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#ifndef PHYSICS_SERVER_COMMAND_PROCESSOR_H
#define PHYSICS_SERVER_COMMAND_PROCESSOR_H
#include "LinearMath/btVector3.h"
struct SharedMemLines
{
btVector3 m_from;
btVector3 m_to;
btVector3 m_color;
};
///todo: naming. Perhaps PhysicsSdkCommandprocessor?
class PhysicsServerCommandProcessor
{
struct PhysicsServerCommandProcessorInternalData* m_data;
protected:
bool loadUrdf(const char* fileName, const class btVector3& pos, const class btQuaternion& orn,
bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes);
bool supportsJointMotor(class btMultiBody* body, int linkIndex);
public:
PhysicsServerCommandProcessor();
virtual ~PhysicsServerCommandProcessor();
void createJointMotors(class btMultiBody* body);
virtual void createEmptyDynamicsWorld();
virtual void deleteDynamicsWorld();
virtual bool processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes );
virtual void renderScene();
virtual void physicsDebugDraw(int debugDrawFlags);
virtual void setGuiHelper(struct GUIHelperInterface* guiHelper);
//@todo(erwincoumans) Should we have shared memory commands for picking objects?
///The pickBody method will try to pick the first body along a ray, return true if succeeds, false otherwise
virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
virtual void removePickingConstraint();
void enableCommandLogging(bool enable, const char* fileName);
void replayFromLogFile(const char* fileName);
};
#endif //PHYSICS_SERVER_COMMAND_PROCESSOR_H
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