text: #ifndef PHYSICS_LOOP_BACK_H
  #define PHYSICS_LOOP_BACK_H
  
  //#include "SharedMemoryCommands.h"
  
  
  #include "PhysicsClient.h"
  #include "LinearMath/btVector3.h"
  
  ///todo: the PhysicsClient API was designed with shared memory in mind, 
  ///now it become more general we need to move out the shared memory specifics away
  ///for example naming [disconnectSharedMemory -> disconnect] [ move setSharedMemoryKey to shared memory specific subclass ]
  
  class PhysicsLoopBack : public PhysicsClient 
  {
  	struct PhysicsLoopBackInternalData* m_data;
  
  public:
  
  	PhysicsLoopBack();
  
  	virtual ~PhysicsLoopBack();
  
  	  // return true if connection succesfull, can also check 'isConnected'
      virtual bool connect();
  
  	////todo: rename to 'disconnect'
      virtual void disconnectSharedMemory();
  
      virtual bool isConnected() const;
  
      // return non-null if there is a status, nullptr otherwise
      virtual const  SharedMemoryStatus* processServerStatus();
  
      virtual  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 bodyIndex) const;
  
      virtual bool getJointInfo(int bodyIndex, 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;
      
  	///todo: move this out of the
      virtual void setSharedMemoryKey(int key);
  
      void uploadBulletFileToSharedMemory(const char* data, int len);
  
      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 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;
  };
  
  #endif //PHYSICS_LOOP_BACK_H
  