remove PhysXClient.*, it was not needed (use PhysicsDirect instead)
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erwincoumans
@@ -1,5 +1,5 @@
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#ifndef PHYSICS_CLIENT_SHARED_MEMORY2_H
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#define PHYSICS_CLIENT_SHARED_MEMORY2_H
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#ifndef PHYSICS_CLIENT_SHARED_MEMORY3_H
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#define PHYSICS_CLIENT_SHARED_MEMORY3_H
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#include "PhysicsDirect.h"
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@@ -14,4 +14,4 @@ public:
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void setSharedMemoryInterface(class SharedMemoryInterface* sharedMem);
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};
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#endif //PHYSICS_CLIENT_SHARED_MEMORY2_H
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#endif //PHYSICS_CLIENT_SHARED_MEMORY3_H
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@@ -1,13 +1,14 @@
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#ifdef BT_ENABLE_PHYSX
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#include "PhysXC_API.h"
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#include "../PhysicsDirect.h"
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#include "PhysXServerCommandProcessor.h"
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#include "PhysXClient.h"
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B3_SHARED_API b3PhysicsClientHandle b3ConnectPhysX()
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{
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PhysXServerCommandProcessor* sdk = new PhysXServerCommandProcessor;
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PhysXClient* direct = new PhysXClient(sdk, true);
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PhysicsDirect* direct = new PhysicsDirect(sdk, true);
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bool connected;
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connected = direct->connect();
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return (b3PhysicsClientHandle)direct;
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File diff suppressed because it is too large
Load Diff
@@ -1,135 +0,0 @@
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#ifndef PHYSX_CLIENT_H
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#define PHYSX_CLIENT_H
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#include "../PhysicsClient.h"
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///PhysicsDirect executes the commands directly, without transporting them or having a separate server executing commands
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class PhysXClient : public PhysicsClient
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{
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protected:
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struct PhysXDirectInternalData* m_data;
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bool processDebugLines(const struct SharedMemoryCommand& orgCommand);
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bool processCamera(const struct SharedMemoryCommand& orgCommand);
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bool processContactPointData(const struct SharedMemoryCommand& orgCommand);
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bool processOverlappingObjects(const struct SharedMemoryCommand& orgCommand);
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bool processVisualShapeData(const struct SharedMemoryCommand& orgCommand);
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void processBodyJointInfo(int bodyUniqueId, const struct SharedMemoryStatus& serverCmd);
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void processAddUserData(const struct SharedMemoryStatus& serverCmd);
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void postProcessStatus(const struct SharedMemoryStatus& serverCmd);
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void resetData();
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void removeCachedBody(int bodyUniqueId);
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public:
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PhysXClient(class PhysicsCommandProcessorInterface* physSdk, bool passSdkOwnership);
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virtual ~PhysXClient();
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// return true if connection succesfull, can also check 'isConnected'
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//it is OK to pass a null pointer for the gui helper
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virtual bool connect();
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////todo: rename to 'disconnect'
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virtual void disconnectSharedMemory();
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virtual bool isConnected() const;
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// return non-null if there is a status, nullptr otherwise
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virtual const SharedMemoryStatus* processServerStatus();
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virtual SharedMemoryCommand* getAvailableSharedMemoryCommand();
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virtual bool canSubmitCommand() const;
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virtual bool submitClientCommand(const struct SharedMemoryCommand& command);
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virtual int getNumBodies() const;
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virtual int getBodyUniqueId(int serialIndex) const;
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virtual bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const;
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virtual int getNumJoints(int bodyIndex) const;
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virtual bool getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const;
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virtual int getNumUserConstraints() const;
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virtual int getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint& info) const;
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virtual int getUserConstraintId(int serialIndex) const;
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///todo: move this out of the
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virtual void setSharedMemoryKey(int key);
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void uploadBulletFileToSharedMemory(const char* data, int len);
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virtual void uploadRaysToSharedMemory(struct SharedMemoryCommand& command, const double* rayFromWorldArray, const double* rayToWorldArray, int numRays);
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virtual int getNumDebugLines() const;
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virtual const float* getDebugLinesFrom() const;
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virtual const float* getDebugLinesTo() const;
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virtual const float* getDebugLinesColor() const;
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virtual void getCachedCameraImage(b3CameraImageData* cameraData);
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virtual void getCachedContactPointInformation(struct b3ContactInformation* contactPointData);
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virtual void getCachedOverlappingObjects(struct b3AABBOverlapData* overlappingObjects);
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virtual void getCachedVisualShapeInformation(struct b3VisualShapeInformation* visualShapesInfo);
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virtual void getCachedCollisionShapeInformation(struct b3CollisionShapeInformation* collisionShapesInfo);
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virtual void getCachedVREvents(struct b3VREventsData* vrEventsData);
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virtual void getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData);
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virtual void getCachedMouseEvents(struct b3MouseEventsData* mouseEventsData);
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virtual void getCachedRaycastHits(struct b3RaycastInformation* raycastHits);
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virtual void getCachedMassMatrix(int dofCountCheck, double* massMatrix);
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//the following APIs are for internal use for visualization:
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virtual bool connect(struct GUIHelperInterface* guiHelper);
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virtual void renderScene();
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virtual void debugDraw(int debugDrawMode);
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virtual void setTimeOut(double timeOutInSeconds);
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virtual double getTimeOut() const;
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virtual bool getCachedUserData(int userDataId, struct b3UserDataValue& valueOut) const
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{
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return false;
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}
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virtual int getCachedUserDataId(int bodyUniqueId, int linkIndex, int visualShapeIndex, const char* key) const
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{
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return -1;
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}
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virtual int getNumUserData(int bodyUniqueId) const
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{
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return 0;
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}
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virtual void getUserDataInfo(int bodyUniqueId, int userDataIndex, const char** keyOut, int* userDataIdOut, int* linkIndexOut, int* visualShapeIndexOut) const
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{
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*keyOut = 0;
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*userDataIdOut = -1;
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return;
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}
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virtual void pushProfileTiming(const char* timingName);
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virtual void popProfileTiming();
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};
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#endif //PHYSX_CLIENT_H
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@@ -223,12 +223,10 @@ if not _OPTIONS["no-enet"] then
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"../../examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp",
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"../../examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.h",
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"../../examples/SharedMemory/physx/PhysXC_API.cpp",
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"../../examples/SharedMemory/physx/PhysXClient.cpp",
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"../../examples/SharedMemory/physx/PhysXServerCommandProcessor.cpp",
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"../../examples/SharedMemory/physx/PhysXUrdfImporter.cpp",
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"../../examples/SharedMemory/physx/URDF2PhysX.cpp",
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"../../examples/SharedMemory/physx/PhysXC_API.h",
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"../../examples/SharedMemory/physx/PhysXClient.h",
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"../../examples/SharedMemory/physx/PhysXServerCommandProcessor.h",
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"../../examples/SharedMemory/physx/PhysXUrdfImporter.h",
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"../../examples/SharedMemory/physx/URDF2PhysX.h",
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1
setup.py
1
setup.py
@@ -142,7 +142,6 @@ else:
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sources = ["examples/pybullet/pybullet.c"]\
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+["examples/SharedMemory/physx/PhysXC_API.cpp"]\
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+["examples/SharedMemory/physx/PhysXClient.cpp"]\
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+["examples/SharedMemory/physx/PhysXServerCommandProcessor.cpp"]\
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+["examples/SharedMemory/physx/PhysXUrdfImporter.cpp"]\
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+["examples/SharedMemory/physx/URDF2PhysX.cpp"]\
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