2015-07-23 01:06:05 +00:00
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#ifndef PHYSICS_CLIENT_C_API_H
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#define PHYSICS_CLIENT_C_API_H
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#include "SharedMemoryBlock.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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2015-07-31 06:22:44 +00:00
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B3_DECLARE_HANDLE(b3PhysicsRobotHandle);
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2015-07-23 01:06:05 +00:00
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#ifdef __cplusplus
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extern "C" {
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#endif
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2015-07-31 06:22:44 +00:00
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b3PhysicsClientHandle b3ConnectSharedMemory(int allowSharedMemoryInitialization);
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2015-07-23 01:06:05 +00:00
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void b3DisconnectSharedMemory(b3PhysicsClientHandle physClient);
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int b3ProcessServerStatus(b3PhysicsClientHandle physClient, struct SharedMemoryStatus* status);
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int b3CanSubmitCommand(b3PhysicsClientHandle physClient);
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int b3SubmitClientCommand(b3PhysicsClientHandle physClient, struct SharedMemoryCommand* command);
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int b3GetNumPoweredJoints(b3PhysicsClientHandle physClient);
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2015-07-31 06:22:44 +00:00
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void b3GetPoweredJointInfo(b3PhysicsClientHandle physClient, int linkIndex, struct PoweredJointInfo* info);
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2015-07-23 01:06:05 +00:00
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int b3InitPhysicsParamCommand(struct SharedMemoryCommand* command);
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int b3PhysicsParamSetGravity(struct SharedMemoryCommand* command, double gravx,double gravy, double gravz);
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2015-07-31 06:22:44 +00:00
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int b3PhysicsParamSetTimeStep(struct SharedMemoryCommand* command, double timeStep);
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int b3InitStepSimulationCommand(struct SharedMemoryCommand* command);
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int b3LoadUrdfCommandInit(struct SharedMemoryCommand* command, const char* urdfFileName);
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///all those commands are optional, except for the *Init
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int b3LoadUrdfCommandSetStartPosition(struct SharedMemoryCommand* command, double startPosX,double startPosY,double startPosZ);
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int b3LoadUrdfCommandSetStartOrientation(struct SharedMemoryCommand* command, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
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int b3LoadUrdfCommandSetUseMultiBody(struct SharedMemoryCommand* command, int useMultiBody);
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int b3LoadUrdfCommandSetUseFixedBase(struct SharedMemoryCommand* command, int useFixedBase);
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2015-07-23 01:06:05 +00:00
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#ifdef __cplusplus
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}
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#endif
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#endif //PHYSICS_CLIENT_C_API_H
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