36 lines
1.0 KiB
C
36 lines
1.0 KiB
C
#ifndef PHYSICS_CLIENT_C_API_H
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#define PHYSICS_CLIENT_C_API_H
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#include "SharedMemoryBlock.h"
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#define B3_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name
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B3_DECLARE_HANDLE(b3PhysicsClientHandle);
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#ifdef __cplusplus
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extern "C" {
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#endif
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b3PhysicsClientHandle b3ConnectSharedMemory(int memKey, int allowSharedMemoryInitialization);
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void b3DisconnectSharedMemory(b3PhysicsClientHandle physClient);
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int b3ProcessServerStatus(b3PhysicsClientHandle physClient, struct SharedMemoryStatus* status);
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int b3CanSubmitCommand(b3PhysicsClientHandle physClient);
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int b3SubmitClientCommand(b3PhysicsClientHandle physClient, struct SharedMemoryCommand* command);
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int b3GetNumPoweredJoints(b3PhysicsClientHandle physClient);
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void b3GetPoweredJointInfo(int linkIndex, struct PoweredJointInfo* info);
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int b3InitPhysicsParamCommand(struct SharedMemoryCommand* command);
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int b3PhysicsParamSetGravity(struct SharedMemoryCommand* command, double gravx,double gravy, double gravz);
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#ifdef __cplusplus
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}
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#endif
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#endif //PHYSICS_CLIENT_C_API_H
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