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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
work-in-progress add UDP network connection for physics client <-> server. also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever)
2016-11-04 20:15:10 +00:00
///There are several connection methods, see following header files:
#include "PhysicsClientSharedMemory_C_API.h"
#include "PhysicsClientSharedMemory2_C_API.h"
#include "PhysicsDirectC_API.h"
#include "PhysicsClientUDP_C_API.h"
#include "SharedMemoryInProcessPhysicsC_API.h"
fix various warnings, more work on shared memory API
2015-07-23 01:06:05 +00:00
#ifdef __cplusplus
extern "C" {
#endif
work-in-progress add UDP network connection for physics client <-> server. also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever)
2016-11-04 20:15:10 +00:00
fix various warnings, more work on shared memory API
2015-07-23 01:06:05 +00:00
add a few lines of documentation and some error checks in SharedMemory API
2016-04-13 20:06:15 +00:00
///b3DisconnectSharedMemory will disconnect the client from the server and cleanup memory.
fix various warnings, more work on shared memory API
2015-07-23 01:06:05 +00:00
void b3DisconnectSharedMemory(b3PhysicsClientHandle physClient);
add a few lines of documentation and some error checks in SharedMemory API
2016-04-13 20:06:15 +00:00
///There can only be 1 outstanding command. Check if a command can be send.
fix various warnings, more work on shared memory API
2015-07-23 01:06:05 +00:00
int b3CanSubmitCommand(b3PhysicsClientHandle physClient);
add a few lines of documentation and some error checks in SharedMemory API
2016-04-13 20:06:15 +00:00
///blocking submit command and wait for status
more work on physics client c-api over shared memory
2015-09-17 16:37:44 +00:00
b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle);
add a few lines of documentation and some error checks in SharedMemory API
2016-04-13 20:06:15 +00:00
///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'.
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
more work on physics client c-api over shared memory
2015-09-17 16:37:44 +00:00
///non-blocking check status
b3SharedMemoryStatusHandle b3ProcessServerStatus(b3PhysicsClientHandle physClient);
add a few lines of documentation and some error checks in SharedMemory API
2016-04-13 20:06:15 +00:00
/// Get the physics server return status type. See EnumSharedMemoryServerStatus in SharedMemoryPublic.h for error codes.
more work on physics client c-api over shared memory
2015-09-17 16:37:44 +00:00
int b3GetStatusType(b3SharedMemoryStatusHandle statusHandle);
Fix pybullet Windows build errors: C99 requires variables to be defined at the start of the function. Improve CMake Windows support to build PyBullet (BUILD_PYBULLET) Implement b3LoadSdfCommandInit in shared memory API Implement pybullet SDF loading binding, in loadSDF API TODO for SDF support is provide way to query object/link/joint information.
2016-06-13 17:11:28 +00:00
int b3GetStatusBodyIndices(b3SharedMemoryStatusHandle statusHandle, int* bodyIndicesOut, int bodyIndicesCapacity);
initial support for multiple robots in shared memory API
2015-10-13 18:32:25 +00:00
int b3GetStatusBodyIndex(b3SharedMemoryStatusHandle statusHandle);
Add b3GetStatusActualState() to C_API. Change pick-and-move C_API to use handlers
2015-11-05 00:08:28 +00:00
int b3GetStatusActualState(b3SharedMemoryStatusHandle statusHandle,
int* bodyUniqueId,
int* numDegreeOfFreedomQ,
int* numDegreeOfFreedomU,
const double* rootLocalInertialFrame[],
const double* actualStateQ[],
const double* actualStateQdot[],
const double* jointReactionForces[]);
expose getNumBodies, getBodyUniqueId, getBodyInfo (char* baseName) to shared memory API and pybullet., making it easier to serialize the state of the world.
2016-09-27 19:13:45 +00:00
///return the total number of bodies in the simulation
int b3GetNumBodies(b3PhysicsClientHandle physClient);
/// return the body unique id, given the index in range [0 , b3GetNumBodies() )
int b3GetBodyUniqueId(b3PhysicsClientHandle physClient, int serialIndex);
///given a body unique id, return the body information. See b3BodyInfo in SharedMemoryPublic.h
int b3GetBodyInfo(b3PhysicsClientHandle physClient, int bodyUniqueId, struct b3BodyInfo* info);
add a few lines of documentation and some error checks in SharedMemory API
2016-04-13 20:06:15 +00:00
///give a unique body index (after loading the body) return the number of joints.
initial support for multiple robots in shared memory API
2015-10-13 18:32:25 +00:00
int b3GetNumJoints(b3PhysicsClientHandle physClient, int bodyIndex);
fix various warnings, more work on shared memory API
2015-07-23 01:06:05 +00:00
fix GetJointInfo to use a param called jointIndex (not linkIndex) for naming consistency
2016-07-20 18:01:02 +00:00
///given a body and joint index, return the joint information. See b3JointInfo in SharedMemoryPublic.h
int b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointIndex, struct b3JointInfo* info);
Expose fixed constraint in RobotSimAPI.
2016-08-23 01:14:29 +00:00
add quadruped.py script to load and initialize the a Minitaur-like quadruped pybullet removeConstraint, createConstraint rename b3CreateJoint to b3InitCreateUserConstraintCommand add int b3GetStatusUserConstraintUniqueId(b3SharedMemoryStatusHandle statusHandle); b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId);
2016-11-14 22:08:05 +00:00
b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info);
int b3GetStatusUserConstraintUniqueId(b3SharedMemoryStatusHandle statusHandle);
b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId);
fix various warnings, more work on shared memory API
2015-07-23 01:06:05 +00:00
add user debug line/text features in pybullet + shared memory API: addUserDebugLine, addUserDebugText removeUserDebugItem removeAllUserDebugItems
2016-11-14 15:39:34 +00:00
///Request physics debug lines for debug visualization. The flags in debugMode are the same as used in Bullet
add a few lines of documentation and some error checks in SharedMemory API
2016-04-13 20:06:15 +00:00
///See btIDebugDraw::DebugDrawModes in Bullet/src/LinearMath/btIDebugDraw.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
b3SharedMemoryCommandHandle b3InitRequestDebugLinesCommand(b3PhysicsClientHandle physClient, int debugMode);
add a few lines of documentation and some error checks in SharedMemory API
2016-04-13 20:06:15 +00:00
add user debug line/text features in pybullet + shared memory API: addUserDebugLine, addUserDebugText removeUserDebugItem removeAllUserDebugItems
2016-11-14 15:39:34 +00:00
///Get the pointers to the physics debug line information, after b3InitRequestDebugLinesCommand returns
add a few lines of documentation and some error checks in SharedMemory API
2016-04-13 20:06:15 +00:00
///status CMD_DEBUG_LINES_COMPLETED
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
void b3GetDebugLines(b3PhysicsClientHandle physClient, struct b3DebugLines* lines);
work-in-progress tinyrenderer -> shared memory API synthetic camera image
2016-05-18 06:57:19 +00:00
add user debug line/text features in pybullet + shared memory API: addUserDebugLine, addUserDebugText removeUserDebugItem removeAllUserDebugItems
2016-11-14 15:39:34 +00:00
/// Add/remove user-specific debug lines and debug text messages
b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3PhysicsClientHandle physClient, double fromXYZ[3], double toXYZ[3], double colorRGB[3], double lineWidth, double lifeTime);
b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle physClient, const char* txt, double positionXYZ[3], double colorRGB[3], double textSize, double lifeTime);
b3SharedMemoryCommandHandle b3InitUserDebugDrawRemove(b3PhysicsClientHandle physClient, int debugItemUniqueId);
b3SharedMemoryCommandHandle b3InitUserDebugDrawRemoveAll(b3PhysicsClientHandle physClient);
setDebugObjectColor
2016-11-21 15:42:11 +00:00
b3SharedMemoryCommandHandle b3InitDebugDrawingCommand(b3PhysicsClientHandle physClient);
void b3SetDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex, double objectColorRGB[3]);
void b3RemoveDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex);
add user debug line/text features in pybullet + shared memory API: addUserDebugLine, addUserDebugText removeUserDebugItem removeAllUserDebugItems
2016-11-14 15:39:34 +00:00
///All debug items unique Ids are positive: a negative unique Id means failure.
int b3GetDebugItemUniqueId(b3SharedMemoryStatusHandle statusHandle);
setDebugObjectColor
2016-11-21 15:42:11 +00:00
work-in-progress tinyrenderer -> shared memory API synthetic camera image
2016-05-18 06:57:19 +00:00
///request an image from a simulated camera, using a software renderer.
b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient);
void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command, float viewMatrix[16], float projectionMatrix[16]);
add pybullet getCameraImage, replacing renderImage, cleaner API: always pass in width, hight and viewMatrix, projectionMatrix, optionally lightDir added helper methods computeViewMatrix, computeViewMatrixFromYawPitchRoll, computeProjectionMatrix, computeProjectionMatrixFOV see Bullet/examples/pybullet/testrender.py + testrender_np.py for example use add missing base_link.stl for husky.urdf
2016-11-17 23:15:52 +00:00
void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle command, int width, int height );
void b3RequestCameraImageSetLightDirection(b3SharedMemoryCommandHandle commandHandle, const float lightDirection[3]);
Add shared memory API to change light color.
2016-11-20 20:52:12 +00:00
void b3RequestCameraImageSetLightColor(b3SharedMemoryCommandHandle commandHandle, const float lightColor[3]);
Add shared memory API for setting shadow and light source distance.
2016-11-29 21:19:35 +00:00
void b3RequestCameraImageSetLightDistance(b3SharedMemoryCommandHandle commandHandle, float lightDistance);
Expose ambient, diffuse and specular coefficient of the light.
2016-12-06 23:21:35 +00:00
void b3RequestCameraImageSetLightAmbientCoeff(b3SharedMemoryCommandHandle commandHandle, float lightAmbientCoeff);
void b3RequestCameraImageSetLightDiffuseCoeff(b3SharedMemoryCommandHandle commandHandle, float lightDiffuseCoeff);
void b3RequestCameraImageSetLightSpecularCoeff(b3SharedMemoryCommandHandle commandHandle, float lightSpecularCoeff);
Add pybullet API for shadow.
2016-11-29 22:10:07 +00:00
void b3RequestCameraImageSetShadow(b3SharedMemoryCommandHandle commandHandle, int hasShadow);
add pybullet getCameraImage, replacing renderImage, cleaner API: always pass in width, hight and viewMatrix, projectionMatrix, optionally lightDir added helper methods computeViewMatrix, computeViewMatrixFromYawPitchRoll, computeProjectionMatrix, computeProjectionMatrixFOV see Bullet/examples/pybullet/testrender.py + testrender_np.py for example use add missing base_link.stl for husky.urdf
2016-11-17 23:15:52 +00:00
void b3RequestCameraImageSelectRenderer(b3SharedMemoryCommandHandle commandHandle, int renderer);
void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData);
///compute a view matrix, helper function for b3RequestCameraImageSetCameraMatrices
void b3ComputeViewMatrixFromPositions(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], float viewMatrix[16]);
void b3ComputeViewMatrixFromYawPitchRoll(const float cameraTargetPosition[3], float distance, float yaw, float pitch, float roll, int upAxis, float viewMatrix[16]);
///compute a projection matrix, helper function for b3RequestCameraImageSetCameraMatrices
void b3ComputeProjectionMatrix(float left, float right, float bottom, float top, float nearVal, float farVal, float projectionMatrix[16]);
void b3ComputeProjectionMatrixFOV(float fov, float aspect, float nearVal, float farVal, float projectionMatrix[16]);
/* obsolete, please use b3ComputeViewProjectionMatrices */
Set view and projection matrices from camera and frustum parameters.
2016-06-16 18:48:37 +00:00
void b3RequestCameraImageSetViewMatrix(b3SharedMemoryCommandHandle command, const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3]);
add pybullet getCameraImage, replacing renderImage, cleaner API: always pass in width, hight and viewMatrix, projectionMatrix, optionally lightDir added helper methods computeViewMatrix, computeViewMatrixFromYawPitchRoll, computeProjectionMatrix, computeProjectionMatrixFOV see Bullet/examples/pybullet/testrender.py + testrender_np.py for example use add missing base_link.stl for husky.urdf
2016-11-17 23:15:52 +00:00
/* obsolete, please use b3ComputeViewProjectionMatrices */
add pybullet render API with yaw/pitch/roll option add testrender.py file allow option to enable OpenGL hardware renderer in multithreaded sim b3RequestCameraImageSelectRenderer(commandHandle,ER_BULLET_HARDWARE_OPENGL);
2016-08-08 21:23:44 +00:00
void b3RequestCameraImageSetViewMatrix2(b3SharedMemoryCommandHandle commandHandle, const float cameraTargetPosition[3], float distance, float yaw, float pitch, float roll, int upAxis);
add pybullet getCameraImage, replacing renderImage, cleaner API: always pass in width, hight and viewMatrix, projectionMatrix, optionally lightDir added helper methods computeViewMatrix, computeViewMatrixFromYawPitchRoll, computeProjectionMatrix, computeProjectionMatrixFOV see Bullet/examples/pybullet/testrender.py + testrender_np.py for example use add missing base_link.stl for husky.urdf
2016-11-17 23:15:52 +00:00
/* obsolete, please use b3ComputeViewProjectionMatrices */
Set view and projection matrices from camera and frustum parameters.
2016-06-16 18:48:37 +00:00
void b3RequestCameraImageSetProjectionMatrix(b3SharedMemoryCommandHandle command, float left, float right, float bottom, float top, float nearVal, float farVal);
add pybullet getCameraImage, replacing renderImage, cleaner API: always pass in width, hight and viewMatrix, projectionMatrix, optionally lightDir added helper methods computeViewMatrix, computeViewMatrixFromYawPitchRoll, computeProjectionMatrix, computeProjectionMatrixFOV see Bullet/examples/pybullet/testrender.py + testrender_np.py for example use add missing base_link.stl for husky.urdf
2016-11-17 23:15:52 +00:00
/* obsolete, please use b3ComputeViewProjectionMatrices */
pybullet renderimage with projection matrix calculated using field of view
2016-07-08 21:29:58 +00:00
void b3RequestCameraImageSetFOVProjectionMatrix(b3SharedMemoryCommandHandle command, float fov, float aspect, float nearVal, float farVal);
add pybullet getCameraImage, replacing renderImage, cleaner API: always pass in width, hight and viewMatrix, projectionMatrix, optionally lightDir added helper methods computeViewMatrix, computeViewMatrixFromYawPitchRoll, computeProjectionMatrix, computeProjectionMatrixFOV see Bullet/examples/pybullet/testrender.py + testrender_np.py for example use add missing base_link.stl for husky.urdf
2016-11-17 23:15:52 +00:00
work-in-progress tinyrenderer -> shared memory API synthetic camera image
2016-05-18 06:57:19 +00:00
add first draft of contact point query in shared memory API b3SharedMemoryCommandHandle b3InitRequestContactPointInformation(b3PhysicsClientHandle physClient); void b3SetContactFilterBodyA(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdA); void b3SetContactFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB); void b3GetContactPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointData); Implemented for PhysicsClientSharedMemory, not for PhysicsDirect yet. Add btCollisionObject::setUserIndex2
2016-09-01 20:30:07 +00:00
///request an contact point information
b3SharedMemoryCommandHandle b3InitRequestContactPointInformation(b3PhysicsClientHandle physClient);
void b3SetContactFilterBodyA(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdA);
void b3SetContactFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB);
regular OR wireframe rendering, not both add option to perform filtering of 'getClosestPoints' using linkA/linkB. don't use 'realtimesimulation' as default add/remove debug items within same thread pybullet, report contact points and normal as [x,y,z] triplet/vector, not 3 scalars separate 'getClosestPointsAlgorithm': box-box doesn't report closest points with positive distance, and the query shouldn't impact regular 'closesst points'
2016-11-20 01:13:56 +00:00
void b3SetContactFilterLinkA(b3SharedMemoryCommandHandle commandHandle, int linkIndexA);
void b3SetContactFilterLinkB(b3SharedMemoryCommandHandle commandHandle, int linkIndexB);
first version of 'getVisualShapeData' to get visual shape information to allow external renderer with pybullet and shared memory robotics API b3InitRequestVisualShapeInformation/b3GetVisualShapeInformation in shared memory API
2016-10-19 05:05:28 +00:00
void b3GetContactPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointInfo);
pybullet getClosestPoints
2016-11-10 05:01:04 +00:00
///compute the closest points between two bodies
b3SharedMemoryCommandHandle b3InitClosestDistanceQuery(b3PhysicsClientHandle physClient);
void b3SetClosestDistanceFilterBodyA(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdA);
regular OR wireframe rendering, not both add option to perform filtering of 'getClosestPoints' using linkA/linkB. don't use 'realtimesimulation' as default add/remove debug items within same thread pybullet, report contact points and normal as [x,y,z] triplet/vector, not 3 scalars separate 'getClosestPointsAlgorithm': box-box doesn't report closest points with positive distance, and the query shouldn't impact regular 'closesst points'
2016-11-20 01:13:56 +00:00
void b3SetClosestDistanceFilterLinkA(b3SharedMemoryCommandHandle commandHandle, int linkIndexA);
pybullet getClosestPoints
2016-11-10 05:01:04 +00:00
void b3SetClosestDistanceFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB);
regular OR wireframe rendering, not both add option to perform filtering of 'getClosestPoints' using linkA/linkB. don't use 'realtimesimulation' as default add/remove debug items within same thread pybullet, report contact points and normal as [x,y,z] triplet/vector, not 3 scalars separate 'getClosestPointsAlgorithm': box-box doesn't report closest points with positive distance, and the query shouldn't impact regular 'closesst points'
2016-11-20 01:13:56 +00:00
void b3SetClosestDistanceFilterLinkB(b3SharedMemoryCommandHandle commandHandle, int linkIndexB);
pybullet getClosestPoints
2016-11-10 05:01:04 +00:00
void b3SetClosestDistanceThreshold(b3SharedMemoryCommandHandle commandHandle, double distance);
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)
b3SharedMemoryCommandHandle b3InitAABBOverlapQuery(b3PhysicsClientHandle physClient, const double aabbMin[3],const double aabbMax[3]);
void b3GetAABBOverlapResults(b3PhysicsClientHandle physClient, struct b3AABBOverlapData* data);
first version of 'getVisualShapeData' to get visual shape information to allow external renderer with pybullet and shared memory robotics API b3InitRequestVisualShapeInformation/b3GetVisualShapeInformation in shared memory API
2016-10-19 05:05:28 +00:00
//request visual shape information
b3SharedMemoryCommandHandle b3InitRequestVisualShapeInformation(b3PhysicsClientHandle physClient, int bodyUniqueIdA);
void b3GetVisualShapeInformation(b3PhysicsClientHandle physClient, struct b3VisualShapeInformation* visualShapeInfo);
Add loading texture API.
2016-10-21 06:40:30 +00:00
b3SharedMemoryCommandHandle b3InitLoadTexture(b3PhysicsClientHandle physClient, const char* filename);
Add API to change texture with object id and link index.
2016-10-21 18:55:27 +00:00
b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId);
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 b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient);
int b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz);
int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double timeStep);
Create project file for BussIK inverse kinematics library (premake, cmake) URDF/SDF: add a flag to force concave mesh collisiofor static objects. <collision concave="yes" name="pod_collision"> VR: support teleporting using buttong, allow multiple controllers to be used, fast wireframe rendering, Turn off warnings about deprecated C routine in btScalar.h/b3Scalar.h Add a dummy return to stop a warning Expose defaultContactERP in shared memory api/pybullet. First start to expose IK in shared memory api/pybullet (not working yet)
2016-09-08 22:15:58 +00:00
int b3PhysicsParamSetDefaultContactERP(b3SharedMemoryCommandHandle commandHandle, double defaultContactERP);
Set physics clock subdivider.
2016-08-24 21:25:06 +00:00
int b3PhysicsParamSetNumSubSteps(b3SharedMemoryCommandHandle commandHandle, int numSubSteps);
OpenVR controller can pick/drag objects. Instructions, Windows only: Compile using premake+visual studio, and compile App_SharedMemoryPhysics_VR Compile pybullet using cmake using cmake -DBUILD_PYBULLET=OFF -DCMAKE_BUILD_TYPE=Release .. Create a symbolic link from c:\python\dlls\pybullet.pyd to C:\develop\bullet3\cmp\lib\Release\pybullet.dll App_SharedMemoryPhysics_VR Run Python. Here are some Python lines to get going: import pybullet as p p.connect(p.SHARED_MEMORY) p.loadURDF("cube.urdf") p.setGravity(0,0,-10) p.setRealTimeSimulation(1) Allow real-time simulation in physics server, add pybullet command setRealTimeSimulation to control it Mesh decimation (reduce number of triangles/vertices) using a Blender modifier for Kuka IIWA and Husky Disabled the 'glFlush' commands in GLInstancingRenderer. Add VR controller methods to examples\CommonInterfaces\CommonExampleInterface.h Use the ANSI version in Windows file/string operations instead of unicode, hope this doesn't break builds.
2016-07-18 06:50:11 +00:00
int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation);
expose b3PhysicsParamSetNumSolverIterations split Visual Studio project generation batch file in regular and VR+pybullet+double precision build. disable KUKA iiwa joint limit hack
2016-10-05 23:31:48 +00:00
int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations);
add <restitution> in <contact> settings of URDF/SDF allow 'useMaximalCoordinates' and 'useFixedBase' in pybullet.loadURDF. enable split impulse for btRigidBody, even in btMultiBodyDynamicsWorld. allow initialization of velocity and apply force for btRigidBody in pybullet/shared memory API. process contact parameters in URDF also for btRigidBody (friction, restitution etc) add pybullet.setPhysicsEngineParameter with numSolverIterations, useSplitImpulse etc.
2016-12-01 06:24:20 +00:00
int b3PhysicsParamSetUseSplitImpulse(b3SharedMemoryCommandHandle commandHandle, int useSplitImpulse);
int b3PhysicsParamSetSplitImpulsePenetrationThreshold(b3SharedMemoryCommandHandle commandHandle, double splitImpulsePenetrationThreshold);
expose b3PhysicsParamSetNumSolverIterations split Visual Studio project generation batch file in regular and VR+pybullet+double precision build. disable KUKA iiwa joint limit hack
2016-10-05 23:31:48 +00:00
added b3PhysicsParamSetInternalSimFlags command, and pybullet setInternalSimFlags API. //Use at own risk: magic things may or my not happen when calling this API. This allows to enable/disable robot assets (samurai world, gripper, KUKA robot etc) in Physics Server (and App_PhysicsServerVR etc) 1 = create robot assets 2 = create experimental box-vr-gui Add optional command-line parameter for App_PhysicsServerVR, --norobotassets, to start with an empty world, no assets in VR (no gripper, no kuka)
2016-10-23 14:14:50 +00:00
//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
int b3PhysicsParamSetInternalSimFlags(b3SharedMemoryCommandHandle commandHandle, int flags);
expose b3PhysicsParamSetNumSolverIterations split Visual Studio project generation batch file in regular and VR+pybullet+double precision build. disable KUKA iiwa joint limit hack
2016-10-05 23:31:48 +00:00
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
more comments in SharedMemory C API
2016-04-14 00:09:48 +00:00
///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);
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);
more comments in SharedMemory C API
2016-04-14 00:09:48 +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
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);
ping-pong back/forward in PGS solving iterations to reduce bias in constraint order add experimental rhs clamp in btMultiBodyJointMotor to control maximum error resolution.
2016-09-28 18:17:11 +00:00
add pybullet loadBullet, saveBullet (work-in-progress) and placeholder for loadMJCF.
2016-11-12 02:07:42 +00:00
b3SharedMemoryCommandHandle b3LoadBulletCommandInit(b3PhysicsClientHandle physClient, const char* fileName);
b3SharedMemoryCommandHandle b3SaveBulletCommandInit(b3PhysicsClientHandle physClient, const char* fileName);
b3SharedMemoryCommandHandle b3LoadMJCFCommandInit(b3PhysicsClientHandle physClient, const char* fileName);
small progress towards shared memory C-api and test.c.
2015-07-31 06:22:44 +00:00
Add premake support to build pybullet, Windows and Linux tested, will enable Mac in next commit. Expose inverse dynamics to Bullet shared memory API, through b3CalculateInverseDynamicsCommandInit and b3GetStatusInverseDynamicsJointForces command/status. See PhysicsClientExeample or pybullet for usage. Add option for Windows and Linux to set python_lib_dir and python_include_dir for premake and --enable_pybullet option Expose inverse dynamics to pybullet: [force] = p.calculateInverseDynamics(objectIndex,[q],[qdot],[acc]) Thanks to Jeff Bingham for the suggestion.
2016-08-10 01:40:12 +00:00
///compute the forces to achieve an acceleration, given a state q and qdot using inverse dynamics
b3SharedMemoryCommandHandle b3CalculateInverseDynamicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex,
const double* jointPositionsQ, const double* jointVelocitiesQdot, const double* jointAccelerations);
int b3GetStatusInverseDynamicsJointForces(b3SharedMemoryStatusHandle statusHandle,
int* bodyUniqueId,
int* dofCount,
double* jointForces);
Expose Jacobian computation to RobotSimAPI.
2016-09-08 00:37:38 +00:00
b3SharedMemoryCommandHandle b3CalculateJacobianCommandInit(b3PhysicsClientHandle physClient, int bodyIndex, int linkIndex, const double* localPosition, const double* jointPositionsQ, const double* jointVelocitiesQdot, const double* jointAccelerations);
Expose body Jacobian in shared memory API.
2016-09-07 23:00:38 +00:00
Expose Jacobian computation to RobotSimAPI.
2016-09-08 00:37:38 +00:00
int b3GetStatusJacobian(b3SharedMemoryStatusHandle statusHandle, double* linearJacobian, double* angularJacobian);
Add premake support to build pybullet, Windows and Linux tested, will enable Mac in next commit. Expose inverse dynamics to Bullet shared memory API, through b3CalculateInverseDynamicsCommandInit and b3GetStatusInverseDynamicsJointForces command/status. See PhysicsClientExeample or pybullet for usage. Add option for Windows and Linux to set python_lib_dir and python_include_dir for premake and --enable_pybullet option Expose inverse dynamics to pybullet: [force] = p.calculateInverseDynamics(objectIndex,[q],[qdot],[acc]) Thanks to Jeff Bingham for the suggestion.
2016-08-10 01:40:12 +00:00
Create project file for BussIK inverse kinematics library (premake, cmake) URDF/SDF: add a flag to force concave mesh collisiofor static objects. <collision concave="yes" name="pod_collision"> VR: support teleporting using buttong, allow multiple controllers to be used, fast wireframe rendering, Turn off warnings about deprecated C routine in btScalar.h/b3Scalar.h Add a dummy return to stop a warning Expose defaultContactERP in shared memory api/pybullet. First start to expose IK in shared memory api/pybullet (not working yet)
2016-09-08 22:15:58 +00:00
///compute the joint positions to move the end effector to a desired target using inverse kinematics
fix InverseKinematics+API for a case without tree (custom build Jacobian)
2016-09-22 20:27:09 +00:00
b3SharedMemoryCommandHandle b3CalculateInverseKinematicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex);
void b3CalculateInverseKinematicsAddTargetPurePosition(b3SharedMemoryCommandHandle commandHandle, int endEffectorLinkIndex, const double targetPosition[3]);
void b3CalculateInverseKinematicsAddTargetPositionWithOrientation(b3SharedMemoryCommandHandle commandHandle, int endEffectorLinkIndex, const double targetPosition[3], const double targetOrientation[4]);
Expose rest pose for null space task to API.
2016-09-30 08:03:40 +00:00
void b3CalculateInverseKinematicsPosWithNullSpaceVel(b3SharedMemoryCommandHandle commandHandle, int numDof, int endEffectorLinkIndex, const double targetPosition[3], const double* lowerLimit, const double* upperLimit, const double* jointRange, const double* restPose);
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);
Create project file for BussIK inverse kinematics library (premake, cmake) URDF/SDF: add a flag to force concave mesh collisiofor static objects. <collision concave="yes" name="pod_collision"> VR: support teleporting using buttong, allow multiple controllers to be used, fast wireframe rendering, Turn off warnings about deprecated C routine in btScalar.h/b3Scalar.h Add a dummy return to stop a warning Expose defaultContactERP in shared memory api/pybullet. First start to expose IK in shared memory api/pybullet (not working yet)
2016-09-08 22:15:58 +00:00
int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle statusHandle,
int* bodyUniqueId,
int* dofCount,
double* jointPositions);
make one of the cubes in two_cubes.sdf static (immovable) using the <static> tag in SDF add an example using 'direct' fix the send-desired-state commands, to add flags for arguments set, using default values. Start exposing SDF loading in shared memory api, not fully implemented yet.
2016-06-04 02:03:56 +00:00
b3SharedMemoryCommandHandle b3LoadSdfCommandInit(b3PhysicsClientHandle physClient, const char* sdfFileName);
ping-pong back/forward in PGS solving iterations to reduce bias in constraint order add experimental rhs clamp in btMultiBodyJointMotor to control maximum error resolution.
2016-09-28 18:17:11 +00:00
int b3LoadSdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
make one of the cubes in two_cubes.sdf static (immovable) using the <static> tag in SDF add an example using 'direct' fix the send-desired-state commands, to add flags for arguments set, using default values. Start exposing SDF loading in shared memory api, not fully implemented yet.
2016-06-04 02:03:56 +00:00
Add rudimentary 'saveWorld' command in shared memory API and pybullet, see examples/pybullet/saveWorld.py Use trilinear filtering instead of bilinear
2016-10-13 06:03:36 +00:00
b3SharedMemoryCommandHandle b3SaveWorldCommandInit(b3PhysicsClientHandle physClient, const char* sdfFileName);
re-introduce old method in pybullet for temporary back-wards compatibility b3JointControlCommandInit requires 3 args, but it was only 2, use b3JointControlCommandInit2 for now.
2016-06-23 15:40:36 +00:00
///The b3JointControlCommandInit method is obsolete, use b3JointControlCommandInit2 instead
b3SharedMemoryCommandHandle b3JointControlCommandInit(b3PhysicsClientHandle physClient, int controlMode);
tweaks in pybullet and shared memory C-API: allow to reset the state of a single joint allow to set the target/mode for a single joint motor at a time rename pybullet API: initializeJointPositions -> resetJointState
2016-06-24 14:31:17 +00:00
///Set joint motor control variables such as desired position/angle, desired velocity,
further work on shared memory API fix dependency of BulletDynamics to Bullet3Common (b3Printf)
2015-08-02 21:00:43 +00:00
///applied joint forces, dependent on the control mode (CONTROL_MODE_VELOCITY or CONTROL_MODE_TORQUE)
re-introduce old method in pybullet for temporary back-wards compatibility b3JointControlCommandInit requires 3 args, but it was only 2, use b3JointControlCommandInit2 for now.
2016-06-23 15:40:36 +00:00
b3SharedMemoryCommandHandle b3JointControlCommandInit2(b3PhysicsClientHandle physClient, int bodyUniqueId, int controlMode);
tweaks in pybullet and shared memory C-API: allow to reset the state of a single joint allow to set the target/mode for a single joint motor at a time rename pybullet API: initializeJointPositions -> resetJointState
2016-06-24 14:31:17 +00:00
///Only use when controlMode is CONTROL_MODE_POSITION_VELOCITY_PD
improvements to the shared memory physics API: support picking in C API etc.
2015-09-25 05:42:22 +00:00
int b3JointControlSetDesiredPosition(b3SharedMemoryCommandHandle commandHandle, int qIndex, double value);
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 b3JointControlSetKp(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
int b3JointControlSetKd(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
tweaks in pybullet and shared memory C-API: allow to reset the state of a single joint allow to set the target/mode for a single joint motor at a time rename pybullet API: initializeJointPositions -> resetJointState
2016-06-24 14:31:17 +00:00
///Only use when controlMode is CONTROL_MODE_VELOCITY
improvements to the shared memory physics API: support picking in C API etc.
2015-09-25 05:42:22 +00:00
int b3JointControlSetDesiredVelocity(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value); /* find a better name for dof/q/u indices, point to b3JointInfo */
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 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
add a few lines of documentation and some error checks in SharedMemory API
2016-04-13 20:06:15 +00:00
///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);
Physics SharedMemory: Add flags BOX_SHAPE_HAS_MASS and BOX_SHAPE_HAS_COLLISION_SHAPE_TYPE to CMD_CREATE_RIGID_BODY (which maps to CMD_CREATE_BOX_COLLISION_SHAPE for backward compatibility for now) Need to add way to receive world transform
2015-10-27 21:55:46 +00:00
int b3CreateBoxCommandSetMass(b3SharedMemoryCommandHandle commandHandle, double mass);
int b3CreateBoxCommandSetCollisionShapeType(b3SharedMemoryCommandHandle commandHandle, int collisionShapeType);
b3CreateBoxCommandSetColorRGBA: allow to specify color when creating bodies through shared memory API Parse and use colors from URDF file (single rgba color per link, not per visual) Rename btMultiBody 'stepVelocities' to 'computeAccelerationsArticulatedBodyAlgorithmMultiDof' btHashMap, add const Value* operator[] remove a few more obsolete btMultiBody methods (on the non-multi-dof path) fix spelling typo in fillConstraintJacobianMultiDof (fil -> fill) Add mention to Jakub Stepien for his work on btMultiBody
2015-11-07 01:11:15 +00:00
int b3CreateBoxCommandSetColorRGBA(b3SharedMemoryCommandHandle commandHandle, double red,double green,double blue, double alpha);
Physics SharedMemory: Add flags BOX_SHAPE_HAS_MASS and BOX_SHAPE_HAS_COLLISION_SHAPE_TYPE to CMD_CREATE_RIGID_BODY (which maps to CMD_CREATE_BOX_COLLISION_SHAPE for backward compatibility for now) Need to add way to receive world transform
2015-10-27 21:55:46 +00:00
Implement CMD_INIT_POSE to set base position, base orientation and joint position (angle). See PhysicsClientExample for example use of CMD_INIT_POSE. Change: CMD_INIT_POSE uses m_initPoseArgs and not m_sendDesiredStateCommandArgument
2015-10-14 05:23:28 +00:00
more comments in SharedMemory C API
2016-04-14 00:09:48 +00:00
///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.
Implement CMD_INIT_POSE to set base position, base orientation and joint position (angle). See PhysicsClientExample for example use of CMD_INIT_POSE. Change: CMD_INIT_POSE uses m_initPoseArgs and not m_sendDesiredStateCommandArgument
2015-10-14 05:23:28 +00:00
b3SharedMemoryCommandHandle b3CreatePoseCommandInit(b3PhysicsClientHandle physClient, int bodyIndex);
int b3CreatePoseCommandSetBasePosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ);
int b3CreatePoseCommandSetBaseOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
add pybullet getBaseVelocity / resetBaseVelocity C-API b3CreatePoseCommandSetBaseLinearVelocity/b3CreatePoseCommandSetBaseAngularVelocity
2016-11-28 23:11:34 +00:00
int b3CreatePoseCommandSetBaseLinearVelocity(b3SharedMemoryCommandHandle commandHandle, double linVel[3]);
int b3CreatePoseCommandSetBaseAngularVelocity(b3SharedMemoryCommandHandle commandHandle, double angVel[3]);
use const in PhysicsClientC_Api, thanks to Roland fix some warnings for Clang, thanks to Aaron
2015-10-15 15:15:22 +00:00
int b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle commandHandle, int numJointPositions, const double* jointPositions);
Implement CMD_INIT_POSE to set base position, base orientation and joint position (angle). See PhysicsClientExample for example use of CMD_INIT_POSE. Change: CMD_INIT_POSE uses m_initPoseArgs and not m_sendDesiredStateCommandArgument
2015-10-14 05:23:28 +00:00
int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, double jointPosition);
further work on shared memory API fix dependency of BulletDynamics to Bullet3Common (b3Printf)
2015-08-02 21:00:43 +00:00
more comments in SharedMemory C API
2016-04-14 00:09:48 +00:00
///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.
fix some issues related to controlling a robot/multibody beyond body index 0 (most testing happened with a single robot/multibody so far) preliminary pybullet.setJointControl implementation
2016-06-17 01:46:34 +00:00
b3SharedMemoryCommandHandle b3CreateSensorCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId);
improvements to the shared memory physics API: support picking in C API etc.
2015-09-25 05:42:22 +00:00
int b3CreateSensorEnable6DofJointForceTorqueSensor(b3SharedMemoryCommandHandle commandHandle, int jointIndex, int enable);
more comments in SharedMemory C API
2016-04-14 00:09:48 +00:00
///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.
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 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
Allow to request the state of a rigid body (position, orientation, lin/ang velocity) through shared memory API PhysicsClientC_API: b3RequestActualStateCommandInit requires a body unique Id as second argument
2015-10-27 22:46:13 +00:00
b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandle physClient,int bodyUniqueId);
make PhysicsClient an interface class, and move shared memory implementation of physics client into PhysicsClientSharedMemory class/file. This will allow implementation of UDP and other transport protocols to a physics server.
2015-09-25 05:50:34 +00:00
void b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int jointIndex, struct b3JointSensorState *state);
expose multibody link world transform in the shared memory API
2016-04-24 00:29:46 +00:00
void b3GetLinkState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int linkIndex, struct b3LinkState *state);
improvements to the shared memory physics API: support picking in C API etc.
2015-09-25 05:42:22 +00:00
Add b3GetStatusActualState() to C_API. Change pick-and-move C_API to use handlers
2015-11-05 00:08:28 +00:00
b3SharedMemoryCommandHandle b3PickBody(b3PhysicsClientHandle physClient, double rayFromWorldX,
double rayFromWorldY, double rayFromWorldZ,
double rayToWorldX, double rayToWorldY, double rayToWorldZ);
b3SharedMemoryCommandHandle b3MovePickedBody(b3PhysicsClientHandle physClient, double rayFromWorldX,
double rayFromWorldY, double rayFromWorldZ,
double rayToWorldX, double rayToWorldY,
double rayToWorldZ);
b3SharedMemoryCommandHandle b3RemovePickingConstraint(b3PhysicsClientHandle physClient);
fix various warnings, more work on shared memory API
2015-07-23 01:06:05 +00:00
See also pybullet quickstart guide here: https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit# vrevent.py: add a Tiltbrush-style drawing example using pybullet Expose getVREvents to pybullet / shared memory API, access to any VR controller state & state changes. Improve performance of user debug lines (pybullet/shared memory API) by batching lines with same color/width expose rayTest to pybullet/shared memory API (single ray for now) add pybullet getMatrixFromQuaterion
2016-12-27 03:40:09 +00:00
b3SharedMemoryCommandHandle b3CreateRaycastCommandInit(b3PhysicsClientHandle physClient, double rayFromWorldX,
double rayFromWorldY, double rayFromWorldZ,
double rayToWorldX, double rayToWorldY, double rayToWorldZ);
void b3GetRaycastInformation(b3PhysicsClientHandle physClient, struct b3RaycastInformation* raycastInfo);
implement a few more pybullet methods: pybullet_applyExternalForce, pybullet_applyExternalTorque, pybullet_setTimeStep, pybullet_resetBasePositionAndOrientation, pybullet_getQuaternionFromEuler, pybullet_getEulerFromQuaternion
2016-06-27 01:18:30 +00:00
/// Apply external force at the body (or link) center of mass, in world space/Cartesian coordinates.
b3SharedMemoryCommandHandle b3ApplyExternalForceCommandInit(b3PhysicsClientHandle physClient);
void b3ApplyExternalForce(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double force[3], const double position[3], int flags);
void b3ApplyExternalTorque(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double torque[3], int flags);
Load bunny through shared memory API and RobotSimAPI. Create grasp bunny example.
2016-10-17 20:01:04 +00:00
add pybullet loadBullet, saveBullet (work-in-progress) and placeholder for loadMJCF.
2016-11-12 02:07:42 +00:00
///experiments of robots interacting with non-rigid objects (such as btSoftBody)
Load bunny through shared memory API and RobotSimAPI. Create grasp bunny example.
2016-10-17 20:01:04 +00:00
b3SharedMemoryCommandHandle b3LoadBunnyCommandInit(b3PhysicsClientHandle physClient);
Add API to set bunny properties. Add example to show coupling between softbody and multibody.
2016-11-01 23:45:10 +00:00
int b3LoadBunnySetScale(b3SharedMemoryCommandHandle commandHandle, double scale);
int b3LoadBunnySetMass(b3SharedMemoryCommandHandle commandHandle, double mass);
int b3LoadBunnySetCollisionMargin(b3SharedMemoryCommandHandle commandHandle, double collisionMargin);
implement a few more pybullet methods: pybullet_applyExternalForce, pybullet_applyExternalTorque, pybullet_setTimeStep, pybullet_resetBasePositionAndOrientation, pybullet_getQuaternionFromEuler, pybullet_getEulerFromQuaternion
2016-06-27 01:18:30 +00:00
See also pybullet quickstart guide here: https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit# vrevent.py: add a Tiltbrush-style drawing example using pybullet Expose getVREvents to pybullet / shared memory API, access to any VR controller state & state changes. Improve performance of user debug lines (pybullet/shared memory API) by batching lines with same color/width expose rayTest to pybullet/shared memory API (single ray for now) add pybullet getMatrixFromQuaterion
2016-12-27 03:40:09 +00:00
b3SharedMemoryCommandHandle b3RequestVREventsCommandInit(b3PhysicsClientHandle physClient);
void b3GetVREventsData(b3PhysicsClientHandle physClient, struct b3VREventsData* vrEventsData);
Add pybullet setVRCameraState and b3SetVRCameraStateCommandInit to set the VR camera root transform (position/orientation) and optional tracking object unique id (-1 for no tracking) Fix robotcontrol.py script, getContactPointData -> getContactPoints
2017-01-06 01:41:58 +00:00
b3SharedMemoryCommandHandle b3SetVRCameraStateCommandInit(b3PhysicsClientHandle physClient);
int b3SetVRCameraRootPosition(b3SharedMemoryCommandHandle commandHandle, double rootPos[3]);
int b3SetVRCameraRootOrientation(b3SharedMemoryCommandHandle commandHandle, double rootOrn[4]);
int b3SetVRCameraTrackingObject(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId);
See also pybullet quickstart guide here: https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit# vrevent.py: add a Tiltbrush-style drawing example using pybullet Expose getVREvents to pybullet / shared memory API, access to any VR controller state & state changes. Improve performance of user debug lines (pybullet/shared memory API) by batching lines with same color/width expose rayTest to pybullet/shared memory API (single ray for now) add pybullet getMatrixFromQuaterion
2016-12-27 03:40:09 +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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