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#include "PhysicsLoopBack.h"
#include "PhysicsServerSharedMemory.h"
#include "PhysicsClientSharedMemory.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
struct PhysicsLoopBackInternalData
{
PhysicsClientSharedMemory* m_physicsClient;
PhysicsServerSharedMemory* m_physicsServer;
DummyGUIHelper m_noGfx;
PhysicsLoopBackInternalData()
:m_physicsClient(0),
m_physicsServer(0)
{
}
};
PhysicsLoopBack::PhysicsLoopBack()
{
m_data = new PhysicsLoopBackInternalData;
m_data->m_physicsServer = new PhysicsServerSharedMemory();
m_data->m_physicsClient = new PhysicsClientSharedMemory();
}
PhysicsLoopBack::~PhysicsLoopBack()
{
delete m_data->m_physicsClient;
delete m_data->m_physicsServer;
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::getNumJoints(int bodyIndex) const
{
return m_data->m_physicsClient->getNumJoints(bodyIndex);
}
void PhysicsLoopBack::getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const
{
m_data->m_physicsClient->getJointInfo(bodyIndex,jointIndex,info);
}
///todo: move this out of the
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);
}
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();
}
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