5436b8f048
fix in b3HashString remove many unused dependencies from kuka_grasp_block_playback.py (time,math, datetime ,numpy,pylab ,sys, os, fnmatch,argparse were not used!) move block_grasp_log.bin from Bullet3/data to Bullet3/examples/pybullet/examples/data folder. PhysicsServerCommandProcessor, derive from CommandProcessorInterface to prepare for different back-end implementation
56 lines
1.8 KiB
C++
56 lines
1.8 KiB
C++
#ifndef PHYSICS_COMMAND_PROCESSOR_INTERFACE_H
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#define PHYSICS_COMMAND_PROCESSOR_INTERFACE_H
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enum PhysicsCommandRenderFlags
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{
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COV_DISABLE_SYNC_RENDERING=1
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};
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class PhysicsCommandProcessorInterface
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{
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public:
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virtual ~PhysicsCommandProcessorInterface() {}
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virtual bool connect()=0;
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virtual void disconnect() = 0;
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virtual bool isConnected() const = 0;
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virtual bool processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) = 0;
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virtual bool receiveStatus(struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) = 0;
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virtual void renderScene(int renderFlags) = 0;
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virtual void physicsDebugDraw(int debugDrawFlags) = 0;
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virtual void setGuiHelper(struct GUIHelperInterface* guiHelper) = 0;
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virtual void setTimeOut(double timeOutInSeconds) = 0;
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};
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class btVector3;
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class CommandProcessorInterface : public PhysicsCommandProcessorInterface
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{
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public:
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virtual ~CommandProcessorInterface(){}
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virtual void syncPhysicsToGraphics()=0;
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virtual void stepSimulationRealTime(double dtInSec,const struct b3VRControllerEvent* vrEvents, int numVREvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents)=0;
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virtual void enableRealTimeSimulation(bool enableRealTimeSim)=0;
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virtual void enableCommandLogging(bool enable, const char* fileName)=0;
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virtual void replayFromLogFile(const char* fileName)=0;
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virtual void replayLogCommand(char* bufferServerToClient, int bufferSizeInBytes )=0;
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virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)=0;
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virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)=0;
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virtual void removePickingConstraint()=0;
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};
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#endif //PHYSICS_COMMAND_PROCESSOR_INTERFACE_H
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