBullet2.cpp to your build system, if needed
Bump up pybullet to version 1.0.9
This commit is contained in:
erwincoumans
2017-05-30 19:54:55 -07:00
parent 978dd5844d
commit 83f910711a
26 changed files with 327 additions and 855 deletions
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13
examples/SharedMemory/PhysicsServerCommandProcessor.h
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@@ -20,11 +20,6 @@ class PhysicsServerCommandProcessor : public CommandProcessorInterface
struct PhysicsServerCommandProcessorInternalData* m_data;
//todo: move this to physics client side / Python
void createDefaultRobotAssets();
void resetSimulation();
protected:
@@ -101,9 +96,17 @@ public:
virtual void stepSimulationRealTime(double dtInSec, const struct b3VRControllerEvent* vrEvents, int numVREvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents);
virtual void enableRealTimeSimulation(bool enableRealTimeSim);
virtual bool isRealTimeSimulationEnabled() const;
void applyJointDamping(int bodyUniqueId);
virtual void setTimeOut(double timeOutInSeconds);
virtual const btVector3& getVRTeleportPosition() const;
virtual void setVRTeleportPosition(const btVector3& vrReleportPos);
virtual const btQuaternion& getVRTeleportOrientation() const;
virtual void setVRTeleportOrientation(const btQuaternion& vrReleportOrn);
};
#endif //PHYSICS_SERVER_COMMAND_PROCESSOR_H