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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
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
#define B3_DECLARE_HANDLE(name) \
typedef struct name##__ \
{ \
int unused; \
} * name
fix various warnings, more work on shared memory API
2015-07-23 01:06:05 +00:00
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);
Quick first prototype/test to integrate pybullet into Unity, see readme.txt for details.
2017-09-21 06:18:18 +00:00
#ifdef _WIN32
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
#define B3_SHARED_API __declspec(dllexport)
#elif defined(__GNUC__)
#define B3_SHARED_API __attribute__((visibility("default")))
add B3_SHARED_API definition for Mac / Linux / gcc
2017-09-21 15:37:00 +00:00
#else
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
#define B3_SHARED_API
Quick first prototype/test to integrate pybullet into Unity, see readme.txt for details.
2017-09-21 06:18:18 +00:00
#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
///There are several connection methods, see following header files:
#include "PhysicsClientSharedMemory_C_API.h"
#include "PhysicsClientSharedMemory2_C_API.h"
#include "PhysicsDirectC_API.h"
Add Extras/BulletRobotics, will be installed as 'Extra Libs' using CMake Reduce size of command-logfile (used in PhysicsServer (Logging) and PhysicsServer (Log Replay)) Make Bullet3Common and BulletInverseDynamics part of core Bullet libraries (not optional)
2017-09-06 20:18:39 +00:00
#ifdef BT_ENABLE_ENET
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
#include "PhysicsClientUDP_C_API.h"
Add Extras/BulletRobotics, will be installed as 'Extra Libs' using CMake Reduce size of command-logfile (used in PhysicsServer (Logging) and PhysicsServer (Log Replay)) Make Bullet3Common and BulletInverseDynamics part of core Bullet libraries (not optional)
2017-09-06 20:18:39 +00:00
#endif
#ifdef BT_ENABLE_CLSOCKET
#include "PhysicsClientTCP_C_API.h"
#endif
fix various warnings, more work on shared memory API
2015-07-23 01:06:05 +00:00
#ifdef __cplusplus
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
extern "C"
{
fix various warnings, more work on shared memory API
2015-07-23 01:06:05 +00:00
#endif
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
///b3DisconnectSharedMemory will disconnect the client from the server and cleanup memory.
B3_SHARED_API void b3DisconnectSharedMemory(b3PhysicsClientHandle physClient);
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
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
///There can only be 1 outstanding command. Check if a command can be send.
B3_SHARED_API int b3CanSubmitCommand(b3PhysicsClientHandle physClient);
fix various warnings, more work on shared memory API
2015-07-23 01:06:05 +00:00
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
///blocking submit command and wait for status
B3_SHARED_API b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle);
Expose pushProfileTimer / pop ProfileTimer in PhysicsClient API to benchmark Python parts of PyBullet. reduce 'm_cooldownTime' from 1000 microseconds to 100 microseconds (overhead in raycast is too large) If needed, we can expose this cooldown time. Replace malloc by btAlignedObjectArray (going through Bullet's memory allocator)
2018-06-16 13:19:49 +00:00
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +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'.
B3_SHARED_API int b3SubmitClientCommand(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle);
expose timeout in pybullet/shared memory API add RobotSimulator, a C++ API similar to pybullet. (work-in-progress, only part of API implemeted)
2017-02-24 23:34:11 +00:00
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
///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);
temporary disable experimental BulletRobotics examples
2019-03-26 22:07:55 +00:00
///give a unique body index (after loading the body) return the number of degrees of freedom (DoF).
B3_SHARED_API int b3GetNumDofs(b3PhysicsClientHandle physClient, int bodyUniqueId);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
///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);
more fixes in pybullet_gym envs/data. implement pybullet.setAdditionalSearchPath
2017-08-28 02:34:00 +00:00
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
///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);
missed one
2018-09-27 00:46:39 +00:00
B3_SHARED_API int b3ChangeDynamicsInfoSetLocalInertiaDiagonal(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, const double localInertiaDiagonal[]);
Expose anisotropic friction, add snake demo. Simple snake slither locomotion from > 15 years ago, thanks to Michael Ewert @ Havok! Visit http://www.snakerobots.com to see one of these in the wild
2019-03-08 05:13:00 +00:00
B3_SHARED_API int b3ChangeDynamicsInfoSetAnisotropicFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, const double anisotropicFriction[]);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
Expose anisotropic friction, add snake demo. Simple snake slither locomotion from > 15 years ago, thanks to Michael Ewert @ Havok! Visit http://www.snakerobots.com to see one of these in the wild
2019-03-08 05:13:00 +00:00
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
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);
PyBullet.changeDynamics: expose jointDamping PyBullet: Implement a few more APIs of PhysX backend, resetJointState and setJointMotorControl2 allow useMaximalCoordinate=True for PhysX loadURDF (only for single rigid bodies, articulations require reduced coordinates at the moment)
2019-02-05 05:06:43 +00:00
B3_SHARED_API int b3ChangeDynamicsInfoSetJointDamping(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double jointDamping);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
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);
expose maxJointVelocity through PyBullet.changeDynamics, this Fixes Issue #1890 bump up PyBullet to version 2.4.8
2019-03-09 17:23:16 +00:00
B3_SHARED_API int b3ChangeDynamicsInfoSetMaxJointVelocity(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, double maxJointVelocity);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
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);
add const qualifiers to all double* inputs in PhysicsClientC_API
2018-09-27 00:24:40 +00:00
B3_SHARED_API int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHandle commandHandle, const double jointChildPivot[/*3*/]);
B3_SHARED_API int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle commandHandle, const double jointChildFrameOrn[/*4*/]);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
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);
expose shadowMapResolution (texture resolution) and shadowMapWorldSize (size in meters in world space) expose pybullet.ConfigureOpenGLVisualizerRequest(lightPosition=[x,y,z], shadowMapWorldSize=10.5, shadowMapResolution=16384) See examples/pybullet/examples/configureDebugVisualizer.py for an example. This reimplements https://github.com/bulletphysics/bullet3/pull/2295 but without creating a new command/status and explicitly referring to the debug visualizer (since the 'getCameraImage' also has a lightPosition)
2019-06-19 16:01:16 +00:00
B3_SHARED_API void b3ConfigureOpenGLVisualizerSetLightPosition(b3SharedMemoryCommandHandle commandHandle, const float lightPosition[3]);
B3_SHARED_API void b3ConfigureOpenGLVisualizerSetShadowMapResolution(b3SharedMemoryCommandHandle commandHandle, int shadowMapResolution);
B3_SHARED_API void b3ConfigureOpenGLVisualizerSetShadowMapWorldSize(b3SharedMemoryCommandHandle commandHandle, int shadowMapWorldSize);
for the GraphicsServer, expose a sync transform interval: only synchronize the transform once the stepSimulation exceeds this time interval. (for example, run the simulation at 1kHz but sync the graphics transforms to remove graphics server at 30Hz)
2019-06-19 16:45:29 +00:00
B3_SHARED_API void b3ConfigureOpenGLVisualizerSetRemoteSyncTransformInterval(b3SharedMemoryCommandHandle commandHandle, double remoteSyncTransformInterval);
expose shadowMapResolution (texture resolution) and shadowMapWorldSize (size in meters in world space) expose pybullet.ConfigureOpenGLVisualizerRequest(lightPosition=[x,y,z], shadowMapWorldSize=10.5, shadowMapResolution=16384) See examples/pybullet/examples/configureDebugVisualizer.py for an example. This reimplements https://github.com/bulletphysics/bullet3/pull/2295 but without creating a new command/status and explicitly referring to the debug visualizer (since the 'getCameraImage' also has a lightPosition)
2019-06-19 16:01:16 +00:00
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
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
add const qualifiers to all double* inputs in PhysicsClientC_API
2018-09-27 00:24:40 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3PhysicsClientHandle physClient, const double fromXYZ[/*3*/], const double toXYZ[/*3*/], const double colorRGB[/*3*/], double lineWidth, double lifeTime);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
add const qualifiers to all double* inputs in PhysicsClientC_API
2018-09-27 00:24:40 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle physClient, const char* txt, const double positionXYZ[/*3*/], const double colorRGB[/*3*/], double textSize, double lifeTime);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
B3_SHARED_API void b3UserDebugTextSetOptionFlags(b3SharedMemoryCommandHandle commandHandle, int optionFlags);
add const qualifiers to all double* inputs in PhysicsClientC_API
2018-09-27 00:24:40 +00:00
B3_SHARED_API void b3UserDebugTextSetOrientation(b3SharedMemoryCommandHandle commandHandle, const double orientation[/*4*/]);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
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);
add const qualifiers to all double* inputs in PhysicsClientC_API
2018-09-27 00:24:40 +00:00
B3_SHARED_API void b3SetDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex, const double objectColorRGB[/*3*/]);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
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);
add const qualifier to double [] inputs
2018-09-26 22:02:22 +00:00
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*/]);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
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);
revert backward compabitility in API
2018-10-21 02:44:39 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitUpdateVisualShape2(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex);
PyBullet change API (since it was broken): pybullet_changeVisualShape with textureUniqueId ==-1 will clear the texture b3InitUpdateVisualShape doesn't take textureUniqueId by default. new API b3UpdateVisualShapeTexture to change texture (-1 will clear texture) PyBullet/BulletRobotics: allow to reset the textureUniqueId to -1, to clear a texture PyBullet/BulletRobotics: save all texture handles
2018-10-20 22:56:56 +00:00
B3_SHARED_API void b3UpdateVisualShapeTexture(b3SharedMemoryCommandHandle commandHandle, int textureUniqueId);
add const qualifiers to all double* inputs in PhysicsClientC_API
2018-09-27 00:24:40 +00:00
B3_SHARED_API void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle commandHandle, const double rgbaColor[/*4*/]);
B3_SHARED_API void b3UpdateVisualShapeSpecularColor(b3SharedMemoryCommandHandle commandHandle, const double specularColor[/*3*/]);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
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);
only report solver analytics if enabled using setPhysicsEngineParameter(reportSolverAnalytics=1)
2019-04-15 01:20:20 +00:00
B3_SHARED_API int b3PhysicsParamSetSolverAnalytics(b3SharedMemoryCommandHandle commandHandle, int reportSolverAnalytics);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
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);
report constraint solver analytics data, currently for each island the number of solver iterations used and remaining residual error.
2019-04-12 05:19:02 +00:00
B3_SHARED_API int b3GetStatusForwardDynamicsAnalyticsData(b3SharedMemoryStatusHandle statusHandle, struct b3ForwardDynamicsAnalyticsArgs* analyticsData);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
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);
implement PyBullet removeState command. Fixes Issue #2163 https://github.com/bulletphysics/bullet3/issues/2163
2019-04-04 03:06:40 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRemoveStateCommand(b3PhysicsClientHandle physClient, int stateId);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
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);
enable pybullet.calculateInverseDynamics for floating bodies Using calculateInverseDynamics with zero target acceleration allows to compute the non-linear dynamics forces (coriolis/gyroscopic) and/or gravity force.
2018-11-27 16:49:56 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3CalculateInverseDynamicsCommandInit2(b3PhysicsClientHandle physClient, int bodyUniqueId,
const double* jointPositionsQ, int dofCountQ, const double* jointVelocitiesQdot, const double* jointAccelerations, int dofCountQdot);
Add preliminary PhysX 4.0 backend for PyBullet Add inverse dynamics / mass matrix code from DeepMimic, thanks to Xue Bin (Jason) Peng Add example how to use stable PD control for humanoid with spherical joints (see humanoidMotionCapture.py) Fix related to TinyRenderer object transforms not updating when using collision filtering
2019-01-23 05:08:37 +00:00
B3_SHARED_API void b3CalculateInverseDynamicsSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags);
enable pybullet.calculateInverseDynamics for floating bodies Using calculateInverseDynamics with zero target acceleration allows to compute the non-linear dynamics forces (coriolis/gyroscopic) and/or gravity force.
2018-11-27 16:49:56 +00:00
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
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);
Add preliminary PhysX 4.0 backend for PyBullet Add inverse dynamics / mass matrix code from DeepMimic, thanks to Xue Bin (Jason) Peng Add example how to use stable PD control for humanoid with spherical joints (see humanoidMotionCapture.py) Fix related to TinyRenderer object transforms not updating when using collision filtering
2019-01-23 05:08:37 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3CalculateMassMatrixCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, const double* jointPositionsQ, int dofCountQ);
B3_SHARED_API void b3CalculateMassMatrixSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
///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*/]);
expose PyBullet.calculateInverseKinematics2 that allows to specify multiple IK end effector locations (not multiple orientations) usage example: jointPoses = p.calculateInverseKinematics2(bodyUniqueId, [endEffectorLinkIndices], [endEffectorTargetWorldPositions])
2019-07-11 00:21:18 +00:00
B3_SHARED_API void b3CalculateInverseKinematicsAddTargetsPurePosition(b3SharedMemoryCommandHandle commandHandle, int numEndEffectorLinkIndices, const int* endEffectorIndices, const double* targetPositions);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
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);
Implement btMultiBodySphericalJointMotor, able to track a quaternion position target. Expose this btMultiBodySphericalJointMotor through PyBullet.setJointMotorControlMultiDof Expose PyBullet.getQuaternionSlerp Improve PyBullet.setJointMotorControlMultiDof Improve humanoidMotionCapture.py with slerp and using setJointMotorControlMultiDof Expose btMultiBody::spatialTransform Fix btMultiBody::setupPlanar from DeepMimic codebase Add support for multidof joints in btMultiBody::compTreeLinkVelocities, thanks to DeepMimic codebase @xbpeng
2018-11-13 22:32:18 +00:00
B3_SHARED_API int b3JointControlSetDesiredPositionMultiDof(b3SharedMemoryCommandHandle commandHandle, int qIndex, const double* position, int dofCount);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
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 */
Implement btMultiBodySphericalJointMotor, able to track a quaternion position target. Expose this btMultiBodySphericalJointMotor through PyBullet.setJointMotorControlMultiDof Expose PyBullet.getQuaternionSlerp Improve PyBullet.setJointMotorControlMultiDof Improve humanoidMotionCapture.py with slerp and using setJointMotorControlMultiDof Expose btMultiBody::spatialTransform Fix btMultiBody::setupPlanar from DeepMimic codebase Add support for multidof joints in btMultiBody::compTreeLinkVelocities, thanks to DeepMimic codebase @xbpeng
2018-11-13 22:32:18 +00:00
B3_SHARED_API int b3JointControlSetDesiredVelocityMultiDof(b3SharedMemoryCommandHandle commandHandle, int dofIndex, const double* velocity, int dofCount);
Implement faster array versions of PyBullet: getJointStatesMultiDof, getLinkStates, setJointMotorControlMultiDofArray, resetJointStatesMultiDof, Implement StablePD in C++ through setJointMotorControlMultiDofArray method for pybullet_envs.deep_mimic, see testHumanoid.py and examples/pybullet/examples/humanoidMotionCapture.py Minor fix in ChromeTraceUtil in case startTime>endTime (why would it happen?)
2019-07-21 20:08:22 +00:00
B3_SHARED_API int b3JointControlSetDesiredVelocityMultiDof2(b3SharedMemoryCommandHandle commandHandle, int dofIndex, const double* velocity, int dofCount);
Add preliminary PhysX 4.0 backend for PyBullet Add inverse dynamics / mass matrix code from DeepMimic, thanks to Xue Bin (Jason) Peng Add example how to use stable PD control for humanoid with spherical joints (see humanoidMotionCapture.py) Fix related to TinyRenderer object transforms not updating when using collision filtering
2019-01-23 05:08:37 +00:00
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
B3_SHARED_API int b3JointControlSetMaximumForce(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
Add preliminary PhysX 4.0 backend for PyBullet Add inverse dynamics / mass matrix code from DeepMimic, thanks to Xue Bin (Jason) Peng Add example how to use stable PD control for humanoid with spherical joints (see humanoidMotionCapture.py) Fix related to TinyRenderer object transforms not updating when using collision filtering
2019-01-23 05:08:37 +00:00
B3_SHARED_API int b3JointControlSetDesiredForceTorqueMultiDof(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double* forces, int dofCount);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
///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);
add const qualifiers to all double* inputs in PhysicsClientC_API
2018-09-27 00:24:40 +00:00
B3_SHARED_API int b3CreateCollisionShapeAddBox(b3SharedMemoryCommandHandle commandHandle, const double halfExtents[/*3*/]);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
B3_SHARED_API int b3CreateCollisionShapeAddCapsule(b3SharedMemoryCommandHandle commandHandle, double radius, double height);
B3_SHARED_API int b3CreateCollisionShapeAddCylinder(b3SharedMemoryCommandHandle commandHandle, double radius, double height);
export btHeightfieldTerrainShape to PyBullet. Note that tinyrenderer doesn't support rendering it (it would be too slow on CPU) fix rare getKeyboardEvents threading issue change texture color to default plane.urdf blue
2019-07-30 03:23:38 +00:00
B3_SHARED_API int b3CreateCollisionShapeAddHeightfield(b3SharedMemoryCommandHandle commandHandle, const char* fileName, const double meshScale[/*3*/], double textureScaling);
add const qualifiers to all double* inputs in PhysicsClientC_API
2018-09-27 00:24:40 +00:00
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*/]);
Increase mesh allocation for vertices/indices in PyBullet.createCollisionShape See createMesh.py for an example. The data has to fit in shared memory, hence the limit on Mac is lower than Windows and Linux: #ifdef __APPLE__ #define B3_MAX_NUM_VERTICES 8192 #define B3_MAX_NUM_INDICES 32768 #else #define B3_MAX_NUM_VERTICES 131072 #define B3_MAX_NUM_INDICES 524288 #endif
2019-01-04 00:19:28 +00:00
B3_SHARED_API int b3CreateCollisionShapeAddConvexMesh(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, const double meshScale[/*3*/], const double* vertices, int numVertices);
B3_SHARED_API int b3CreateCollisionShapeAddConcaveMesh(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, const double meshScale[/*3*/], const double* vertices, int numVertices, const int* indices, int numIndices);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
B3_SHARED_API void b3CreateCollisionSetFlag(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, int flags);
add const qualifiers to all double* inputs in PhysicsClientC_API
2018-09-27 00:24:40 +00:00
B3_SHARED_API void b3CreateCollisionShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, const double childPosition[/*3*/], const double childOrientation[/*4*/]);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
B3_SHARED_API int b3GetStatusCollisionShapeUniqueId(b3SharedMemoryStatusHandle statusHandle);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRemoveCollisionShapeCommand(b3PhysicsClientHandle physClient, int collisionShapeId);
make pybullet.getMeshData work for softbody
2019-06-18 04:43:38 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3GetMeshDataCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex);
get mesh data api fix compile fix typo
2019-06-18 00:32:01 +00:00
B3_SHARED_API void b3GetMeshData(b3PhysicsClientHandle physClient, struct b3MeshData* meshData);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3CreateVisualShapeCommandInit(b3PhysicsClientHandle physClient);
B3_SHARED_API int b3CreateVisualShapeAddSphere(b3SharedMemoryCommandHandle commandHandle, double radius);
add const qualifiers to all double* inputs in PhysicsClientC_API
2018-09-27 00:24:40 +00:00
B3_SHARED_API int b3CreateVisualShapeAddBox(b3SharedMemoryCommandHandle commandHandle, const double halfExtents[/*3*/]);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
B3_SHARED_API int b3CreateVisualShapeAddCapsule(b3SharedMemoryCommandHandle commandHandle, double radius, double height);
B3_SHARED_API int b3CreateVisualShapeAddCylinder(b3SharedMemoryCommandHandle commandHandle, double radius, double height);
add const qualifiers to all double* inputs in PhysicsClientC_API
2018-09-27 00:24:40 +00:00
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*/]);
PyBullet: allow createVisualShape to pass vertices, indices, normals and uv coordinates. This can be combined with changeVisualShape to set the texture.
2019-01-29 20:03:11 +00:00
B3_SHARED_API int b3CreateVisualShapeAddMesh2(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, const double meshScale[/*3*/], const double* vertices, int numVertices, const int* indices, int numIndices, const double* normals, int numNormals, const double* uvs, int numUVs);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
B3_SHARED_API void b3CreateVisualSetFlag(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, int flags);
add const qualifiers to all double* inputs in PhysicsClientC_API
2018-09-27 00:24:40 +00:00
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*/]);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
B3_SHARED_API int b3GetStatusVisualShapeUniqueId(b3SharedMemoryStatusHandle statusHandle);
B3_SHARED_API b3SharedMemoryCommandHandle b3CreateMultiBodyCommandInit(b3PhysicsClientHandle physClient);
add const qualifiers to all double* inputs in PhysicsClientC_API
2018-09-27 00:24:40 +00:00
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*/]);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
B3_SHARED_API int b3CreateMultiBodyLink(b3SharedMemoryCommandHandle commandHandle, double linkMass, double linkCollisionShapeIndex,
double linkVisualShapeIndex,
add const qualifiers to all double* inputs in PhysicsClientC_API
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const double linkPosition[/*3*/],
const double linkOrientation[/*4*/],
const double linkInertialFramePosition[/*3*/],
const double linkInertialFrameOrientation[/*4*/],
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
int linkParentIndex,
int linkJointType,
add const qualifiers to all double* inputs in PhysicsClientC_API
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const double linkJointAxis[/*3*/]);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
allow batch creation of objects through PyBullet.createMultiBody, see createMultiBodyBatch.py example. expose minGraphicsUpdateTimeMs through PyBullet.connect(p.GUI, options="minGraphicsUpdateTimeMs=32000"), by default OpenGL rendering runs at 4000microseconds intervals. allow a maximum of 128k objects fix meshScale for PyBullet.createCollisionShape for custom mesh expose Pybullet.setPhysicsEngineParameter(minimumSolverIslandSize=...), larger minimum batches group solver constraints together in the same island, to reduce calling overhead (even if they are not related)
2019-02-12 18:36:01 +00:00
//batch creation is an performance feature to create a large number of multi bodies in one command
B3_SHARED_API int b3CreateMultiBodySetBatchPositions(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, double* batchPositions, int numBatchObjects);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
//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);
add const qualifiers to all double* inputs in PhysicsClientC_API
2018-09-27 00:24:40 +00:00
B3_SHARED_API int b3CreatePoseCommandSetBaseLinearVelocity(b3SharedMemoryCommandHandle commandHandle, const double linVel[/*3*/]);
B3_SHARED_API int b3CreatePoseCommandSetBaseAngularVelocity(b3SharedMemoryCommandHandle commandHandle, const double angVel[/*3*/]);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
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);
make setJointPosMultiDof and setJointVelMultiDof argument const. add PyBullet.resetJointStateMultiDof / getJointStateMultiDof, for preliminary support for spherical and planar joints
2018-11-10 22:26:31 +00:00
B3_SHARED_API int b3CreatePoseCommandSetJointPositionMultiDof(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, const double* jointPosition, int posSize);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
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);
make setJointPosMultiDof and setJointVelMultiDof argument const. add PyBullet.resetJointStateMultiDof / getJointStateMultiDof, for preliminary support for spherical and planar joints
2018-11-10 22:26:31 +00:00
B3_SHARED_API int b3CreatePoseCommandSetJointVelocityMultiDof(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, const double* jointVelocity, int velSize);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +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.
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);
make setJointPosMultiDof and setJointVelMultiDof argument const. add PyBullet.resetJointStateMultiDof / getJointStateMultiDof, for preliminary support for spherical and planar joints
2018-11-10 22:26:31 +00:00
B3_SHARED_API int b3GetJointStateMultiDof(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int jointIndex, struct b3JointSensorState2* state);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
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
Expose PyBullet.calculateVelocityQuaternion, getAxisAngleFromQuaternion, getQuaternionFromAxisAngle, getDifferenceQuaternion Add preparation for DeepMimic humanoid environment, replicating parts of https://github.com/xbpeng/DeepMimic Loading humanoid.urdf and applying motion action: examples/pybullet/gym/pybullet_envs/mimic/humanoid.py Loading MotionCapture data: examples/pybullet/gym/pybullet_envs/mimic/motion_capture_data.py Little test: examples/pybullet/gym/pybullet_envs/mimic/humanoid_test.py
2018-11-17 01:29:03 +00:00
B3_SHARED_API void b3RaycastBatchAddRay(b3SharedMemoryCommandHandle commandHandle, const double rayFromWorld[/*3*/], const double rayToWorld[/*3*/]);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
//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);
allow to provide rayCastBatch in local 'from'/'to' with a parent/link index, b3RaycastBatchSetParentObject If parentObjectUniqueId provided, convert local from/to into world space coordinates AddUserDebugLins: don't block when replacing an item Fix examples/pybullet/examples/inverse_kinematics.py
2018-10-11 06:31:50 +00:00
B3_SHARED_API void b3RaycastBatchSetParentObject(b3SharedMemoryCommandHandle commandHandle, int parentObjectUniqueId, int parentLinkIndex);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
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);
fix space fix space
2019-05-02 21:09:26 +00:00
B3_SHARED_API int b3LoadSoftBodySetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX, double startPosY, double startPosZ);
B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
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);
add const qualifiers to all double* inputs in PhysicsClientC_API
2018-09-27 00:24:40 +00:00
B3_SHARED_API int b3SetVRCameraRootPosition(b3SharedMemoryCommandHandle commandHandle, const double rootPos[/*3*/]);
B3_SHARED_API int b3SetVRCameraRootOrientation(b3SharedMemoryCommandHandle commandHandle, const double rootOrn[/*4*/]);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
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);
improved for inserting profile timings from Python, to analyzer performance of pybullet programs. See examples/pybullet/examples/profileTiming.py for an example. Note that python and c++ is properly interleaved. Open a timings with a name, close the timing without a name. Note that timings can be recursive, added/popped as a stack.
2019-08-02 02:12:16 +00:00
B3_SHARED_API void b3SetProfileTimingType(b3SharedMemoryCommandHandle commandHandle, int type);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
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*/]);
Implement btMultiBodySphericalJointMotor, able to track a quaternion position target. Expose this btMultiBodySphericalJointMotor through PyBullet.setJointMotorControlMultiDof Expose PyBullet.getQuaternionSlerp Improve PyBullet.setJointMotorControlMultiDof Improve humanoidMotionCapture.py with slerp and using setJointMotorControlMultiDof Expose btMultiBody::spatialTransform Fix btMultiBody::setupPlanar from DeepMimic codebase Add support for multidof joints in btMultiBody::compTreeLinkVelocities, thanks to DeepMimic codebase @xbpeng
2018-11-13 22:32:18 +00:00
B3_SHARED_API void b3QuaternionSlerp(const double startQuat[/*4*/], const double endQuat[/*4*/], double interpolationFraction, double outOrn[/*4*/]);
Expose PyBullet.calculateVelocityQuaternion, getAxisAngleFromQuaternion, getQuaternionFromAxisAngle, getDifferenceQuaternion Add preparation for DeepMimic humanoid environment, replicating parts of https://github.com/xbpeng/DeepMimic Loading humanoid.urdf and applying motion action: examples/pybullet/gym/pybullet_envs/mimic/humanoid.py Loading MotionCapture data: examples/pybullet/gym/pybullet_envs/mimic/motion_capture_data.py Little test: examples/pybullet/gym/pybullet_envs/mimic/humanoid_test.py
2018-11-17 01:29:03 +00:00
B3_SHARED_API void b3GetQuaternionFromAxisAngle(const double axis[/*3*/], double angle, double outQuat[/*4*/]);
B3_SHARED_API void b3GetAxisAngleFromQuaternion(const double quat[/*4*/], double axis[/*3*/], double* angle);
B3_SHARED_API void b3GetQuaternionDifference(const double startQuat[/*4*/], const double endQuat[/*4*/], double outOrn[/*4*/]);
Add preliminary PhysX 4.0 backend for PyBullet Add inverse dynamics / mass matrix code from DeepMimic, thanks to Xue Bin (Jason) Peng Add example how to use stable PD control for humanoid with spherical joints (see humanoidMotionCapture.py) Fix related to TinyRenderer object transforms not updating when using collision filtering
2019-01-23 05:08:37 +00:00
B3_SHARED_API void b3GetAxisDifferenceQuaternion(const double startQuat[/*4*/], const double endQuat[/*4*/], double axisOut[/*3*/]);
Expose PyBullet.calculateVelocityQuaternion, getAxisAngleFromQuaternion, getQuaternionFromAxisAngle, getDifferenceQuaternion Add preparation for DeepMimic humanoid environment, replicating parts of https://github.com/xbpeng/DeepMimic Loading humanoid.urdf and applying motion action: examples/pybullet/gym/pybullet_envs/mimic/humanoid.py Loading MotionCapture data: examples/pybullet/gym/pybullet_envs/mimic/motion_capture_data.py Little test: examples/pybullet/gym/pybullet_envs/mimic/humanoid_test.py
2018-11-17 01:29:03 +00:00
B3_SHARED_API void b3CalculateVelocityQuaternion(const double startQuat[/*4*/], const double endQuat[/*4*/], double deltaTime, double angVelOut[/*3*/]);
add PyBullet.rotateVector method add missing walk humanoid3d_walk.txt
2018-11-19 18:10:33 +00:00
B3_SHARED_API void b3RotateVector(const double quat[/*4*/], const double vec[/*3*/], double vecOut[/*3*/]);
Expose PyBullet.calculateVelocityQuaternion, getAxisAngleFromQuaternion, getQuaternionFromAxisAngle, getDifferenceQuaternion Add preparation for DeepMimic humanoid environment, replicating parts of https://github.com/xbpeng/DeepMimic Loading humanoid.urdf and applying motion action: examples/pybullet/gym/pybullet_envs/mimic/humanoid.py Loading MotionCapture data: examples/pybullet/gym/pybullet_envs/mimic/motion_capture_data.py Little test: examples/pybullet/gym/pybullet_envs/mimic/humanoid_test.py
2018-11-17 01:29:03 +00:00
expose timeout in pybullet/shared memory API add RobotSimulator, a C++ API similar to pybullet. (work-in-progress, only part of API implemeted)
2017-02-24 23:34:11 +00:00
fix various warnings, more work on shared memory API
2015-07-23 01:06:05 +00:00
#ifdef __cplusplus
}
#endif
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
#endif //PHYSICS_CLIENT_C_API_H
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