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bullet3/examples/SharedMemory/PhysicsClientC_API.h

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fix various warnings, more work on shared memory API
2015-07-23 01:06:05 +00:00
#ifndef PHYSICS_CLIENT_C_API_H
#define PHYSICS_CLIENT_C_API_H
another step closer to useable shared memory C API (force/torque sensor needs new API) in a nutshell, users of shared memory physics API should not directly poke into shared memory, not fill 'SharedMemorCommand' nor read SharedMemoryStatus directly. The C-API declares 'handles' for those, to avoid it from happening.
2015-09-17 06:09:10 +00:00
//#include "SharedMemoryBlock.h"
#include "SharedMemoryPublic.h"
fix various warnings, more work on shared memory API
2015-07-23 01:06:05 +00:00
#define B3_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name
B3_DECLARE_HANDLE(b3PhysicsClientHandle);
another step closer to useable shared memory C API (force/torque sensor needs new API) in a nutshell, users of shared memory physics API should not directly poke into shared memory, not fill 'SharedMemorCommand' nor read SharedMemoryStatus directly. The C-API declares 'handles' for those, to avoid it from happening.
2015-09-17 06:09:10 +00:00
B3_DECLARE_HANDLE(b3SharedMemoryCommandHandle);
B3_DECLARE_HANDLE(b3SharedMemoryStatusHandle);
fix various warnings, more work on shared memory API
2015-07-23 01:06:05 +00:00
#ifdef __cplusplus
extern "C" {
#endif
fixes in shared memory: only allow server to create and initialize shared memory, client will report failure intercept signals to cleanup shared memory in standalone app, thanks to Roland Philippsen.
2015-08-06 18:59:31 +00:00
///make sure to start the server first!
another step closer to useable shared memory C API (force/torque sensor needs new API) in a nutshell, users of shared memory physics API should not directly poke into shared memory, not fill 'SharedMemorCommand' nor read SharedMemoryStatus directly. The C-API declares 'handles' for those, to avoid it from happening.
2015-09-17 06:09:10 +00:00
b3PhysicsClientHandle b3ConnectSharedMemory(int key);
fix various warnings, more work on shared memory API
2015-07-23 01:06:05 +00:00
void b3DisconnectSharedMemory(b3PhysicsClientHandle physClient);
another step closer to useable shared memory C API (force/torque sensor needs new API) in a nutshell, users of shared memory physics API should not directly poke into shared memory, not fill 'SharedMemorCommand' nor read SharedMemoryStatus directly. The C-API declares 'handles' for those, to avoid it from happening.
2015-09-17 06:09:10 +00:00
b3SharedMemoryStatusHandle b3ProcessServerStatus(b3PhysicsClientHandle physClient);
int b3GetStatusType(b3SharedMemoryStatusHandle statusHandle);
fix various warnings, more work on shared memory API
2015-07-23 01:06:05 +00:00
int b3CanSubmitCommand(b3PhysicsClientHandle physClient);
another step closer to useable shared memory C API (force/torque sensor needs new API) in a nutshell, users of shared memory physics API should not directly poke into shared memory, not fill 'SharedMemorCommand' nor read SharedMemoryStatus directly. The C-API declares 'handles' for those, to avoid it from happening.
2015-09-17 06:09:10 +00:00
int b3SubmitClientCommand(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle);
fix various warnings, more work on shared memory API
2015-07-23 01:06:05 +00:00
further work on shared memory API fix dependency of BulletDynamics to Bullet3Common (b3Printf)
2015-08-02 21:00:43 +00:00
int b3GetNumJoints(b3PhysicsClientHandle physClient);
fix various warnings, more work on shared memory API
2015-07-23 01:06:05 +00:00
further work on shared memory API fix dependency of BulletDynamics to Bullet3Common (b3Printf)
2015-08-02 21:00:43 +00:00
void b3GetJointInfo(b3PhysicsClientHandle physClient, int linkIndex, struct b3JointInfo* info);
fix various warnings, more work on shared memory API
2015-07-23 01:06:05 +00:00
another step closer to useable shared memory C API (force/torque sensor needs new API) in a nutshell, users of shared memory physics API should not directly poke into shared memory, not fill 'SharedMemorCommand' nor read SharedMemoryStatus directly. The C-API declares 'handles' for those, to avoid it from happening.
2015-09-17 06:09:10 +00:00
b3SharedMemoryCommandHandle b3InitRequestDebugLinesCommand(b3PhysicsClientHandle physClient, int debugMode);
void b3GetDebugLines(b3PhysicsClientHandle physClient, struct b3DebugLines* lines);
b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient);
int b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz);
int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double timeStep);
small progress towards shared memory C-api and test.c.
2015-07-31 06:22:44 +00:00
another step closer to useable shared memory C API (force/torque sensor needs new API) in a nutshell, users of shared memory physics API should not directly poke into shared memory, not fill 'SharedMemorCommand' nor read SharedMemoryStatus directly. The C-API declares 'handles' for those, to avoid it from happening.
2015-09-17 06:09:10 +00:00
b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient);
small progress towards shared memory C-api and test.c.
2015-07-31 06:22:44 +00:00
another step closer to useable shared memory C API (force/torque sensor needs new API) in a nutshell, users of shared memory physics API should not directly poke into shared memory, not fill 'SharedMemorCommand' nor read SharedMemoryStatus directly. The C-API declares 'handles' for those, to avoid it from happening.
2015-09-17 06:09:10 +00:00
b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHandle physClient);
reset simulation in test/SharedMemory/test for proper cleanup, and it can restart without shutting down/restarting physics server w
2015-08-28 00:51:31 +00:00
another step closer to useable shared memory C API (force/torque sensor needs new API) in a nutshell, users of shared memory physics API should not directly poke into shared memory, not fill 'SharedMemorCommand' nor read SharedMemoryStatus directly. The C-API declares 'handles' for those, to avoid it from happening.
2015-09-17 06:09:10 +00:00
b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName);
small progress towards shared memory C-api and test.c.
2015-07-31 06:22:44 +00:00
///all those commands are optional, except for the *Init
another step closer to useable shared memory C API (force/torque sensor needs new API) in a nutshell, users of shared memory physics API should not directly poke into shared memory, not fill 'SharedMemorCommand' nor read SharedMemoryStatus directly. The C-API declares 'handles' for those, to avoid it from happening.
2015-09-17 06:09:10 +00:00
int b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ);
int b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase);
small progress towards shared memory C-api and test.c.
2015-07-31 06:22:44 +00:00
further work on shared memory API fix dependency of BulletDynamics to Bullet3Common (b3Printf)
2015-08-02 21:00:43 +00:00
///Set joint control variables such as desired position/angle, desired velocity,
///applied joint forces, dependent on the control mode (CONTROL_MODE_VELOCITY or CONTROL_MODE_TORQUE)
another step closer to useable shared memory C API (force/torque sensor needs new API) in a nutshell, users of shared memory physics API should not directly poke into shared memory, not fill 'SharedMemorCommand' nor read SharedMemoryStatus directly. The C-API declares 'handles' for those, to avoid it from happening.
2015-09-17 06:09:10 +00:00
b3SharedMemoryCommandHandle b3JointControlCommandInit(b3PhysicsClientHandle physClient, int controlMode);
///Only use when controlMode is CONTROL_MODE_POSITION_VELOCITY_PD
int b3JointControlSetDesiredPosition(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
int b3JointControlSetKp(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
int b3JointControlSetKd(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
further work on shared memory API fix dependency of BulletDynamics to Bullet3Common (b3Printf)
2015-08-02 21:00:43 +00:00
//Only use when controlMode is CONTROL_MODE_VELOCITY
another step closer to useable shared memory C API (force/torque sensor needs new API) in a nutshell, users of shared memory physics API should not directly poke into shared memory, not fill 'SharedMemorCommand' nor read SharedMemoryStatus directly. The C-API declares 'handles' for those, to avoid it from happening.
2015-09-17 06:09:10 +00:00
int b3JointControlSetDesiredVelocity(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
int b3JointControlSetMaximumForce(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
further work on shared memory API fix dependency of BulletDynamics to Bullet3Common (b3Printf)
2015-08-02 21:00:43 +00:00
///Only use if when controlMode is CONTROL_MODE_TORQUE,
another step closer to useable shared memory C API (force/torque sensor needs new API) in a nutshell, users of shared memory physics API should not directly poke into shared memory, not fill 'SharedMemorCommand' nor read SharedMemoryStatus directly. The C-API declares 'handles' for those, to avoid it from happening.
2015-09-17 06:09:10 +00:00
int b3JointControlSetDesiredForceTorque(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
further work on shared memory API fix dependency of BulletDynamics to Bullet3Common (b3Printf)
2015-08-02 21:00:43 +00:00
///the creation of collision shapes and rigid bodies etc is likely going to change,
///but good to have a b3CreateBoxShapeCommandInit for now
//create a box of size (1,1,1) at world origin (0,0,0) at orientation quat (0,0,0,1)
//after that, you can optionally adjust the initial position, orientation and size
another step closer to useable shared memory C API (force/torque sensor needs new API) in a nutshell, users of shared memory physics API should not directly poke into shared memory, not fill 'SharedMemorCommand' nor read SharedMemoryStatus directly. The C-API declares 'handles' for those, to avoid it from happening.
2015-09-17 06:09:10 +00:00
b3SharedMemoryCommandHandle b3CreateBoxShapeCommandInit(b3PhysicsClientHandle physClient);
int b3CreateBoxCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ);
int b3CreateBoxCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
int b3CreateBoxCommandSetHalfExtents(b3SharedMemoryCommandHandle commandHandle, double halfExtentsX,double halfExtentsY,double halfExtentsZ);
further work on shared memory API fix dependency of BulletDynamics to Bullet3Common (b3Printf)
2015-08-02 21:00:43 +00:00
another step closer to useable shared memory C API (force/torque sensor needs new API) in a nutshell, users of shared memory physics API should not directly poke into shared memory, not fill 'SharedMemorCommand' nor read SharedMemoryStatus directly. The C-API declares 'handles' for those, to avoid it from happening.
2015-09-17 06:09:10 +00:00
b3SharedMemoryCommandHandle b3CreateSensorCommandInit(b3PhysicsClientHandle physClient);
int b3CreateSensorEnable6DofJointForceTorqueSensor(b3SharedMemoryCommandHandle commandHandle, int dofIndex, int enable);
int b3CreateSensorEnableIMUForLink(b3SharedMemoryCommandHandle commandHandle, int linkIndex, int enable);
further work on shared memory API fix dependency of BulletDynamics to Bullet3Common (b3Printf)
2015-08-02 21:00:43 +00:00
another step closer to useable shared memory C API (force/torque sensor needs new API) in a nutshell, users of shared memory physics API should not directly poke into shared memory, not fill 'SharedMemorCommand' nor read SharedMemoryStatus directly. The C-API declares 'handles' for those, to avoid it from happening.
2015-09-17 06:09:10 +00:00
b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandle physClient);
further work on shared memory API fix dependency of BulletDynamics to Bullet3Common (b3Printf)
2015-08-02 21:00:43 +00:00
fix various warnings, more work on shared memory API
2015-07-23 01:06:05 +00:00
another step closer to useable shared memory C API (force/torque sensor needs new API) in a nutshell, users of shared memory physics API should not directly poke into shared memory, not fill 'SharedMemorCommand' nor read SharedMemoryStatus directly. The C-API declares 'handles' for those, to avoid it from happening.
2015-09-17 06:09:10 +00:00
fix various warnings, more work on shared memory API
2015-07-23 01:06:05 +00:00
#ifdef __cplusplus
}
#endif
#endif //PHYSICS_CLIENT_C_API_H
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