f517b03534
reduce 'm_cooldownTime' from 1000 microseconds to 100 microseconds (overhead in raycast is too large) If needed, we can expose this cooldown time. Replace malloc by btAlignedObjectArray (going through Bullet's memory allocator)
97 lines
3.5 KiB
C++
97 lines
3.5 KiB
C++
#ifndef BT_PHYSICS_CLIENT_SHARED_MEMORY_API_H
|
|
#define BT_PHYSICS_CLIENT_SHARED_MEMORY_API_H
|
|
|
|
#include "PhysicsClient.h"
|
|
|
|
//#include "SharedMemoryCommands.h"
|
|
#include "LinearMath/btVector3.h"
|
|
|
|
class PhysicsClientSharedMemory : public PhysicsClient {
|
|
struct PhysicsClientSharedMemoryInternalData* m_data;
|
|
|
|
protected:
|
|
virtual void setSharedMemoryInterface(class SharedMemoryInterface* sharedMem);
|
|
void processBodyJointInfo(int bodyUniqueId, const struct SharedMemoryStatus& serverCmd);
|
|
void resetData();
|
|
void removeCachedBody(int bodyUniqueId);
|
|
virtual void renderSceneInternal() {};
|
|
public:
|
|
PhysicsClientSharedMemory();
|
|
virtual ~PhysicsClientSharedMemory();
|
|
|
|
// return true if connection succesfull, can also check 'isConnected'
|
|
virtual bool connect();
|
|
|
|
virtual void disconnectSharedMemory();
|
|
|
|
virtual bool isConnected() const;
|
|
|
|
// return non-null if there is a status, nullptr otherwise
|
|
virtual const struct SharedMemoryStatus* processServerStatus();
|
|
|
|
virtual struct SharedMemoryCommand* getAvailableSharedMemoryCommand();
|
|
|
|
virtual bool canSubmitCommand() const;
|
|
|
|
virtual bool submitClientCommand(const struct SharedMemoryCommand& command);
|
|
|
|
virtual int getNumBodies() const;
|
|
|
|
virtual int getBodyUniqueId(int serialIndex) const;
|
|
|
|
virtual bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const;
|
|
|
|
virtual int getNumJoints(int bodyUniqueId) const;
|
|
|
|
virtual bool getJointInfo(int bodyUniqueId, int jointIndex, struct b3JointInfo& info) const;
|
|
|
|
virtual int getNumUserConstraints() const;
|
|
|
|
virtual int getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint& info) const;
|
|
|
|
virtual int getUserConstraintId(int serialIndex) const;
|
|
|
|
virtual void setSharedMemoryKey(int key);
|
|
|
|
virtual void uploadBulletFileToSharedMemory(const char* data, int len);
|
|
virtual char* getSharedMemoryStreamBuffer();
|
|
|
|
virtual int getNumDebugLines() const;
|
|
|
|
virtual const float* getDebugLinesFrom() const;
|
|
virtual const float* getDebugLinesTo() const;
|
|
virtual const float* getDebugLinesColor() const;
|
|
virtual void getCachedCameraImage(struct b3CameraImageData* cameraData);
|
|
|
|
virtual void getCachedContactPointInformation(struct b3ContactInformation* contactPointData);
|
|
|
|
virtual void getCachedOverlappingObjects(struct b3AABBOverlapData* overlappingObjects);
|
|
|
|
virtual void getCachedVisualShapeInformation(struct b3VisualShapeInformation* visualShapesInfo);
|
|
|
|
virtual void getCachedCollisionShapeInformation(struct b3CollisionShapeInformation* collisionShapesInfo);
|
|
|
|
virtual void getCachedVREvents(struct b3VREventsData* vrEventsData);
|
|
|
|
virtual void getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData);
|
|
|
|
virtual void getCachedMouseEvents(struct b3MouseEventsData* mouseEventsData);
|
|
|
|
virtual void getCachedRaycastHits(struct b3RaycastInformation* raycastHits);
|
|
|
|
virtual void getCachedMassMatrix(int dofCountCheck, double* massMatrix);
|
|
|
|
virtual void setTimeOut(double timeOutInSeconds);
|
|
virtual double getTimeOut() const;
|
|
|
|
virtual bool getCachedUserData(int bodyUniqueId, int linkIndex, int userDataId, struct b3UserDataValue &valueOut) const;
|
|
virtual int getCachedUserDataId(int bodyUniqueId, int linkIndex, const char *key) const;
|
|
virtual int getNumUserData(int bodyUniqueId, int linkIndex) const;
|
|
virtual void getUserDataInfo(int bodyUniqueId, int linkIndex, int userDataIndex, const char **keyOut, int *userDataIdOut) const;
|
|
|
|
virtual void pushProfileTiming(const char* timingName);
|
|
virtual void popProfileTiming();
|
|
};
|
|
|
|
#endif // BT_PHYSICS_CLIENT_API_H
|