05fc203ec1
Added CMD_CMD_SEND_PHYSICS_SIMULATION_PARAMETERS (set gravity as example) and CMD_INIT_POSE, not fully implemented yet.
59 lines
1.8 KiB
C++
59 lines
1.8 KiB
C++
#ifndef SHARED_MEMORY_INTERFACE_H
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#define SHARED_MEMORY_INTERFACE_H
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#define SHARED_MEMORY_KEY 12347
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#define SHARED_MEMORY_MAGIC_NUMBER 64738
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#define SHARED_MEMORY_MAX_COMMANDS 32
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#define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (256*1024)
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#include "SharedMemoryCommands.h"
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struct SharedMemoryExampleData
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{
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int m_magicId;
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SharedMemoryCommand m_clientCommands[SHARED_MEMORY_MAX_COMMANDS];
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SharedMemoryStatus m_serverCommands[SHARED_MEMORY_MAX_COMMANDS];
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int m_numClientCommands;
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int m_numProcessedClientCommands;
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int m_numServerCommands;
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int m_numProcessedServerCommands;
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//m_bulletStreamDataClientToServer is a way for the client to create collision shapes, rigid bodies and constraints
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//the Bullet data structures are more general purpose than the capabilities of a URDF file.
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char m_bulletStreamDataClientToServer[SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE];
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//m_bulletStreamDataServerToClient is used to send (debug) data from server to client, for
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//example to provide all details of a multibody including joint/link names, after loading a URDF file.
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char m_bulletStreamDataServerToClient[SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE];
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};
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inline void InitSharedMemoryExampleData(SharedMemoryExampleData* sharedMemoryBlock)
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{
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sharedMemoryBlock->m_numClientCommands = 0;
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sharedMemoryBlock->m_numServerCommands = 0;
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sharedMemoryBlock->m_numProcessedClientCommands=0;
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sharedMemoryBlock->m_numProcessedServerCommands=0;
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sharedMemoryBlock->m_magicId = SHARED_MEMORY_MAGIC_NUMBER;
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}
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#define SHARED_MEMORY_SIZE sizeof(SharedMemoryExampleData)
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class SharedMemoryInterface
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{
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public:
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virtual ~SharedMemoryInterface()
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{
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}
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virtual void* allocateSharedMemory(int key, int size, bool allowCreation) =0;
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virtual void releaseSharedMemory(int key, int size) =0;
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};
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#endif
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