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# ifndef PHYSICS_CLIENT_C_API_H
# define PHYSICS_CLIENT_C_API_H
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//#include "SharedMemoryBlock.h"
# include "SharedMemoryPublic.h"
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# define B3_DECLARE_HANDLE(name) \
typedef struct name # # __ \
{ \
int unused ; \
} * name
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B3_DECLARE_HANDLE ( b3PhysicsClientHandle ) ;
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B3_DECLARE_HANDLE ( b3SharedMemoryCommandHandle ) ;
B3_DECLARE_HANDLE ( b3SharedMemoryStatusHandle ) ;
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# ifdef _WIN32
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# define B3_SHARED_API __declspec(dllexport)
# elif defined(__GNUC__)
# define B3_SHARED_API __attribute__((visibility("default")))
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# else
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# define B3_SHARED_API
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# endif
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///There are several connection methods, see following header files:
# include "PhysicsClientSharedMemory_C_API.h"
# include "PhysicsClientSharedMemory2_C_API.h"
# include "PhysicsDirectC_API.h"
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# ifdef BT_ENABLE_ENET
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# include "PhysicsClientUDP_C_API.h"
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# endif
# ifdef BT_ENABLE_CLSOCKET
# include "PhysicsClientTCP_C_API.h"
# endif
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# ifdef __cplusplus
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extern " C "
{
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# endif
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///b3DisconnectSharedMemory will disconnect the client from the server and cleanup memory.
B3_SHARED_API void b3DisconnectSharedMemory ( b3PhysicsClientHandle physClient ) ;
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///There can only be 1 outstanding command. Check if a command can be send.
B3_SHARED_API int b3CanSubmitCommand ( b3PhysicsClientHandle physClient ) ;
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///blocking submit command and wait for status
B3_SHARED_API b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus ( b3PhysicsClientHandle physClient , b3SharedMemoryCommandHandle commandHandle ) ;
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///In general it is better to use b3SubmitClientCommandAndWaitStatus. b3SubmitClientCommand is a non-blocking submit
///command, which requires checking for the status manually, using b3ProcessServerStatus. Also, before sending the
///next command, make sure to check if you can send a command using 'b3CanSubmitCommand'.
B3_SHARED_API int b3SubmitClientCommand ( b3PhysicsClientHandle physClient , b3SharedMemoryCommandHandle commandHandle ) ;
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///non-blocking check status
B3_SHARED_API b3SharedMemoryStatusHandle b3ProcessServerStatus ( b3PhysicsClientHandle physClient ) ;
/// Get the physics server return status type. See EnumSharedMemoryServerStatus in SharedMemoryPublic.h for error codes.
B3_SHARED_API int b3GetStatusType ( b3SharedMemoryStatusHandle statusHandle ) ;
///Plugin system, load and unload a plugin, execute a command
B3_SHARED_API b3SharedMemoryCommandHandle b3CreateCustomCommand ( b3PhysicsClientHandle physClient ) ;
B3_SHARED_API void b3CustomCommandLoadPlugin ( b3SharedMemoryCommandHandle commandHandle , const char * pluginPath ) ;
B3_SHARED_API void b3CustomCommandLoadPluginSetPostFix ( b3SharedMemoryCommandHandle commandHandle , const char * postFix ) ;
B3_SHARED_API int b3GetStatusPluginUniqueId ( b3SharedMemoryStatusHandle statusHandle ) ;
B3_SHARED_API int b3GetStatusPluginCommandResult ( b3SharedMemoryStatusHandle statusHandle ) ;
B3_SHARED_API void b3CustomCommandUnloadPlugin ( b3SharedMemoryCommandHandle commandHandle , int pluginUniqueId ) ;
B3_SHARED_API void b3CustomCommandExecutePluginCommand ( b3SharedMemoryCommandHandle commandHandle , int pluginUniqueId , const char * textArguments ) ;
B3_SHARED_API void b3CustomCommandExecuteAddIntArgument ( b3SharedMemoryCommandHandle commandHandle , int intVal ) ;
B3_SHARED_API void b3CustomCommandExecuteAddFloatArgument ( b3SharedMemoryCommandHandle commandHandle , float floatVal ) ;
B3_SHARED_API int b3GetStatusBodyIndices ( b3SharedMemoryStatusHandle statusHandle , int * bodyIndicesOut , int bodyIndicesCapacity ) ;
B3_SHARED_API int b3GetStatusBodyIndex ( b3SharedMemoryStatusHandle statusHandle ) ;
B3_SHARED_API int b3GetStatusActualState ( b3SharedMemoryStatusHandle statusHandle ,
int * bodyUniqueId ,
int * numDegreeOfFreedomQ ,
int * numDegreeOfFreedomU ,
const double * rootLocalInertialFrame [ ] ,
const double * actualStateQ [ ] ,
const double * actualStateQdot [ ] ,
const double * jointReactionForces [ ] ) ;
B3_SHARED_API int b3GetStatusActualState2 ( b3SharedMemoryStatusHandle statusHandle ,
int * bodyUniqueId ,
int * numLinks ,
int * numDegreeOfFreedomQ ,
int * numDegreeOfFreedomU ,
const double * rootLocalInertialFrame [ ] ,
const double * actualStateQ [ ] ,
const double * actualStateQdot [ ] ,
const double * jointReactionForces [ ] ,
const double * linkLocalInertialFrames [ ] ,
const double * jointMotorForces [ ] ,
const double * linkStates [ ] ,
const double * linkWorldVelocities [ ] ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3RequestCollisionInfoCommandInit ( b3PhysicsClientHandle physClient , int bodyUniqueId ) ;
B3_SHARED_API int b3GetStatusAABB ( b3SharedMemoryStatusHandle statusHandle , int linkIndex , double aabbMin [ /*3*/ ] , double aabbMax [ /*3*/ ] ) ;
///If you re-connected to an existing server, or server changed otherwise, sync the body info and user constraints etc.
B3_SHARED_API b3SharedMemoryCommandHandle b3InitSyncBodyInfoCommand ( b3PhysicsClientHandle physClient ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRemoveBodyCommand ( b3PhysicsClientHandle physClient , int bodyUniqueId ) ;
///return the total number of bodies in the simulation
B3_SHARED_API int b3GetNumBodies ( b3PhysicsClientHandle physClient ) ;
/// return the body unique id, given the index in range [0 , b3GetNumBodies() )
B3_SHARED_API int b3GetBodyUniqueId ( b3PhysicsClientHandle physClient , int serialIndex ) ;
///given a body unique id, return the body information. See b3BodyInfo in SharedMemoryPublic.h
B3_SHARED_API int b3GetBodyInfo ( b3PhysicsClientHandle physClient , int bodyUniqueId , struct b3BodyInfo * info ) ;
///give a unique body index (after loading the body) return the number of joints.
B3_SHARED_API int b3GetNumJoints ( b3PhysicsClientHandle physClient , int bodyUniqueId ) ;
///compute the number of degrees of freedom for this body.
///Return -1 for unsupported spherical joint, -2 for unsupported planar joint.
B3_SHARED_API int b3ComputeDofCount ( b3PhysicsClientHandle physClient , int bodyUniqueId ) ;
///given a body and joint index, return the joint information. See b3JointInfo in SharedMemoryPublic.h
B3_SHARED_API int b3GetJointInfo ( b3PhysicsClientHandle physClient , int bodyUniqueId , int jointIndex , struct b3JointInfo * info ) ;
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///user data handling
B3_SHARED_API b3SharedMemoryCommandHandle b3InitSyncUserDataCommand ( b3PhysicsClientHandle physClient ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3InitAddUserDataCommand ( b3PhysicsClientHandle physClient , int bodyUniqueId , int linkIndex , int visualShapeIndex , const char * key , enum UserDataValueType valueType , int valueLength , const void * valueData ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRemoveUserDataCommand ( b3PhysicsClientHandle physClient , int userDataId ) ;
B3_SHARED_API int b3GetUserData ( b3PhysicsClientHandle physClient , int userDataId , struct b3UserDataValue * valueOut ) ;
B3_SHARED_API int b3GetUserDataId ( b3PhysicsClientHandle physClient , int bodyUniqueId , int linkIndex , int visualShapeIndex , const char * key ) ;
B3_SHARED_API int b3GetUserDataIdFromStatus ( b3SharedMemoryStatusHandle statusHandle ) ;
B3_SHARED_API int b3GetNumUserData ( b3PhysicsClientHandle physClient , int bodyUniqueId ) ;
B3_SHARED_API void b3GetUserDataInfo ( b3PhysicsClientHandle physClient , int bodyUniqueId , int userDataIndex , const char * * keyOut , int * userDataIdOut , int * linkIndexOut , int * visualShapeIndexOut ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3GetDynamicsInfoCommandInit ( b3PhysicsClientHandle physClient , int bodyUniqueId , int linkIndex ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3GetDynamicsInfoCommandInit2 ( b3SharedMemoryCommandHandle commandHandle , int bodyUniqueId , int linkIndex ) ;
///given a body unique id and link index, return the dynamics information. See b3DynamicsInfo in SharedMemoryPublic.h
B3_SHARED_API int b3GetDynamicsInfo ( b3SharedMemoryStatusHandle statusHandle , struct b3DynamicsInfo * info ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3InitChangeDynamicsInfo ( b3PhysicsClientHandle physClient ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3InitChangeDynamicsInfo2 ( b3SharedMemoryCommandHandle commandHandle ) ;
B3_SHARED_API int b3ChangeDynamicsInfoSetMass ( b3SharedMemoryCommandHandle commandHandle , int bodyUniqueId , int linkIndex , double mass ) ;
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B3_SHARED_API int b3ChangeDynamicsInfoSetLocalInertiaDiagonal ( b3SharedMemoryCommandHandle commandHandle , int bodyUniqueId , int linkIndex , const double localInertiaDiagonal [ ] ) ;
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B3_SHARED_API int b3ChangeDynamicsInfoSetLateralFriction ( b3SharedMemoryCommandHandle commandHandle , int bodyUniqueId , int linkIndex , double lateralFriction ) ;
B3_SHARED_API int b3ChangeDynamicsInfoSetSpinningFriction ( b3SharedMemoryCommandHandle commandHandle , int bodyUniqueId , int linkIndex , double friction ) ;
B3_SHARED_API int b3ChangeDynamicsInfoSetRollingFriction ( b3SharedMemoryCommandHandle commandHandle , int bodyUniqueId , int linkIndex , double friction ) ;
B3_SHARED_API int b3ChangeDynamicsInfoSetRestitution ( b3SharedMemoryCommandHandle commandHandle , int bodyUniqueId , int linkIndex , double restitution ) ;
B3_SHARED_API int b3ChangeDynamicsInfoSetLinearDamping ( b3SharedMemoryCommandHandle commandHandle , int bodyUniqueId , double linearDamping ) ;
B3_SHARED_API int b3ChangeDynamicsInfoSetAngularDamping ( b3SharedMemoryCommandHandle commandHandle , int bodyUniqueId , double angularDamping ) ;
B3_SHARED_API int b3ChangeDynamicsInfoSetContactStiffnessAndDamping ( b3SharedMemoryCommandHandle commandHandle , int bodyUniqueId , int linkIndex , double contactStiffness , double contactDamping ) ;
B3_SHARED_API int b3ChangeDynamicsInfoSetFrictionAnchor ( b3SharedMemoryCommandHandle commandHandle , int bodyUniqueId , int linkIndex , int frictionAnchor ) ;
B3_SHARED_API int b3ChangeDynamicsInfoSetCcdSweptSphereRadius ( b3SharedMemoryCommandHandle commandHandle , int bodyUniqueId , int linkIndex , double ccdSweptSphereRadius ) ;
B3_SHARED_API int b3ChangeDynamicsInfoSetContactProcessingThreshold ( b3SharedMemoryCommandHandle commandHandle , int bodyUniqueId , int linkIndex , double contactProcessingThreshold ) ;
B3_SHARED_API int b3ChangeDynamicsInfoSetActivationState ( b3SharedMemoryCommandHandle commandHandle , int bodyUniqueId , int activationState ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand ( b3PhysicsClientHandle physClient , int parentBodyUniqueId , int parentJointIndex , int childBodyUniqueId , int childJointIndex , struct b3JointInfo * info ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand2 ( b3SharedMemoryCommandHandle commandHandle , int parentBodyUniqueId , int parentJointIndex , int childBodyUniqueId , int childJointIndex , struct b3JointInfo * info ) ;
///return a unique id for the user constraint, after successful creation, or -1 for an invalid constraint id
B3_SHARED_API int b3GetStatusUserConstraintUniqueId ( b3SharedMemoryStatusHandle statusHandle ) ;
///change parameters of an existing user constraint
B3_SHARED_API b3SharedMemoryCommandHandle b3InitChangeUserConstraintCommand ( b3PhysicsClientHandle physClient , int userConstraintUniqueId ) ;
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B3_SHARED_API int b3InitChangeUserConstraintSetPivotInB ( b3SharedMemoryCommandHandle commandHandle , const double jointChildPivot [ /*3*/ ] ) ;
B3_SHARED_API int b3InitChangeUserConstraintSetFrameInB ( b3SharedMemoryCommandHandle commandHandle , const double jointChildFrameOrn [ /*4*/ ] ) ;
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B3_SHARED_API int b3InitChangeUserConstraintSetMaxForce ( b3SharedMemoryCommandHandle commandHandle , double maxAppliedForce ) ;
B3_SHARED_API int b3InitChangeUserConstraintSetGearRatio ( b3SharedMemoryCommandHandle commandHandle , double gearRatio ) ;
B3_SHARED_API int b3InitChangeUserConstraintSetGearAuxLink ( b3SharedMemoryCommandHandle commandHandle , int gearAuxLink ) ;
B3_SHARED_API int b3InitChangeUserConstraintSetRelativePositionTarget ( b3SharedMemoryCommandHandle commandHandle , double relativePositionTarget ) ;
B3_SHARED_API int b3InitChangeUserConstraintSetERP ( b3SharedMemoryCommandHandle commandHandle , double erp ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand ( b3PhysicsClientHandle physClient , int userConstraintUniqueId ) ;
B3_SHARED_API int b3GetNumUserConstraints ( b3PhysicsClientHandle physClient ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3InitGetUserConstraintStateCommand ( b3PhysicsClientHandle physClient , int constraintUniqueId ) ;
B3_SHARED_API int b3GetStatusUserConstraintState ( b3SharedMemoryStatusHandle statusHandle , struct b3UserConstraintState * constraintState ) ;
B3_SHARED_API int b3GetUserConstraintInfo ( b3PhysicsClientHandle physClient , int constraintUniqueId , struct b3UserConstraint * info ) ;
/// return the user constraint id, given the index in range [0 , b3GetNumUserConstraints() )
B3_SHARED_API int b3GetUserConstraintId ( b3PhysicsClientHandle physClient , int serialIndex ) ;
///Request physics debug lines for debug visualization. The flags in debugMode are the same as used in Bullet
///See btIDebugDraw::DebugDrawModes in Bullet/src/LinearMath/btIDebugDraw.h
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestDebugLinesCommand ( b3PhysicsClientHandle physClient , int debugMode ) ;
///Get the pointers to the physics debug line information, after b3InitRequestDebugLinesCommand returns
///status CMD_DEBUG_LINES_COMPLETED
B3_SHARED_API void b3GetDebugLines ( b3PhysicsClientHandle physClient , struct b3DebugLines * lines ) ;
///configure the 3D OpenGL debug visualizer (enable/disable GUI widgets, shadows, position camera etc)
B3_SHARED_API b3SharedMemoryCommandHandle b3InitConfigureOpenGLVisualizer ( b3PhysicsClientHandle physClient ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3InitConfigureOpenGLVisualizer2 ( b3SharedMemoryCommandHandle commandHandle ) ;
B3_SHARED_API void b3ConfigureOpenGLVisualizerSetVisualizationFlags ( b3SharedMemoryCommandHandle commandHandle , int flag , int enabled ) ;
B3_SHARED_API void b3ConfigureOpenGLVisualizerSetViewMatrix ( b3SharedMemoryCommandHandle commandHandle , float cameraDistance , float cameraPitch , float cameraYaw , const float cameraTargetPosition [ /*3*/ ] ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestOpenGLVisualizerCameraCommand ( b3PhysicsClientHandle physClient ) ;
B3_SHARED_API int b3GetStatusOpenGLVisualizerCamera ( b3SharedMemoryStatusHandle statusHandle , struct b3OpenGLVisualizerCameraInfo * camera ) ;
/// Add/remove user-specific debug lines and debug text messages
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B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D ( b3PhysicsClientHandle physClient , const double fromXYZ [ /*3*/ ] , const double toXYZ [ /*3*/ ] , const double colorRGB [ /*3*/ ] , double lineWidth , double lifeTime ) ;
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B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D ( b3PhysicsClientHandle physClient , const char * txt , const double positionXYZ [ /*3*/ ] , const double colorRGB [ /*3*/ ] , double textSize , double lifeTime ) ;
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B3_SHARED_API void b3UserDebugTextSetOptionFlags ( b3SharedMemoryCommandHandle commandHandle , int optionFlags ) ;
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B3_SHARED_API void b3UserDebugTextSetOrientation ( b3SharedMemoryCommandHandle commandHandle , const double orientation [ /*4*/ ] ) ;
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B3_SHARED_API void b3UserDebugItemSetReplaceItemUniqueId ( b3SharedMemoryCommandHandle commandHandle , int replaceItem ) ;
B3_SHARED_API void b3UserDebugItemSetParentObject ( b3SharedMemoryCommandHandle commandHandle , int objectUniqueId , int linkIndex ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugAddParameter ( b3PhysicsClientHandle physClient , const char * txt , double rangeMin , double rangeMax , double startValue ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugReadParameter ( b3PhysicsClientHandle physClient , int debugItemUniqueId ) ;
B3_SHARED_API int b3GetStatusDebugParameterValue ( b3SharedMemoryStatusHandle statusHandle , double * paramValue ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawRemove ( b3PhysicsClientHandle physClient , int debugItemUniqueId ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawRemoveAll ( b3PhysicsClientHandle physClient ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3InitDebugDrawingCommand ( b3PhysicsClientHandle physClient ) ;
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B3_SHARED_API void b3SetDebugObjectColor ( b3SharedMemoryCommandHandle commandHandle , int objectUniqueId , int linkIndex , const double objectColorRGB [ /*3*/ ] ) ;
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B3_SHARED_API void b3RemoveDebugObjectColor ( b3SharedMemoryCommandHandle commandHandle , int objectUniqueId , int linkIndex ) ;
///All debug items unique Ids are positive: a negative unique Id means failure.
B3_SHARED_API int b3GetDebugItemUniqueId ( b3SharedMemoryStatusHandle statusHandle ) ;
///request an image from a simulated camera, using a software renderer.
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestCameraImage ( b3PhysicsClientHandle physClient ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestCameraImage2 ( b3SharedMemoryCommandHandle commandHandle ) ;
B3_SHARED_API void b3RequestCameraImageSetCameraMatrices ( b3SharedMemoryCommandHandle commandHandle , float viewMatrix [ /*16*/ ] , float projectionMatrix [ /*16*/ ] ) ;
B3_SHARED_API void b3RequestCameraImageSetPixelResolution ( b3SharedMemoryCommandHandle commandHandle , int width , int height ) ;
B3_SHARED_API void b3RequestCameraImageSetLightDirection ( b3SharedMemoryCommandHandle commandHandle , const float lightDirection [ /*3*/ ] ) ;
B3_SHARED_API void b3RequestCameraImageSetLightColor ( b3SharedMemoryCommandHandle commandHandle , const float lightColor [ /*3*/ ] ) ;
B3_SHARED_API void b3RequestCameraImageSetLightDistance ( b3SharedMemoryCommandHandle commandHandle , float lightDistance ) ;
B3_SHARED_API void b3RequestCameraImageSetLightAmbientCoeff ( b3SharedMemoryCommandHandle commandHandle , float lightAmbientCoeff ) ;
B3_SHARED_API void b3RequestCameraImageSetLightDiffuseCoeff ( b3SharedMemoryCommandHandle commandHandle , float lightDiffuseCoeff ) ;
B3_SHARED_API void b3RequestCameraImageSetLightSpecularCoeff ( b3SharedMemoryCommandHandle commandHandle , float lightSpecularCoeff ) ;
B3_SHARED_API void b3RequestCameraImageSetShadow ( b3SharedMemoryCommandHandle commandHandle , int hasShadow ) ;
B3_SHARED_API void b3RequestCameraImageSelectRenderer ( b3SharedMemoryCommandHandle commandHandle , int renderer ) ;
B3_SHARED_API void b3RequestCameraImageSetFlags ( b3SharedMemoryCommandHandle commandHandle , int flags ) ;
B3_SHARED_API void b3GetCameraImageData ( b3PhysicsClientHandle physClient , struct b3CameraImageData * imageData ) ;
///set projective texture camera matrices.
B3_SHARED_API void b3RequestCameraImageSetProjectiveTextureMatrices ( b3SharedMemoryCommandHandle commandHandle , float viewMatrix [ /*16*/ ] , float projectionMatrix [ /*16*/ ] ) ;
///compute a view matrix, helper function for b3RequestCameraImageSetCameraMatrices
B3_SHARED_API void b3ComputeViewMatrixFromPositions ( const float cameraPosition [ /*3*/ ] , const float cameraTargetPosition [ /*3*/ ] , const float cameraUp [ /*3*/ ] , float viewMatrix [ /*16*/ ] ) ;
B3_SHARED_API void b3ComputeViewMatrixFromYawPitchRoll ( const float cameraTargetPosition [ /*3*/ ] , float distance , float yaw , float pitch , float roll , int upAxis , float viewMatrix [ /*16*/ ] ) ;
B3_SHARED_API void b3ComputePositionFromViewMatrix ( const float viewMatrix [ /*16*/ ] , float cameraPosition [ /*3*/ ] , float cameraTargetPosition [ /*3*/ ] , float cameraUp [ /*3*/ ] ) ;
///compute a projection matrix, helper function for b3RequestCameraImageSetCameraMatrices
B3_SHARED_API void b3ComputeProjectionMatrix ( float left , float right , float bottom , float top , float nearVal , float farVal , float projectionMatrix [ /*16*/ ] ) ;
B3_SHARED_API void b3ComputeProjectionMatrixFOV ( float fov , float aspect , float nearVal , float farVal , float projectionMatrix [ /*16*/ ] ) ;
/* obsolete, please use b3ComputeViewProjectionMatrices */
B3_SHARED_API void b3RequestCameraImageSetViewMatrix ( b3SharedMemoryCommandHandle commandHandle , const float cameraPosition [ /*3*/ ] , const float cameraTargetPosition [ /*3*/ ] , const float cameraUp [ /*3*/ ] ) ;
/* obsolete, please use b3ComputeViewProjectionMatrices */
B3_SHARED_API void b3RequestCameraImageSetViewMatrix2 ( b3SharedMemoryCommandHandle commandHandle , const float cameraTargetPosition [ /*3*/ ] , float distance , float yaw , float pitch , float roll , int upAxis ) ;
/* obsolete, please use b3ComputeViewProjectionMatrices */
B3_SHARED_API void b3RequestCameraImageSetProjectionMatrix ( b3SharedMemoryCommandHandle commandHandle , float left , float right , float bottom , float top , float nearVal , float farVal ) ;
/* obsolete, please use b3ComputeViewProjectionMatrices */
B3_SHARED_API void b3RequestCameraImageSetFOVProjectionMatrix ( b3SharedMemoryCommandHandle commandHandle , float fov , float aspect , float nearVal , float farVal ) ;
///request an contact point information
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestContactPointInformation ( b3PhysicsClientHandle physClient ) ;
B3_SHARED_API void b3SetContactFilterBodyA ( b3SharedMemoryCommandHandle commandHandle , int bodyUniqueIdA ) ;
B3_SHARED_API void b3SetContactFilterBodyB ( b3SharedMemoryCommandHandle commandHandle , int bodyUniqueIdB ) ;
B3_SHARED_API void b3SetContactFilterLinkA ( b3SharedMemoryCommandHandle commandHandle , int linkIndexA ) ;
B3_SHARED_API void b3SetContactFilterLinkB ( b3SharedMemoryCommandHandle commandHandle , int linkIndexB ) ;
B3_SHARED_API void b3GetContactPointInformation ( b3PhysicsClientHandle physClient , struct b3ContactInformation * contactPointData ) ;
///compute the closest points between two bodies
B3_SHARED_API b3SharedMemoryCommandHandle b3InitClosestDistanceQuery ( b3PhysicsClientHandle physClient ) ;
B3_SHARED_API void b3SetClosestDistanceFilterBodyA ( b3SharedMemoryCommandHandle commandHandle , int bodyUniqueIdA ) ;
B3_SHARED_API void b3SetClosestDistanceFilterLinkA ( b3SharedMemoryCommandHandle commandHandle , int linkIndexA ) ;
B3_SHARED_API void b3SetClosestDistanceFilterBodyB ( b3SharedMemoryCommandHandle commandHandle , int bodyUniqueIdB ) ;
B3_SHARED_API void b3SetClosestDistanceFilterLinkB ( b3SharedMemoryCommandHandle commandHandle , int linkIndexB ) ;
B3_SHARED_API void b3SetClosestDistanceThreshold ( b3SharedMemoryCommandHandle commandHandle , double distance ) ;
B3_SHARED_API void b3SetClosestDistanceFilterCollisionShapeA ( b3SharedMemoryCommandHandle commandHandle , int collisionShapeA ) ;
B3_SHARED_API void b3SetClosestDistanceFilterCollisionShapeB ( b3SharedMemoryCommandHandle commandHandle , int collisionShapeB ) ;
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B3_SHARED_API void b3SetClosestDistanceFilterCollisionShapePositionA ( b3SharedMemoryCommandHandle commandHandle , const double collisionShapePositionA [ /*3*/ ] ) ;
B3_SHARED_API void b3SetClosestDistanceFilterCollisionShapePositionB ( b3SharedMemoryCommandHandle commandHandle , const double collisionShapePositionB [ /*3*/ ] ) ;
B3_SHARED_API void b3SetClosestDistanceFilterCollisionShapeOrientationA ( b3SharedMemoryCommandHandle commandHandle , const double collisionShapeOrientationA [ /*4*/ ] ) ;
B3_SHARED_API void b3SetClosestDistanceFilterCollisionShapeOrientationB ( b3SharedMemoryCommandHandle commandHandle , const double collisionShapeOrientationB [ /*4*/ ] ) ;
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B3_SHARED_API void b3GetClosestPointInformation ( b3PhysicsClientHandle physClient , struct b3ContactInformation * contactPointInfo ) ;
///get all the bodies that touch a given axis aligned bounding box specified in world space (min and max coordinates)
B3_SHARED_API b3SharedMemoryCommandHandle b3InitAABBOverlapQuery ( b3PhysicsClientHandle physClient , const double aabbMin [ /*3*/ ] , const double aabbMax [ /*3*/ ] ) ;
B3_SHARED_API void b3GetAABBOverlapResults ( b3PhysicsClientHandle physClient , struct b3AABBOverlapData * data ) ;
//request visual shape information
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestVisualShapeInformation ( b3PhysicsClientHandle physClient , int bodyUniqueIdA ) ;
B3_SHARED_API void b3GetVisualShapeInformation ( b3PhysicsClientHandle physClient , struct b3VisualShapeInformation * visualShapeInfo ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestCollisionShapeInformation ( b3PhysicsClientHandle physClient , int bodyUniqueId , int linkIndex ) ;
B3_SHARED_API void b3GetCollisionShapeInformation ( b3PhysicsClientHandle physClient , struct b3CollisionShapeInformation * collisionShapeInfo ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3InitLoadTexture ( b3PhysicsClientHandle physClient , const char * filename ) ;
B3_SHARED_API int b3GetStatusTextureUniqueId ( b3SharedMemoryStatusHandle statusHandle ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3CreateChangeTextureCommandInit ( b3PhysicsClientHandle physClient , int textureUniqueId , int width , int height , const char * rgbPixels ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3InitUpdateVisualShape ( b3PhysicsClientHandle physClient , int bodyUniqueId , int jointIndex , int shapeIndex , int textureUniqueId ) ;
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B3_SHARED_API void b3UpdateVisualShapeRGBAColor ( b3SharedMemoryCommandHandle commandHandle , const double rgbaColor [ /*4*/ ] ) ;
B3_SHARED_API void b3UpdateVisualShapeSpecularColor ( b3SharedMemoryCommandHandle commandHandle , const double specularColor [ /*3*/ ] ) ;
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B3_SHARED_API b3SharedMemoryCommandHandle b3InitPhysicsParamCommand ( b3PhysicsClientHandle physClient ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3InitPhysicsParamCommand2 ( b3SharedMemoryCommandHandle commandHandle ) ;
B3_SHARED_API int b3PhysicsParamSetGravity ( b3SharedMemoryCommandHandle commandHandle , double gravx , double gravy , double gravz ) ;
B3_SHARED_API int b3PhysicsParamSetTimeStep ( b3SharedMemoryCommandHandle commandHandle , double timeStep ) ;
B3_SHARED_API int b3PhysicsParamSetDefaultContactERP ( b3SharedMemoryCommandHandle commandHandle , double defaultContactERP ) ;
B3_SHARED_API int b3PhysicsParamSetDefaultNonContactERP ( b3SharedMemoryCommandHandle commandHandle , double defaultNonContactERP ) ;
B3_SHARED_API int b3PhysicsParamSetDefaultFrictionERP ( b3SharedMemoryCommandHandle commandHandle , double frictionERP ) ;
B3_SHARED_API int b3PhysicsParamSetDefaultGlobalCFM ( b3SharedMemoryCommandHandle commandHandle , double defaultGlobalCFM ) ;
B3_SHARED_API int b3PhysicsParamSetDefaultFrictionCFM ( b3SharedMemoryCommandHandle commandHandle , double frictionCFM ) ;
B3_SHARED_API int b3PhysicsParamSetNumSubSteps ( b3SharedMemoryCommandHandle commandHandle , int numSubSteps ) ;
B3_SHARED_API int b3PhysicsParamSetRealTimeSimulation ( b3SharedMemoryCommandHandle commandHandle , int enableRealTimeSimulation ) ;
B3_SHARED_API int b3PhysicsParamSetNumSolverIterations ( b3SharedMemoryCommandHandle commandHandle , int numSolverIterations ) ;
B3_SHARED_API int b3PhysicsParamSetCollisionFilterMode ( b3SharedMemoryCommandHandle commandHandle , int filterMode ) ;
B3_SHARED_API int b3PhysicsParamSetUseSplitImpulse ( b3SharedMemoryCommandHandle commandHandle , int useSplitImpulse ) ;
B3_SHARED_API int b3PhysicsParamSetSplitImpulsePenetrationThreshold ( b3SharedMemoryCommandHandle commandHandle , double splitImpulsePenetrationThreshold ) ;
B3_SHARED_API int b3PhysicsParamSetContactBreakingThreshold ( b3SharedMemoryCommandHandle commandHandle , double contactBreakingThreshold ) ;
B3_SHARED_API int b3PhysicsParamSetMaxNumCommandsPer1ms ( b3SharedMemoryCommandHandle commandHandle , int maxNumCmdPer1ms ) ;
B3_SHARED_API int b3PhysicsParamSetEnableFileCaching ( b3SharedMemoryCommandHandle commandHandle , int enableFileCaching ) ;
B3_SHARED_API int b3PhysicsParamSetRestitutionVelocityThreshold ( b3SharedMemoryCommandHandle commandHandle , double restitutionVelocityThreshold ) ;
B3_SHARED_API int b3PhysicsParamSetEnableConeFriction ( b3SharedMemoryCommandHandle commandHandle , int enableConeFriction ) ;
B3_SHARED_API int b3PhysicsParameterSetDeterministicOverlappingPairs ( b3SharedMemoryCommandHandle commandHandle , int deterministicOverlappingPairs ) ;
B3_SHARED_API int b3PhysicsParameterSetAllowedCcdPenetration ( b3SharedMemoryCommandHandle commandHandle , double allowedCcdPenetration ) ;
B3_SHARED_API int b3PhysicsParameterSetJointFeedbackMode ( b3SharedMemoryCommandHandle commandHandle , int jointFeedbackMode ) ;
B3_SHARED_API int b3PhysicsParamSetSolverResidualThreshold ( b3SharedMemoryCommandHandle commandHandle , double solverResidualThreshold ) ;
B3_SHARED_API int b3PhysicsParamSetContactSlop ( b3SharedMemoryCommandHandle commandHandle , double contactSlop ) ;
B3_SHARED_API int b3PhysicsParameterSetEnableSAT ( b3SharedMemoryCommandHandle commandHandle , int enableSAT ) ;
B3_SHARED_API int b3PhysicsParameterSetConstraintSolverType ( b3SharedMemoryCommandHandle commandHandle , int constraintSolverType ) ;
B3_SHARED_API int b3PhysicsParameterSetMinimumSolverIslandSize ( b3SharedMemoryCommandHandle commandHandle , int minimumSolverIslandSize ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestPhysicsParamCommand ( b3PhysicsClientHandle physClient ) ;
B3_SHARED_API int b3GetStatusPhysicsSimulationParameters ( b3SharedMemoryStatusHandle statusHandle , struct b3PhysicsSimulationParameters * params ) ;
//b3PhysicsParamSetInternalSimFlags is for internal/temporary/easter-egg/experimental demo purposes
//Use at own risk: magic things may or my not happen when calling this API
B3_SHARED_API int b3PhysicsParamSetInternalSimFlags ( b3SharedMemoryCommandHandle commandHandle , int flags ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3InitStepSimulationCommand ( b3PhysicsClientHandle physClient ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3InitStepSimulationCommand2 ( b3SharedMemoryCommandHandle commandHandle ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand ( b3PhysicsClientHandle physClient ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand2 ( b3SharedMemoryCommandHandle commandHandle ) ;
///Load a robot from a URDF file. Status type will CMD_URDF_LOADING_COMPLETED.
///Access the robot from the unique body index, through b3GetStatusBodyIndex(statusHandle);
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadUrdfCommandInit ( b3PhysicsClientHandle physClient , const char * urdfFileName ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadUrdfCommandInit2 ( b3SharedMemoryCommandHandle commandHandle , const char * urdfFileName ) ;
B3_SHARED_API int b3LoadUrdfCommandSetStartPosition ( b3SharedMemoryCommandHandle commandHandle , double startPosX , double startPosY , double startPosZ ) ;
B3_SHARED_API int b3LoadUrdfCommandSetStartOrientation ( b3SharedMemoryCommandHandle commandHandle , double startOrnX , double startOrnY , double startOrnZ , double startOrnW ) ;
B3_SHARED_API int b3LoadUrdfCommandSetUseMultiBody ( b3SharedMemoryCommandHandle commandHandle , int useMultiBody ) ;
B3_SHARED_API int b3LoadUrdfCommandSetUseFixedBase ( b3SharedMemoryCommandHandle commandHandle , int useFixedBase ) ;
B3_SHARED_API int b3LoadUrdfCommandSetFlags ( b3SharedMemoryCommandHandle commandHandle , int flags ) ;
B3_SHARED_API int b3LoadUrdfCommandSetGlobalScaling ( b3SharedMemoryCommandHandle commandHandle , double globalScaling ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3SaveStateCommandInit ( b3PhysicsClientHandle physClient ) ;
B3_SHARED_API int b3GetStatusGetStateId ( b3SharedMemoryStatusHandle statusHandle ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadStateCommandInit ( b3PhysicsClientHandle physClient ) ;
B3_SHARED_API int b3LoadStateSetStateId ( b3SharedMemoryCommandHandle commandHandle , int stateId ) ;
B3_SHARED_API int b3LoadStateSetFileName ( b3SharedMemoryCommandHandle commandHandle , const char * fileName ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadBulletCommandInit ( b3PhysicsClientHandle physClient , const char * fileName ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3SaveBulletCommandInit ( b3PhysicsClientHandle physClient , const char * fileName ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadMJCFCommandInit ( b3PhysicsClientHandle physClient , const char * fileName ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadMJCFCommandInit2 ( b3SharedMemoryCommandHandle commandHandle , const char * fileName ) ;
B3_SHARED_API void b3LoadMJCFCommandSetFlags ( b3SharedMemoryCommandHandle commandHandle , int flags ) ;
///compute the forces to achieve an acceleration, given a state q and qdot using inverse dynamics
B3_SHARED_API b3SharedMemoryCommandHandle b3CalculateInverseDynamicsCommandInit ( b3PhysicsClientHandle physClient , int bodyUniqueId ,
const double * jointPositionsQ , const double * jointVelocitiesQdot , const double * jointAccelerations ) ;
B3_SHARED_API int b3GetStatusInverseDynamicsJointForces ( b3SharedMemoryStatusHandle statusHandle ,
int * bodyUniqueId ,
int * dofCount ,
double * jointForces ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3CalculateJacobianCommandInit ( b3PhysicsClientHandle physClient , int bodyUniqueId , int linkIndex , const double * localPosition , const double * jointPositionsQ , const double * jointVelocitiesQdot , const double * jointAccelerations ) ;
B3_SHARED_API int b3GetStatusJacobian ( b3SharedMemoryStatusHandle statusHandle ,
int * dofCount ,
double * linearJacobian ,
double * angularJacobian ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3CalculateMassMatrixCommandInit ( b3PhysicsClientHandle physClient , int bodyUniqueId , const double * jointPositionsQ ) ;
///the mass matrix is stored in column-major layout of size dofCount*dofCount
B3_SHARED_API int b3GetStatusMassMatrix ( b3PhysicsClientHandle physClient , b3SharedMemoryStatusHandle statusHandle , int * dofCount , double * massMatrix ) ;
///compute the joint positions to move the end effector to a desired target using inverse kinematics
B3_SHARED_API b3SharedMemoryCommandHandle b3CalculateInverseKinematicsCommandInit ( b3PhysicsClientHandle physClient , int bodyUniqueId ) ;
B3_SHARED_API void b3CalculateInverseKinematicsAddTargetPurePosition ( b3SharedMemoryCommandHandle commandHandle , int endEffectorLinkIndex , const double targetPosition [ /*3*/ ] ) ;
B3_SHARED_API void b3CalculateInverseKinematicsAddTargetPositionWithOrientation ( b3SharedMemoryCommandHandle commandHandle , int endEffectorLinkIndex , const double targetPosition [ /*3*/ ] , const double targetOrientation [ /*4*/ ] ) ;
B3_SHARED_API void b3CalculateInverseKinematicsPosWithNullSpaceVel ( b3SharedMemoryCommandHandle commandHandle , int numDof , int endEffectorLinkIndex , const double targetPosition [ /*3*/ ] , const double * lowerLimit , const double * upperLimit , const double * jointRange , const double * restPose ) ;
B3_SHARED_API void b3CalculateInverseKinematicsPosOrnWithNullSpaceVel ( b3SharedMemoryCommandHandle commandHandle , int numDof , int endEffectorLinkIndex , const double targetPosition [ /*3*/ ] , const double targetOrientation [ /*4*/ ] , const double * lowerLimit , const double * upperLimit , const double * jointRange , const double * restPose ) ;
B3_SHARED_API void b3CalculateInverseKinematicsSetJointDamping ( b3SharedMemoryCommandHandle commandHandle , int numDof , const double * jointDampingCoeff ) ;
B3_SHARED_API void b3CalculateInverseKinematicsSelectSolver ( b3SharedMemoryCommandHandle commandHandle , int solver ) ;
B3_SHARED_API int b3GetStatusInverseKinematicsJointPositions ( b3SharedMemoryStatusHandle statusHandle ,
int * bodyUniqueId ,
int * dofCount ,
double * jointPositions ) ;
B3_SHARED_API void b3CalculateInverseKinematicsSetCurrentPositions ( b3SharedMemoryCommandHandle commandHandle , int numDof , const double * currentJointPositions ) ;
B3_SHARED_API void b3CalculateInverseKinematicsSetMaxNumIterations ( b3SharedMemoryCommandHandle commandHandle , int maxNumIterations ) ;
B3_SHARED_API void b3CalculateInverseKinematicsSetResidualThreshold ( b3SharedMemoryCommandHandle commandHandle , double residualThreshold ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3CollisionFilterCommandInit ( b3PhysicsClientHandle physClient ) ;
B3_SHARED_API void b3SetCollisionFilterPair ( b3SharedMemoryCommandHandle commandHandle , int bodyUniqueIdA ,
int bodyUniqueIdB , int linkIndexA , int linkIndexB , int enableCollision ) ;
B3_SHARED_API void b3SetCollisionFilterGroupMask ( b3SharedMemoryCommandHandle commandHandle , int bodyUniqueIdA ,
int linkIndexA , int collisionFilterGroup , int collisionFilterMask ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadSdfCommandInit ( b3PhysicsClientHandle physClient , const char * sdfFileName ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadSdfCommandInit2 ( b3SharedMemoryCommandHandle commandHandle , const char * sdfFileName ) ;
B3_SHARED_API int b3LoadSdfCommandSetUseMultiBody ( b3SharedMemoryCommandHandle commandHandle , int useMultiBody ) ;
B3_SHARED_API int b3LoadSdfCommandSetUseGlobalScaling ( b3SharedMemoryCommandHandle commandHandle , double globalScaling ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3SaveWorldCommandInit ( b3PhysicsClientHandle physClient , const char * sdfFileName ) ;
///The b3JointControlCommandInit method is obsolete, use b3JointControlCommandInit2 instead
B3_SHARED_API b3SharedMemoryCommandHandle b3JointControlCommandInit ( b3PhysicsClientHandle physClient , int controlMode ) ;
///Set joint motor control variables such as desired position/angle, desired velocity,
///applied joint forces, dependent on the control mode (CONTROL_MODE_VELOCITY or CONTROL_MODE_TORQUE)
B3_SHARED_API b3SharedMemoryCommandHandle b3JointControlCommandInit2 ( b3PhysicsClientHandle physClient , int bodyUniqueId , int controlMode ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3JointControlCommandInit2Internal ( b3SharedMemoryCommandHandle commandHandle , int bodyUniqueId , int controlMode ) ;
///Only use when controlMode is CONTROL_MODE_POSITION_VELOCITY_PD
B3_SHARED_API int b3JointControlSetDesiredPosition ( b3SharedMemoryCommandHandle commandHandle , int qIndex , double value ) ;
B3_SHARED_API int b3JointControlSetKp ( b3SharedMemoryCommandHandle commandHandle , int dofIndex , double value ) ;
B3_SHARED_API int b3JointControlSetKd ( b3SharedMemoryCommandHandle commandHandle , int dofIndex , double value ) ;
B3_SHARED_API int b3JointControlSetMaximumVelocity ( b3SharedMemoryCommandHandle commandHandle , int dofIndex , double maximumVelocity ) ;
///Only use when controlMode is CONTROL_MODE_VELOCITY
B3_SHARED_API int b3JointControlSetDesiredVelocity ( b3SharedMemoryCommandHandle commandHandle , int dofIndex , double value ) ; /* find a better name for dof/q/u indices, point to b3JointInfo */
B3_SHARED_API int b3JointControlSetMaximumForce ( b3SharedMemoryCommandHandle commandHandle , int dofIndex , double value ) ;
///Only use if when controlMode is CONTROL_MODE_TORQUE,
B3_SHARED_API int b3JointControlSetDesiredForceTorque ( b3SharedMemoryCommandHandle commandHandle , int dofIndex , double value ) ;
///the creation of collision shapes and rigid bodies etc is likely going to change,
///but good to have a b3CreateBoxShapeCommandInit for now
B3_SHARED_API b3SharedMemoryCommandHandle b3CreateCollisionShapeCommandInit ( b3PhysicsClientHandle physClient ) ;
B3_SHARED_API int b3CreateCollisionShapeAddSphere ( b3SharedMemoryCommandHandle commandHandle , double radius ) ;
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B3_SHARED_API int b3CreateCollisionShapeAddBox ( b3SharedMemoryCommandHandle commandHandle , const double halfExtents [ /*3*/ ] ) ;
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B3_SHARED_API int b3CreateCollisionShapeAddCapsule ( b3SharedMemoryCommandHandle commandHandle , double radius , double height ) ;
B3_SHARED_API int b3CreateCollisionShapeAddCylinder ( b3SharedMemoryCommandHandle commandHandle , double radius , double height ) ;
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B3_SHARED_API int b3CreateCollisionShapeAddPlane ( b3SharedMemoryCommandHandle commandHandle , const double planeNormal [ /*3*/ ] , double planeConstant ) ;
B3_SHARED_API int b3CreateCollisionShapeAddMesh ( b3SharedMemoryCommandHandle commandHandle , const char * fileName , const double meshScale [ /*3*/ ] ) ;
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B3_SHARED_API void b3CreateCollisionSetFlag ( b3SharedMemoryCommandHandle commandHandle , int shapeIndex , int flags ) ;
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B3_SHARED_API void b3CreateCollisionShapeSetChildTransform ( b3SharedMemoryCommandHandle commandHandle , int shapeIndex , const double childPosition [ /*3*/ ] , const double childOrientation [ /*4*/ ] ) ;
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B3_SHARED_API int b3GetStatusCollisionShapeUniqueId ( b3SharedMemoryStatusHandle statusHandle ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRemoveCollisionShapeCommand ( b3PhysicsClientHandle physClient , int collisionShapeId ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3CreateVisualShapeCommandInit ( b3PhysicsClientHandle physClient ) ;
B3_SHARED_API int b3CreateVisualShapeAddSphere ( b3SharedMemoryCommandHandle commandHandle , double radius ) ;
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B3_SHARED_API int b3CreateVisualShapeAddBox ( b3SharedMemoryCommandHandle commandHandle , const double halfExtents [ /*3*/ ] ) ;
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B3_SHARED_API int b3CreateVisualShapeAddCapsule ( b3SharedMemoryCommandHandle commandHandle , double radius , double height ) ;
B3_SHARED_API int b3CreateVisualShapeAddCylinder ( b3SharedMemoryCommandHandle commandHandle , double radius , double height ) ;
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B3_SHARED_API int b3CreateVisualShapeAddPlane ( b3SharedMemoryCommandHandle commandHandle , const double planeNormal [ /*3*/ ] , double planeConstant ) ;
B3_SHARED_API int b3CreateVisualShapeAddMesh ( b3SharedMemoryCommandHandle commandHandle , const char * fileName , const double meshScale [ /*3*/ ] ) ;
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B3_SHARED_API void b3CreateVisualSetFlag ( b3SharedMemoryCommandHandle commandHandle , int shapeIndex , int flags ) ;
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B3_SHARED_API void b3CreateVisualShapeSetChildTransform ( b3SharedMemoryCommandHandle commandHandle , int shapeIndex , const double childPosition [ /*3*/ ] , const double childOrientation [ /*4*/ ] ) ;
B3_SHARED_API void b3CreateVisualShapeSetSpecularColor ( b3SharedMemoryCommandHandle commandHandle , int shapeIndex , const double specularColor [ /*3*/ ] ) ;
B3_SHARED_API void b3CreateVisualShapeSetRGBAColor ( b3SharedMemoryCommandHandle commandHandle , int shapeIndex , const double rgbaColor [ /*4*/ ] ) ;
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B3_SHARED_API int b3GetStatusVisualShapeUniqueId ( b3SharedMemoryStatusHandle statusHandle ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3CreateMultiBodyCommandInit ( b3PhysicsClientHandle physClient ) ;
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B3_SHARED_API int b3CreateMultiBodyBase ( b3SharedMemoryCommandHandle commandHandle , double mass , int collisionShapeUnique , int visualShapeUniqueId , const double basePosition [ /*3*/ ] , const double baseOrientation [ /*4*/ ] , const double baseInertialFramePosition [ /*3*/ ] , const double baseInertialFrameOrientation [ /*4*/ ] ) ;
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B3_SHARED_API int b3CreateMultiBodyLink ( b3SharedMemoryCommandHandle commandHandle , double linkMass , double linkCollisionShapeIndex ,
double linkVisualShapeIndex ,
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const double linkPosition [ /*3*/ ] ,
const double linkOrientation [ /*4*/ ] ,
const double linkInertialFramePosition [ /*3*/ ] ,
const double linkInertialFrameOrientation [ /*4*/ ] ,
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int linkParentIndex ,
int linkJointType ,
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const double linkJointAxis [ /*3*/ ] ) ;
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//useMaximalCoordinates are disabled by default, enabling them is experimental and not fully supported yet
B3_SHARED_API void b3CreateMultiBodyUseMaximalCoordinates ( b3SharedMemoryCommandHandle commandHandle ) ;
B3_SHARED_API void b3CreateMultiBodySetFlags ( b3SharedMemoryCommandHandle commandHandle , int flags ) ;
//int b3CreateMultiBodyAddLink(b3SharedMemoryCommandHandle commandHandle, int jointType, int parentLinkIndex, double linkMass, int linkCollisionShapeUnique, int linkVisualShapeUniqueId);
///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
B3_SHARED_API b3SharedMemoryCommandHandle b3CreateBoxShapeCommandInit ( b3PhysicsClientHandle physClient ) ;
B3_SHARED_API int b3CreateBoxCommandSetStartPosition ( b3SharedMemoryCommandHandle commandHandle , double startPosX , double startPosY , double startPosZ ) ;
B3_SHARED_API int b3CreateBoxCommandSetStartOrientation ( b3SharedMemoryCommandHandle commandHandle , double startOrnX , double startOrnY , double startOrnZ , double startOrnW ) ;
B3_SHARED_API int b3CreateBoxCommandSetHalfExtents ( b3SharedMemoryCommandHandle commandHandle , double halfExtentsX , double halfExtentsY , double halfExtentsZ ) ;
B3_SHARED_API int b3CreateBoxCommandSetMass ( b3SharedMemoryCommandHandle commandHandle , double mass ) ;
B3_SHARED_API int b3CreateBoxCommandSetCollisionShapeType ( b3SharedMemoryCommandHandle commandHandle , int collisionShapeType ) ;
B3_SHARED_API int b3CreateBoxCommandSetColorRGBA ( b3SharedMemoryCommandHandle commandHandle , double red , double green , double blue , double alpha ) ;
///b3CreatePoseCommandInit will initialize (teleport) the pose of a body/robot. You can individually set the base position,
///base orientation and joint angles. This will set all velocities of base and joints to zero.
///This is not a robot control command using actuators/joint motors, but manual repositioning the robot.
B3_SHARED_API b3SharedMemoryCommandHandle b3CreatePoseCommandInit ( b3PhysicsClientHandle physClient , int bodyUniqueId ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3CreatePoseCommandInit2 ( b3SharedMemoryCommandHandle commandHandle , int bodyUniqueId ) ;
B3_SHARED_API int b3CreatePoseCommandSetBasePosition ( b3SharedMemoryCommandHandle commandHandle , double startPosX , double startPosY , double startPosZ ) ;
B3_SHARED_API int b3CreatePoseCommandSetBaseOrientation ( b3SharedMemoryCommandHandle commandHandle , double startOrnX , double startOrnY , double startOrnZ , double startOrnW ) ;
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B3_SHARED_API int b3CreatePoseCommandSetBaseLinearVelocity ( b3SharedMemoryCommandHandle commandHandle , const double linVel [ /*3*/ ] ) ;
B3_SHARED_API int b3CreatePoseCommandSetBaseAngularVelocity ( b3SharedMemoryCommandHandle commandHandle , const double angVel [ /*3*/ ] ) ;
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B3_SHARED_API int b3CreatePoseCommandSetJointPositions ( b3SharedMemoryCommandHandle commandHandle , int numJointPositions , const double * jointPositions ) ;
B3_SHARED_API int b3CreatePoseCommandSetJointPosition ( b3PhysicsClientHandle physClient , b3SharedMemoryCommandHandle commandHandle , int jointIndex , double jointPosition ) ;
B3_SHARED_API int b3CreatePoseCommandSetQ ( b3SharedMemoryCommandHandle commandHandle , int numJointPositions , const double * q , const int * hasQ ) ;
B3_SHARED_API int b3CreatePoseCommandSetQdots ( b3SharedMemoryCommandHandle commandHandle , int numJointVelocities , const double * qDots , const int * hasQdots ) ;
B3_SHARED_API int b3CreatePoseCommandSetJointVelocities ( b3PhysicsClientHandle physClient , b3SharedMemoryCommandHandle commandHandle , int numJointVelocities , const double * jointVelocities ) ;
B3_SHARED_API int b3CreatePoseCommandSetJointVelocity ( b3PhysicsClientHandle physClient , b3SharedMemoryCommandHandle commandHandle , int jointIndex , double jointVelocity ) ;
///We are currently not reading the sensor information from the URDF file, and programmatically assign sensors.
///This is rather inconsistent, to mix programmatical creation with loading from file.
B3_SHARED_API b3SharedMemoryCommandHandle b3CreateSensorCommandInit ( b3PhysicsClientHandle physClient , int bodyUniqueId ) ;
B3_SHARED_API int b3CreateSensorEnable6DofJointForceTorqueSensor ( b3SharedMemoryCommandHandle commandHandle , int jointIndex , int enable ) ;
///b3CreateSensorEnableIMUForLink is not implemented yet.
///For now, if the IMU is located in the root link, use the root world transform to mimic an IMU.
B3_SHARED_API int b3CreateSensorEnableIMUForLink ( b3SharedMemoryCommandHandle commandHandle , int linkIndex , int enable ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3RequestActualStateCommandInit ( b3PhysicsClientHandle physClient , int bodyUniqueId ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3RequestActualStateCommandInit2 ( b3SharedMemoryCommandHandle commandHandle , int bodyUniqueId ) ;
B3_SHARED_API int b3RequestActualStateCommandComputeLinkVelocity ( b3SharedMemoryCommandHandle commandHandle , int computeLinkVelocity ) ;
B3_SHARED_API int b3RequestActualStateCommandComputeForwardKinematics ( b3SharedMemoryCommandHandle commandHandle , int computeForwardKinematics ) ;
B3_SHARED_API int b3GetJointState ( b3PhysicsClientHandle physClient , b3SharedMemoryStatusHandle statusHandle , int jointIndex , struct b3JointSensorState * state ) ;
B3_SHARED_API int b3GetLinkState ( b3PhysicsClientHandle physClient , b3SharedMemoryStatusHandle statusHandle , int linkIndex , struct b3LinkState * state ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3PickBody ( b3PhysicsClientHandle physClient , double rayFromWorldX ,
double rayFromWorldY , double rayFromWorldZ ,
double rayToWorldX , double rayToWorldY , double rayToWorldZ ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3MovePickedBody ( b3PhysicsClientHandle physClient , double rayFromWorldX ,
double rayFromWorldY , double rayFromWorldZ ,
double rayToWorldX , double rayToWorldY ,
double rayToWorldZ ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3RemovePickingConstraint ( b3PhysicsClientHandle physClient ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3CreateRaycastCommandInit ( b3PhysicsClientHandle physClient , double rayFromWorldX ,
double rayFromWorldY , double rayFromWorldZ ,
double rayToWorldX , double rayToWorldY , double rayToWorldZ ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3CreateRaycastBatchCommandInit ( b3PhysicsClientHandle physClient ) ;
// Sets the number of threads to use to compute the ray intersections for the batch. Specify 0 to let Bullet decide, 1 (default) for single core execution, 2 or more to select the number of threads to use.
B3_SHARED_API void b3RaycastBatchSetNumThreads ( b3SharedMemoryCommandHandle commandHandle , int numThreads ) ;
//max num rays for b3RaycastBatchAddRay is MAX_RAY_INTERSECTION_BATCH_SIZE
B3_SHARED_API void b3RaycastBatchAddRay ( b3SharedMemoryCommandHandle commandHandle , const double rayFromWorld [ 3 ] , const double rayToWorld [ 3 ] ) ;
//max num rays for b3RaycastBatchAddRays is MAX_RAY_INTERSECTION_BATCH_SIZE_STREAMING
B3_SHARED_API void b3RaycastBatchAddRays ( b3PhysicsClientHandle physClient , b3SharedMemoryCommandHandle commandHandle , const double * rayFromWorld , const double * rayToWorld , int numRays ) ;
B3_SHARED_API void b3GetRaycastInformation ( b3PhysicsClientHandle physClient , struct b3RaycastInformation * raycastInfo ) ;
/// Apply external force at the body (or link) center of mass, in world space/Cartesian coordinates.
B3_SHARED_API b3SharedMemoryCommandHandle b3ApplyExternalForceCommandInit ( b3PhysicsClientHandle physClient ) ;
B3_SHARED_API void b3ApplyExternalForce ( b3SharedMemoryCommandHandle commandHandle , int bodyUniqueId , int linkId , const double force [ /*3*/ ] , const double position [ /*3*/ ] , int flag ) ;
B3_SHARED_API void b3ApplyExternalTorque ( b3SharedMemoryCommandHandle commandHandle , int bodyUniqueId , int linkId , const double torque [ /*3*/ ] , int flag ) ;
///experiments of robots interacting with non-rigid objects (such as btSoftBody)
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadSoftBodyCommandInit ( b3PhysicsClientHandle physClient , const char * fileName ) ;
B3_SHARED_API int b3LoadSoftBodySetScale ( b3SharedMemoryCommandHandle commandHandle , double scale ) ;
B3_SHARED_API int b3LoadSoftBodySetMass ( b3SharedMemoryCommandHandle commandHandle , double mass ) ;
B3_SHARED_API int b3LoadSoftBodySetCollisionMargin ( b3SharedMemoryCommandHandle commandHandle , double collisionMargin ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3RequestVREventsCommandInit ( b3PhysicsClientHandle physClient ) ;
B3_SHARED_API void b3VREventsSetDeviceTypeFilter ( b3SharedMemoryCommandHandle commandHandle , int deviceTypeFilter ) ;
B3_SHARED_API void b3GetVREventsData ( b3PhysicsClientHandle physClient , struct b3VREventsData * vrEventsData ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3SetVRCameraStateCommandInit ( b3PhysicsClientHandle physClient ) ;
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B3_SHARED_API int b3SetVRCameraRootPosition ( b3SharedMemoryCommandHandle commandHandle , const double rootPos [ /*3*/ ] ) ;
B3_SHARED_API int b3SetVRCameraRootOrientation ( b3SharedMemoryCommandHandle commandHandle , const double rootOrn [ /*4*/ ] ) ;
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B3_SHARED_API int b3SetVRCameraTrackingObject ( b3SharedMemoryCommandHandle commandHandle , int objectUniqueId ) ;
B3_SHARED_API int b3SetVRCameraTrackingObjectFlag ( b3SharedMemoryCommandHandle commandHandle , int flag ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3RequestKeyboardEventsCommandInit ( b3PhysicsClientHandle physClient ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3RequestKeyboardEventsCommandInit2 ( b3SharedMemoryCommandHandle commandHandle ) ;
B3_SHARED_API void b3GetKeyboardEventsData ( b3PhysicsClientHandle physClient , struct b3KeyboardEventsData * keyboardEventsData ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3RequestMouseEventsCommandInit ( b3PhysicsClientHandle physClient ) ;
B3_SHARED_API void b3GetMouseEventsData ( b3PhysicsClientHandle physClient , struct b3MouseEventsData * mouseEventsData ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3StateLoggingCommandInit ( b3PhysicsClientHandle physClient ) ;
B3_SHARED_API int b3StateLoggingStart ( b3SharedMemoryCommandHandle commandHandle , int loggingType , const char * fileName ) ;
B3_SHARED_API int b3StateLoggingAddLoggingObjectUniqueId ( b3SharedMemoryCommandHandle commandHandle , int objectUniqueId ) ;
B3_SHARED_API int b3StateLoggingSetMaxLogDof ( b3SharedMemoryCommandHandle commandHandle , int maxLogDof ) ;
B3_SHARED_API int b3StateLoggingSetLinkIndexA ( b3SharedMemoryCommandHandle commandHandle , int linkIndexA ) ;
B3_SHARED_API int b3StateLoggingSetLinkIndexB ( b3SharedMemoryCommandHandle commandHandle , int linkIndexB ) ;
B3_SHARED_API int b3StateLoggingSetBodyAUniqueId ( b3SharedMemoryCommandHandle commandHandle , int bodyAUniqueId ) ;
B3_SHARED_API int b3StateLoggingSetBodyBUniqueId ( b3SharedMemoryCommandHandle commandHandle , int bodyBUniqueId ) ;
B3_SHARED_API int b3StateLoggingSetDeviceTypeFilter ( b3SharedMemoryCommandHandle commandHandle , int deviceTypeFilter ) ;
B3_SHARED_API int b3StateLoggingSetLogFlags ( b3SharedMemoryCommandHandle commandHandle , int logFlags ) ;
B3_SHARED_API int b3GetStatusLoggingUniqueId ( b3SharedMemoryStatusHandle statusHandle ) ;
B3_SHARED_API int b3StateLoggingStop ( b3SharedMemoryCommandHandle commandHandle , int loggingUid ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3ProfileTimingCommandInit ( b3PhysicsClientHandle physClient , const char * name ) ;
B3_SHARED_API void b3SetProfileTimingDuractionInMicroSeconds ( b3SharedMemoryCommandHandle commandHandle , int duration ) ;
B3_SHARED_API void b3PushProfileTiming ( b3PhysicsClientHandle physClient , const char * timingName ) ;
B3_SHARED_API void b3PopProfileTiming ( b3PhysicsClientHandle physClient ) ;
B3_SHARED_API void b3SetTimeOut ( b3PhysicsClientHandle physClient , double timeOutInSeconds ) ;
B3_SHARED_API double b3GetTimeOut ( b3PhysicsClientHandle physClient ) ;
B3_SHARED_API b3SharedMemoryCommandHandle b3SetAdditionalSearchPath ( b3PhysicsClientHandle physClient , const char * path ) ;
B3_SHARED_API void b3MultiplyTransforms ( const double posA [ /*3*/ ] , const double ornA [ /*4*/ ] , const double posB [ /*3*/ ] , const double ornB [ /*4*/ ] , double outPos [ /*3*/ ] , double outOrn [ /*4*/ ] ) ;
B3_SHARED_API void b3InvertTransform ( const double pos [ /*3*/ ] , const double orn [ /*4*/ ] , double outPos [ /*3*/ ] , double outOrn [ /*4*/ ] ) ;
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# ifdef __cplusplus
}
# endif
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# endif //PHYSICS_CLIENT_C_API_H
