* Adjustment: Update Bullet version to 3.24.

Engine/lib/bullet/examples/SharedMemory/PhysicsLoopBack.cpp

@@ -0,0 +1,271 @@
+#include "PhysicsLoopBack.h"
+#include "PhysicsServerSharedMemory.h"
+#include "PhysicsClientSharedMemory.h"
+#include "../CommonInterfaces/CommonGUIHelperInterface.h"
+#include "PhysicsServerCommandProcessor.h"
+#include "../CommonInterfaces/CommonExampleInterface.h"
+struct PhysicsLoopBackInternalData
+{
+	CommandProcessorInterface* m_commandProcessor;
+	PhysicsClientSharedMemory* m_physicsClient;
+	PhysicsServerSharedMemory* m_physicsServer;
+	DummyGUIHelper m_noGfx;
+
+	PhysicsLoopBackInternalData()
+		: m_commandProcessor(0),
+		  m_physicsClient(0),
+		  m_physicsServer(0)
+	{
+	}
+};
+
+struct Bullet2CommandProcessorCreation2 : public CommandProcessorCreationInterface
+{
+	virtual class CommandProcessorInterface* createCommandProcessor()
+	{
+		PhysicsServerCommandProcessor* proc = new PhysicsServerCommandProcessor;
+		return proc;
+	}
+
+	virtual void deleteCommandProcessor(CommandProcessorInterface* proc)
+	{
+		delete proc;
+	}
+};
+
+static Bullet2CommandProcessorCreation2 sB2Proc;
+
+PhysicsLoopBack::PhysicsLoopBack()
+{
+	m_data = new PhysicsLoopBackInternalData;
+	m_data->m_physicsServer = new PhysicsServerSharedMemory(&sB2Proc, 0, 0);
+	m_data->m_physicsClient = new PhysicsClientSharedMemory();
+}
+
+PhysicsLoopBack::~PhysicsLoopBack()
+{
+	delete m_data->m_physicsClient;
+	delete m_data->m_physicsServer;
+	delete m_data->m_commandProcessor;
+	delete m_data;
+}
+
+// return true if connection succesfull, can also check 'isConnected'
+bool PhysicsLoopBack::connect()
+{
+	m_data->m_physicsServer->connectSharedMemory(&m_data->m_noGfx);
+	m_data->m_physicsClient->connect();
+	return m_data->m_physicsClient->isConnected();
+}
+
+////todo: rename to 'disconnect'
+void PhysicsLoopBack::disconnectSharedMemory()
+{
+	m_data->m_physicsClient->disconnectSharedMemory();
+	m_data->m_physicsServer->disconnectSharedMemory(true);
+}
+
+bool PhysicsLoopBack::isConnected() const
+{
+	return m_data->m_physicsClient->isConnected();
+}
+
+// return non-null if there is a status, nullptr otherwise
+const SharedMemoryStatus* PhysicsLoopBack::processServerStatus()
+{
+	m_data->m_physicsServer->processClientCommands();
+	return m_data->m_physicsClient->processServerStatus();
+}
+
+SharedMemoryCommand* PhysicsLoopBack::getAvailableSharedMemoryCommand()
+{
+	return m_data->m_physicsClient->getAvailableSharedMemoryCommand();
+}
+
+bool PhysicsLoopBack::canSubmitCommand() const
+{
+	return m_data->m_physicsClient->canSubmitCommand();
+}
+
+bool PhysicsLoopBack::submitClientCommand(const struct SharedMemoryCommand& command)
+{
+	return m_data->m_physicsClient->submitClientCommand(command);
+}
+
+int PhysicsLoopBack::getNumBodies() const
+{
+	return m_data->m_physicsClient->getNumBodies();
+}
+
+int PhysicsLoopBack::getBodyUniqueId(int serialIndex) const
+{
+	return m_data->m_physicsClient->getBodyUniqueId(serialIndex);
+}
+
+bool PhysicsLoopBack::getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const
+{
+	return m_data->m_physicsClient->getBodyInfo(bodyUniqueId, info);
+}
+
+int PhysicsLoopBack::getNumJoints(int bodyUniqueId) const
+{
+	return m_data->m_physicsClient->getNumJoints(bodyUniqueId);
+}
+
+int PhysicsLoopBack::getNumDofs(int bodyUniqueId) const
+{
+        return m_data->m_physicsClient->getNumDofs(bodyUniqueId);
+}
+
+bool PhysicsLoopBack::getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const
+{
+	return m_data->m_physicsClient->getJointInfo(bodyIndex, jointIndex, info);
+}
+
+int PhysicsLoopBack::getNumUserConstraints() const
+{
+	return m_data->m_physicsClient->getNumUserConstraints();
+}
+int PhysicsLoopBack::getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint& info) const
+{
+	return m_data->m_physicsClient->getUserConstraintInfo(constraintUniqueId, info);
+}
+
+int PhysicsLoopBack::getUserConstraintId(int serialIndex) const
+{
+	return m_data->m_physicsClient->getUserConstraintId(serialIndex);
+}
+
+///todo: move this out of the interface
+void PhysicsLoopBack::setSharedMemoryKey(int key)
+{
+	m_data->m_physicsServer->setSharedMemoryKey(key);
+	m_data->m_physicsClient->setSharedMemoryKey(key);
+}
+
+void PhysicsLoopBack::uploadBulletFileToSharedMemory(const char* data, int len)
+{
+	m_data->m_physicsClient->uploadBulletFileToSharedMemory(data, len);
+}
+
+void PhysicsLoopBack::uploadRaysToSharedMemory(struct SharedMemoryCommand& command, const double* rayFromWorldArray, const double* rayToWorldArray, int numRays)
+{
+	m_data->m_physicsClient->uploadRaysToSharedMemory(command, rayFromWorldArray, rayToWorldArray, numRays);
+}
+
+int PhysicsLoopBack::getNumDebugLines() const
+{
+	return m_data->m_physicsClient->getNumDebugLines();
+}
+
+const float* PhysicsLoopBack::getDebugLinesFrom() const
+{
+	return m_data->m_physicsClient->getDebugLinesFrom();
+}
+
+const float* PhysicsLoopBack::getDebugLinesTo() const
+{
+	return m_data->m_physicsClient->getDebugLinesTo();
+}
+
+const float* PhysicsLoopBack::getDebugLinesColor() const
+{
+	return m_data->m_physicsClient->getDebugLinesColor();
+}
+
+void PhysicsLoopBack::getCachedCameraImage(struct b3CameraImageData* cameraData)
+{
+	return m_data->m_physicsClient->getCachedCameraImage(cameraData);
+}
+
+void PhysicsLoopBack::getCachedMeshData(struct b3MeshData* meshData)
+{
+	return m_data->m_physicsClient->getCachedMeshData(meshData);
+}
+
+void PhysicsLoopBack::getCachedContactPointInformation(struct b3ContactInformation* contactPointData)
+{
+	return m_data->m_physicsClient->getCachedContactPointInformation(contactPointData);
+}
+
+void PhysicsLoopBack::getCachedVisualShapeInformation(struct b3VisualShapeInformation* visualShapesInfo)
+{
+	return m_data->m_physicsClient->getCachedVisualShapeInformation(visualShapesInfo);
+}
+
+void PhysicsLoopBack::getCachedCollisionShapeInformation(struct b3CollisionShapeInformation* collisionShapesInfo)
+{
+	return m_data->m_physicsClient->getCachedCollisionShapeInformation(collisionShapesInfo);
+}
+
+void PhysicsLoopBack::getCachedVREvents(struct b3VREventsData* vrEventsData)
+{
+	return m_data->m_physicsClient->getCachedVREvents(vrEventsData);
+}
+
+void PhysicsLoopBack::getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData)
+{
+	return m_data->m_physicsClient->getCachedKeyboardEvents(keyboardEventsData);
+}
+
+void PhysicsLoopBack::getCachedMouseEvents(struct b3MouseEventsData* mouseEventsData)
+{
+	return m_data->m_physicsClient->getCachedMouseEvents(mouseEventsData);
+}
+
+void PhysicsLoopBack::getCachedOverlappingObjects(struct b3AABBOverlapData* overlappingObjects)
+{
+	return m_data->m_physicsClient->getCachedOverlappingObjects(overlappingObjects);
+}
+
+void PhysicsLoopBack::getCachedRaycastHits(struct b3RaycastInformation* raycastHits)
+{
+	return m_data->m_physicsClient->getCachedRaycastHits(raycastHits);
+}
+
+void PhysicsLoopBack::getCachedMassMatrix(int dofCountCheck, double* massMatrix)
+{
+	m_data->m_physicsClient->getCachedMassMatrix(dofCountCheck, massMatrix);
+}
+bool PhysicsLoopBack::getCachedReturnData(struct b3UserDataValue* returnData)
+{
+	return m_data->m_physicsClient->getCachedReturnData(returnData);
+}
+
+void PhysicsLoopBack::setTimeOut(double timeOutInSeconds)
+{
+	m_data->m_physicsClient->setTimeOut(timeOutInSeconds);
+}
+double PhysicsLoopBack::getTimeOut() const
+{
+	return m_data->m_physicsClient->getTimeOut();
+}
+
+bool PhysicsLoopBack::getCachedUserData(int userDataId, struct b3UserDataValue& valueOut) const
+{
+	return m_data->m_physicsClient->getCachedUserData(userDataId, valueOut);
+}
+
+int PhysicsLoopBack::getCachedUserDataId(int bodyUniqueId, int linkIndex, int visualShapeIndex, const char* key) const
+{
+	return m_data->m_physicsClient->getCachedUserDataId(bodyUniqueId, linkIndex, visualShapeIndex, key);
+}
+
+int PhysicsLoopBack::getNumUserData(int bodyUniqueId) const
+{
+	return m_data->m_physicsClient->getNumUserData(bodyUniqueId);
+}
+
+void PhysicsLoopBack::getUserDataInfo(int bodyUniqueId, int userDataIndex, const char** keyOut, int* userDataIdOut, int* linkIndexOut, int* visualShapeIndexOut) const
+{
+	m_data->m_physicsClient->getUserDataInfo(bodyUniqueId, userDataIndex, keyOut, userDataIdOut, linkIndexOut, visualShapeIndexOut);
+}
+
+void PhysicsLoopBack::pushProfileTiming(const char* timingName)
+{
+	m_data->m_physicsClient->pushProfileTiming(timingName);
+}
+void PhysicsLoopBack::popProfileTiming()
+{
+	m_data->m_physicsClient->popProfileTiming();
+}