diff options
Diffstat (limited to 'examples/SharedMemory/PhysicsServerCommandProcessor.h')
| -rw-r--r-- | examples/SharedMemory/PhysicsServerCommandProcessor.h | 9 |
1 files changed, 8 insertions, 1 deletions
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.h b/examples/SharedMemory/PhysicsServerCommandProcessor.h index 66dc230f9..481e46f85 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.h +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.h @@ -20,6 +20,8 @@ class PhysicsServerCommandProcessor : public PhysicsCommandProcessorInterface struct PhysicsServerCommandProcessorInternalData* m_data; + + //todo: move this to physics client side / Python void createDefaultRobotAssets(); @@ -84,10 +86,15 @@ public: virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld); virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld); virtual void removePickingConstraint(); - + + //logging /playback the shared memory commands void enableCommandLogging(bool enable, const char* fileName); void replayFromLogFile(const char* fileName); void replayLogCommand(char* bufferServerToClient, int bufferSizeInBytes ); + + //logging of object states (position etc) + void logObjectStates(btScalar timeStep); + void stepSimulationRealTime(double dtInSec, const struct b3VRControllerEvent* vrEvents, int numVREvents); void enableRealTimeSimulation(bool enableRealTimeSim); void applyJointDamping(int bodyUniqueId); |