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bullet3/examples/SharedMemory/PhysicsClient.h

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Refactor of PhysicsClient/PhysicsServer, to separate from the example browser code. (as usual, work-in-progress)
2015-07-14 22:30:17 +00:00
#ifndef BT_PHYSICS_CLIENT_API_H
#define BT_PHYSICS_CLIENT_API_H
added preliminary shared memory physics client/server fix a bug in CommonMultiBodyBase: don't use data if it hasn't been allocated
2015-05-28 23:05:24 +00:00
another step closer to useable shared memory C API (force/torque sensor needs new API) in a nutshell, users of shared memory physics API should not directly poke into shared memory, not fill 'SharedMemorCommand' nor read SharedMemoryStatus directly. The C-API declares 'handles' for those, to avoid it from happening.
2015-09-17 06:09:10 +00:00
//#include "SharedMemoryCommands.h"
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
2015-08-20 05:51:16 +00:00
#include "LinearMath/btVector3.h"
added preliminary shared memory physics client/server fix a bug in CommonMultiBodyBase: don't use data if it hasn't been allocated
2015-05-28 23:05:24 +00:00
make PhysicsClient an interface class, and move shared memory implementation of physics client into PhysicsClientSharedMemory class/file. This will allow implementation of UDP and other transport protocols to a physics server.
2015-09-25 05:50:34 +00:00
class PhysicsClient {
Refactor of PhysicsClient/PhysicsServer, to separate from the example browser code. (as usual, work-in-progress)
2015-07-14 22:30:17 +00:00
public:
make PhysicsClient an interface class, and move shared memory implementation of physics client into PhysicsClientSharedMemory class/file. This will allow implementation of UDP and other transport protocols to a physics server.
2015-09-25 05:50:34 +00:00
virtual ~PhysicsClient();
// return true if connection succesfull, can also check 'isConnected'
virtual bool connect() = 0;
virtual void disconnectSharedMemory() = 0;
virtual bool isConnected() const = 0;
// return non-null if there is a status, nullptr otherwise
virtual const struct SharedMemoryStatus* processServerStatus() = 0;
Refactor of PhysicsClient/PhysicsServer, to separate from the example browser code. (as usual, work-in-progress)
2015-07-14 22:30:17 +00:00
make PhysicsClient an interface class, and move shared memory implementation of physics client into PhysicsClientSharedMemory class/file. This will allow implementation of UDP and other transport protocols to a physics server.
2015-09-25 05:50:34 +00:00
virtual struct SharedMemoryCommand* getAvailableSharedMemoryCommand() = 0;
Refactor of PhysicsClient/PhysicsServer, to separate from the example browser code. (as usual, work-in-progress)
2015-07-14 22:30:17 +00:00
make PhysicsClient an interface class, and move shared memory implementation of physics client into PhysicsClientSharedMemory class/file. This will allow implementation of UDP and other transport protocols to a physics server.
2015-09-25 05:50:34 +00:00
virtual bool canSubmitCommand() const = 0;
Refactor of PhysicsClient/PhysicsServer, to separate from the example browser code. (as usual, work-in-progress)
2015-07-14 22:30:17 +00:00
make PhysicsClient an interface class, and move shared memory implementation of physics client into PhysicsClientSharedMemory class/file. This will allow implementation of UDP and other transport protocols to a physics server.
2015-09-25 05:50:34 +00:00
virtual bool submitClientCommand(const struct SharedMemoryCommand& command) = 0;
Refactor of PhysicsClient/PhysicsServer, to separate from the example browser code. (as usual, work-in-progress)
2015-07-14 22:30:17 +00:00
expose getNumBodies, getBodyUniqueId, getBodyInfo (char* baseName) to shared memory API and pybullet., making it easier to serialize the state of the world.
2016-09-27 19:13:45 +00:00
virtual int getNumBodies() const = 0;
Refactor of PhysicsClient/PhysicsServer, to separate from the example browser code. (as usual, work-in-progress)
2015-07-14 22:30:17 +00:00
expose getNumBodies, getBodyUniqueId, getBodyInfo (char* baseName) to shared memory API and pybullet., making it easier to serialize the state of the world.
2016-09-27 19:13:45 +00:00
virtual int getBodyUniqueId(int serialIndex) const = 0;
virtual bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const = 0;
virtual int getNumJoints(int bodyUniqueId) const = 0;
virtual bool getJointInfo(int bodyUniqueId, int jointIndex, struct b3JointInfo& info) const = 0;
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
2015-08-20 05:51:16 +00:00
[pybullet] getNumConstraints, getConstraintInfo APIs. [pybullet] updated pybullet_quickstartguide.pdf Fail clearly (assert, return BT_INFINITY) if link index is out of range for btMultiBody methods localPosToWorld,worldPosToLocal,localDirToWorld,worldDirToLocal. pybullet getConstraintInfo Fix warnings due to Mac OSX 10.12 upgrade (with backward compatibility)
2017-01-23 03:08:31 +00:00
virtual int getNumUserConstraints() const = 0;
virtual int getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint& info) const = 0;
Add API to get user constraint id.
2017-05-04 01:25:25 +00:00
virtual int getUserConstraintId(int serialIndex) const = 0;
[pybullet] getNumConstraints, getConstraintInfo APIs. [pybullet] updated pybullet_quickstartguide.pdf Fail clearly (assert, return BT_INFINITY) if link index is out of range for btMultiBody methods localPosToWorld,worldPosToLocal,localDirToWorld,worldDirToLocal. pybullet getConstraintInfo Fix warnings due to Mac OSX 10.12 upgrade (with backward compatibility)
2017-01-23 03:08:31 +00:00
make PhysicsClient an interface class, and move shared memory implementation of physics client into PhysicsClientSharedMemory class/file. This will allow implementation of UDP and other transport protocols to a physics server.
2015-09-25 05:50:34 +00:00
virtual void setSharedMemoryKey(int key) = 0;
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
2015-08-20 05:51:16 +00:00
make PhysicsClient an interface class, and move shared memory implementation of physics client into PhysicsClientSharedMemory class/file. This will allow implementation of UDP and other transport protocols to a physics server.
2015-09-25 05:50:34 +00:00
virtual void uploadBulletFileToSharedMemory(const char* data, int len) = 0;
Adds multithreading support for batch ray casts. To enable the feature, enable the BULLET2_MULTITHREADING option. Increases the number of rays that can go in a batch request by storing them in the shared memory stream instead of the shared memory command. Adds the API b3RaycastBatchSetNumThreads to specify the number of threads to use for the raycast batch, also adds the argument numThreads to the pybullet function rayTestBatch. Rays are distributed among the threads in a greedy fashion there's a shared queue of work, once a thread finishes its task, it picks the next available ray from the task. This works better than pre-distributing the rays among threads, since there's a large variance in computation time per ray. Some controversial changes: - Added a pointer to PhysicsClient to the SharedMemoryCommand struct, this was necessary to keep the C-API the same for b3RaycastBatchAddRay, while adding the ray to the shared memory stream instead of the command struct. I think this may be useful to simplify other APIs as well, that take both a client handle and a command handle. - Moved #define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE to SharedMemoryPublic. This was necessary for the definition of MAX_RAY_INTERSECTION_BATCH_SIZE.
2018-06-15 14:47:04 +00:00
virtual char* getSharedMemoryStreamBuffer() = 0;
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
2015-08-20 05:51:16 +00:00
make PhysicsClient an interface class, and move shared memory implementation of physics client into PhysicsClientSharedMemory class/file. This will allow implementation of UDP and other transport protocols to a physics server.
2015-09-25 05:50:34 +00:00
virtual int getNumDebugLines() const = 0;
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
2015-08-20 05:51:16 +00:00
make PhysicsClient an interface class, and move shared memory implementation of physics client into PhysicsClientSharedMemory class/file. This will allow implementation of UDP and other transport protocols to a physics server.
2015-09-25 05:50:34 +00:00
virtual const float* getDebugLinesFrom() const = 0;
virtual const float* getDebugLinesTo() const = 0;
virtual const float* getDebugLinesColor() const = 0;
preparation to receive camera image data from physics server increase shadowmap world size default to 50 units (meter), 10 units (meter) was too small for most examples.
2016-05-31 17:23:04 +00:00
virtual void getCachedCameraImage(struct b3CameraImageData* cameraData)=0;
add first draft of contact point query in shared memory API b3SharedMemoryCommandHandle b3InitRequestContactPointInformation(b3PhysicsClientHandle physClient); void b3SetContactFilterBodyA(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdA); void b3SetContactFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB); void b3GetContactPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointData); Implemented for PhysicsClientSharedMemory, not for PhysicsDirect yet. Add btCollisionObject::setUserIndex2
2016-09-01 20:30:07 +00:00
virtual void getCachedContactPointInformation(struct b3ContactInformation* contactPointData)=0;
pybullet getOverlappingObjects added: report all object unique ids within a world space bounding box (aabb)
2016-11-10 19:22:22 +00:00
virtual void getCachedOverlappingObjects(struct b3AABBOverlapData* overlappingObjects) = 0;
first version of 'getVisualShapeData' to get visual shape information to allow external renderer with pybullet and shared memory robotics API b3InitRequestVisualShapeInformation/b3GetVisualShapeInformation in shared memory API
2016-10-19 05:05:28 +00:00
virtual void getCachedVisualShapeInformation(struct b3VisualShapeInformation* visualShapesInfo) = 0;
Start of a urdfEditor.py, limited support to extract a URDF from a PyBullet body. Use btCylinderShapeZ for URDF cylinder, instead of converting it to a btConvexHullShape. Implement PyBullet.getCollisionShapeData Extend PyBullet.getDynamicsInfo / b3GetDynamicsInfo, remove flag (don't rely on API returning a fixed number of elements in a list!) Extend PyBullet.getJointInfo: add parentIndex
2018-01-04 03:17:28 +00:00
virtual void getCachedCollisionShapeInformation(struct b3CollisionShapeInformation* collisionShapesInfo) = 0;
See also pybullet quickstart guide here: https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit# vrevent.py: add a Tiltbrush-style drawing example using pybullet Expose getVREvents to pybullet / shared memory API, access to any VR controller state & state changes. Improve performance of user debug lines (pybullet/shared memory API) by batching lines with same color/width expose rayTest to pybullet/shared memory API (single ray for now) add pybullet getMatrixFromQuaterion
2016-12-27 03:40:09 +00:00
virtual void getCachedVREvents(struct b3VREventsData* vrEventsData) = 0;
create premake/cmake file for Bullet/Extras/obj2sdf add missing 1.sdf for Bullet/data/kitchens/1.sdf add support for getting keyboard events (pybullet.getKeyboardEvents and b3RobotSimulatorClientAPI::getKeyboardEvents)
2017-03-02 20:33:22 +00:00
virtual void getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData) = 0;
allow to disable/enable default keyboard shortcuts ('w', 'd' 's' etc) and default mouse picking pybullet.getMouseEvents / b3RequestMouseEventsCommandInit
2017-06-17 20:29:14 +00:00
virtual void getCachedMouseEvents(struct b3MouseEventsData* mouseEventsData) = 0;
See also pybullet quickstart guide here: https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit# vrevent.py: add a Tiltbrush-style drawing example using pybullet Expose getVREvents to pybullet / shared memory API, access to any VR controller state & state changes. Improve performance of user debug lines (pybullet/shared memory API) by batching lines with same color/width expose rayTest to pybullet/shared memory API (single ray for now) add pybullet getMatrixFromQuaterion
2016-12-27 03:40:09 +00:00
virtual void getCachedRaycastHits(struct b3RaycastInformation* raycastHits) = 0;
store mass matrix in streaming part of shared memory (no support for unlimited mass matrix sizes at the moment)
2017-10-05 15:23:10 +00:00
virtual void getCachedMassMatrix(int dofCountCheck, double* massMatrix) = 0;
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
virtual void setTimeOut(double timeOutInSeconds) = 0;
virtual double getTimeOut() const = 0;
PyBullet.addUserData / getUserData / removeUserData / getUserDataId / getNumUserData / getUserDataInfo See examples/pybullet/examples/userData.py how to use it. TODO: add to PyBullet Quickstart Guide. Thanks to Tigran Gasparian for the contribution!
2018-06-02 20:40:08 +00:00
virtual bool getCachedUserData(int bodyUniqueId, int linkIndex, int userDataId, struct b3UserDataValue &valueOut) const = 0;
virtual int getCachedUserDataId(int bodyUniqueId, int linkIndex, const char *key) const = 0;
virtual int getNumUserData(int bodyUniqueId, int linkIndex) const = 0;
virtual void getUserDataInfo(int bodyUniqueId, int linkIndex, int userDataIndex, const char **keyOut, int *userDataIdOut) const = 0;
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
virtual void pushProfileTiming(const char* timingName)=0;
virtual void popProfileTiming()=0;
Refactor of PhysicsClient/PhysicsServer, to separate from the example browser code. (as usual, work-in-progress)
2015-07-14 22:30:17 +00:00
};
PyBullet.addUserData / getUserData / removeUserData / getUserDataId / getNumUserData / getUserDataInfo See examples/pybullet/examples/userData.py how to use it. TODO: add to PyBullet Quickstart Guide. Thanks to Tigran Gasparian for the contribution!
2018-06-02 20:40:08 +00:00
make PhysicsClient an interface class, and move shared memory implementation of physics client into PhysicsClientSharedMemory class/file. This will allow implementation of UDP and other transport protocols to a physics server.
2015-09-25 05:50:34 +00:00
#endif // BT_PHYSICS_CLIENT_API_H
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