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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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42
examples/SharedMemory/PhysicsServerSharedMemory.cpp
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@@ -3,7 +3,7 @@
#include "Win32SharedMemory.h"
#include "../CommonInterfaces/CommonRenderInterface.h"
#include "../CommonInterfaces/CommonExampleInterface.h"
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btTransform.h"
@@ -31,7 +31,8 @@ struct PhysicsServerSharedMemoryInternalData
bool m_areConnected[MAX_SHARED_MEMORY_BLOCKS];
bool m_verboseOutput;
CommandProcessorInterface* m_commandProcessor;
CommandProcessorCreationInterface* m_commandProcessorCreator;
PhysicsServerSharedMemoryInternalData()
:m_sharedMemory(0),
m_ownsSharedMemory(false),
@@ -64,9 +65,10 @@ struct PhysicsServerSharedMemoryInternalData
};
PhysicsServerSharedMemory::PhysicsServerSharedMemory(SharedMemoryInterface* sharedMem)
PhysicsServerSharedMemory::PhysicsServerSharedMemory(CommandProcessorCreationInterface* commandProcessorCreator, SharedMemoryInterface* sharedMem, int bla)
{
m_data = new PhysicsServerSharedMemoryInternalData();
m_data->m_commandProcessorCreator = commandProcessorCreator;
if (sharedMem)
{
m_data->m_sharedMemory = sharedMem;
@@ -81,17 +83,13 @@ PhysicsServerSharedMemory::PhysicsServerSharedMemory(SharedMemoryInterface* shar
m_data->m_ownsSharedMemory = true;
}
m_data->m_commandProcessor = new PhysicsServerCommandProcessor;
m_data->m_commandProcessor = commandProcessorCreator->createCommandProcessor();
}
PhysicsServerSharedMemory::~PhysicsServerSharedMemory()
{
//m_data->m_commandProcessor->deleteDynamicsWorld();
delete m_data->m_commandProcessor;
if (m_data->m_sharedMemory)
{
if (m_data->m_verboseOutput)
@@ -105,7 +103,7 @@ PhysicsServerSharedMemory::~PhysicsServerSharedMemory()
m_data->m_sharedMemory = 0;
}
m_data->m_commandProcessorCreator->deleteCommandProcessor(m_data->m_commandProcessor);
delete m_data;
}
@@ -238,6 +236,11 @@ void PhysicsServerSharedMemory::enableRealTimeSimulation(bool enableRealTimeSim)
m_data->m_commandProcessor->enableRealTimeSimulation(enableRealTimeSim);
}
bool PhysicsServerSharedMemory::isRealTimeSimulationEnabled() const
{
return m_data->m_commandProcessor->isRealTimeSimulationEnabled();
}
void PhysicsServerSharedMemory::processClientCommands()
@@ -315,3 +318,24 @@ void PhysicsServerSharedMemory::replayFromLogFile(const char* fileName)
{
m_data->m_commandProcessor->replayFromLogFile(fileName);
}
const btVector3& PhysicsServerSharedMemory::getVRTeleportPosition() const
{
return m_data->m_commandProcessor->getVRTeleportPosition();
}
void PhysicsServerSharedMemory::setVRTeleportPosition(const btVector3& vrTeleportPos)
{
m_data->m_commandProcessor->setVRTeleportPosition(vrTeleportPos);
}
const btQuaternion& PhysicsServerSharedMemory::getVRTeleportOrientation() const
{
return m_data->m_commandProcessor->getVRTeleportOrientation();
}
void PhysicsServerSharedMemory::setVRTeleportOrientation(const btQuaternion& vrTeleportOrn)
{
m_data->m_commandProcessor->setVRTeleportOrientation(vrTeleportOrn);
}