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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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14
examples/SharedMemory/PhysicsServerSharedMemory.h
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@@ -2,7 +2,8 @@
#define PHYSICS_SERVER_SHARED_MEMORY_H
#include "PhysicsServer.h"
#include "LinearMath/btQuaternion.h"
class PhysicsServerSharedMemory : public PhysicsServer
{
struct PhysicsServerSharedMemoryInternalData* m_data;
@@ -14,7 +15,7 @@ protected:
public:
PhysicsServerSharedMemory(class SharedMemoryInterface* sharedMem=0);
PhysicsServerSharedMemory(struct CommandProcessorCreationInterface* commandProcessorCreator, class SharedMemoryInterface* sharedMem, int bla);
virtual ~PhysicsServerSharedMemory();
virtual void setSharedMemoryKey(int key);
@@ -29,6 +30,7 @@ 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;
//bool supportsJointMotor(class btMultiBody* body, int linkIndex);
@@ -38,6 +40,14 @@ public:
virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
virtual void removePickingConstraint();
virtual const btVector3& getVRTeleportPosition() const;
virtual void setVRTeleportPosition(const btVector3& vrReleportPos);
virtual const btQuaternion& getVRTeleportOrientation() const;
virtual void setVRTeleportOrientation(const btQuaternion& vrReleportOrn);
//for physicsDebugDraw and renderScene are mainly for debugging purposes
//and for physics visualization. The idea is that physicsDebugDraw can also send wireframe
//to a physics client, over shared memory