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add UDP network connection for physics client <-> server.
also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever)
This commit is contained in:
erwincoumans
2016-11-04 13:15:10 -07:00
parent c2ca88bf44
commit 9708392322
52 changed files with 2104 additions and 214 deletions
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38
examples/SharedMemory/PhysicsServerCommandProcessor.h
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@@ -3,6 +3,8 @@
#include "LinearMath/btVector3.h"
#include "PhysicsCommandProcessorInterface.h"
struct SharedMemLines
{
btVector3 m_from;
@@ -10,8 +12,10 @@ struct SharedMemLines
btVector3 m_color;
};
///todo: naming. Perhaps PhysicsSdkCommandprocessor?
class PhysicsServerCommandProcessor
class PhysicsServerCommandProcessor : public PhysicsCommandProcessorInterface
{
struct PhysicsServerCommandProcessorInternalData* m_data;
@@ -22,15 +26,15 @@ class PhysicsServerCommandProcessor
protected:
bool loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody);
bool loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody);
bool loadUrdf(const char* fileName, const class btVector3& pos, const class btQuaternion& orn,
bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes);
bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes);
bool supportsJointMotor(class btMultiBody* body, int linkIndex);
int createBodyInfoStream(int bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes);
void deleteCachedInverseDynamicsBodies();
@@ -39,12 +43,30 @@ public:
virtual ~PhysicsServerCommandProcessor();
void createJointMotors(class btMultiBody* body);
virtual void createEmptyDynamicsWorld();
virtual void deleteDynamicsWorld();
virtual bool processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes );
virtual bool connect()
{
return true;
};
virtual void disconnect() {}
virtual bool isConnected() const
{
return true;
}
virtual bool processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
virtual bool receiveStatus(struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
return false;
};
virtual void renderScene();
virtual void physicsDebugDraw(int debugDrawFlags);