081a40d254
need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
48 lines
1.2 KiB
C++
48 lines
1.2 KiB
C++
#ifndef BT_PHYSICS_CLIENT_API_H
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#define BT_PHYSICS_CLIENT_API_H
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#include "SharedMemoryCommands.h"
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#include "LinearMath/btVector3.h"
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class PhysicsClientSharedMemory
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{
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struct PhysicsClientSharedMemoryInternalData* m_data;
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protected:
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public:
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PhysicsClientSharedMemory();
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virtual ~PhysicsClientSharedMemory();
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//return true if connection succesfull, can also check 'isConnected'
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virtual bool connect();
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virtual void disconnectSharedMemory ();
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virtual bool isConnected() const;
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// return true if there is a status, and fill in 'serverStatus'
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virtual bool processServerStatus(SharedMemoryStatus& serverStatus);
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virtual bool canSubmitCommand() const;
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virtual bool submitClientCommand(const SharedMemoryCommand& command);
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virtual int getNumJoints() const;
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virtual void getJointInfo(int index, b3JointInfo& info) const;
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virtual void setSharedMemoryKey(int key);
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virtual void uploadBulletFileToSharedMemory(const char* data, int len);
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virtual int getNumDebugLines() const;
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virtual const btVector3* getDebugLinesFrom() const;
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virtual const btVector3* getDebugLinesTo() const;
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virtual const btVector3* getDebugLinesColor() const;
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};
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#endif //BT_PHYSICS_CLIENT_API_H
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