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bullet3/examples/SharedMemory/mujoco/MuJoCoPhysicsServerCommandProcessor.cpp

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PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
2018-07-01 21:42:32 +00:00
#ifdef BT_ENABLE_MUJOCO
#include "MuJoCoPhysicsServerCommandProcessor.h"
#include "mujoco.h"
#include <stdio.h>
#include "../SharedMemoryCommands.h"
#include "LinearMath/btQuickprof.h"
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "LinearMath/btMinMax.h"
#include "Bullet3Common/b3FileUtils.h"
#include "../../Utils/b3ResourcePath.h"
struct MuJoCoPhysicsServerCommandProcessorInternalData
{
bool m_isConnected;
bool m_verboseOutput;
double m_physicsDeltaTime;
int m_numSimulationSubSteps;
mjModel* m_mujocoModel;
mjData* m_mujocoData;
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
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
2018-07-01 21:42:32 +00:00
b3AlignedObjectArray<int> m_mjcfRecentLoadedBodies;
MuJoCoPhysicsServerCommandProcessorInternalData()
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: m_isConnected(false),
m_verboseOutput(false),
m_mujocoModel(0),
m_mujocoData(0),
m_physicsDeltaTime(1. / 240.),
m_numSimulationSubSteps(0)
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
2018-07-01 21:42:32 +00:00
{
}
};
MuJoCoPhysicsServerCommandProcessor::MuJoCoPhysicsServerCommandProcessor()
{
m_data = new MuJoCoPhysicsServerCommandProcessorInternalData;
}
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
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
2018-07-01 21:42:32 +00:00
MuJoCoPhysicsServerCommandProcessor::~MuJoCoPhysicsServerCommandProcessor()
{
delete m_data;
}
bool MuJoCoPhysicsServerCommandProcessor::connect()
{
if (m_data->m_isConnected)
{
printf("already connected\n");
return true;
}
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
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printf("MuJoCo Pro library version %.2lf\n", 0.01 * mj_version());
if (mjVERSION_HEADER != mj_version())
mju_error("Headers and library have different versions");
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
2018-07-01 21:42:32 +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
// activate MuJoCo license
int result = mj_activate("mjkey.txt");
if (result == 1)
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
2018-07-01 21:42:32 +00:00
{
m_data->m_isConnected = true;
return true;
}
return false;
}
void MuJoCoPhysicsServerCommandProcessor::resetSimulation()
{
if (m_data->m_mujocoModel)
{
mj_deleteModel(m_data->m_mujocoModel);
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
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m_data->m_mujocoModel = 0;
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
2018-07-01 21:42:32 +00:00
}
if (m_data->m_mujocoData)
{
mj_deleteData(m_data->m_mujocoData);
m_data->m_mujocoData = 0;
}
}
void MuJoCoPhysicsServerCommandProcessor::disconnect()
{
resetSimulation();
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
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
2018-07-01 21:42:32 +00:00
m_data->m_isConnected = false;
}
bool MuJoCoPhysicsServerCommandProcessor::isConnected() const
{
return m_data->m_isConnected;
}
bool MuJoCoPhysicsServerCommandProcessor::processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
// BT_PROFILE("processCommand");
int sz = sizeof(SharedMemoryStatus);
int sz2 = sizeof(SharedMemoryCommand);
bool hasStatus = false;
serverStatusOut.m_type = CMD_INVALID_STATUS;
serverStatusOut.m_numDataStreamBytes = 0;
serverStatusOut.m_dataStream = 0;
//consume the command
switch (clientCmd.m_type)
{
case CMD_REQUEST_INTERNAL_DATA:
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{
hasStatus = processRequestInternalDataCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
break;
};
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
2018-07-01 21:42:32 +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
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case CMD_SYNC_BODY_INFO:
{
hasStatus = processSyncBodyInfoCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_SYNC_USER_DATA:
{
hasStatus = processSyncUserDataCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_LOAD_MJCF:
{
hasStatus = processLoadMJCFCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_REQUEST_BODY_INFO:
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
2018-07-01 21:42:32 +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
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hasStatus = processRequestBodyInfoCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_STEP_FORWARD_SIMULATION:
{
hasStatus = processForwardDynamicsCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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break;
}
case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS:
{
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hasStatus = processSendPhysicsParametersCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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break;
};
case CMD_REQUEST_ACTUAL_STATE:
{
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hasStatus = processRequestActualStateCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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break;
}
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
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
2018-07-01 21:42:32 +00:00
case CMD_RESET_SIMULATION:
{
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
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hasStatus = processResetSimulationCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
2018-07-01 21:42:32 +00:00
break;
}
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
default:
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
2018-07-01 21:42:32 +00:00
{
BT_PROFILE("CMD_UNKNOWN");
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
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printf("Unknown command encountered: %d", clientCmd.m_type);
SharedMemoryStatus& serverCmd = serverStatusOut;
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
2018-07-01 21:42:32 +00:00
serverCmd.m_type = CMD_UNKNOWN_COMMAND_FLUSHED;
hasStatus = true;
}
#if 0
case CMD_STATE_LOGGING:
{
hasStatus = processStateLoggingCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_SET_VR_CAMERA_STATE:
{
hasStatus = processSetVRCameraStateCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_REQUEST_VR_EVENTS_DATA:
{
hasStatus = processRequestVREventsCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
};
case CMD_REQUEST_MOUSE_EVENTS_DATA:
{
hasStatus = processRequestMouseEventsCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
};
case CMD_REQUEST_KEYBOARD_EVENTS_DATA:
{
hasStatus = processRequestKeyboardEventsCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
};
case CMD_REQUEST_RAY_CAST_INTERSECTIONS:
{
hasStatus = processRequestRaycastIntersectionsCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
};
case CMD_REQUEST_DEBUG_LINES:
{
hasStatus = processRequestDebugLinesCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_REQUEST_CAMERA_IMAGE_DATA:
{
hasStatus = processRequestCameraImageCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_REQUEST_BODY_INFO:
{
hasStatus = processRequestBodyInfoCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_SAVE_WORLD:
{
hasStatus = processSaveWorldCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_LOAD_SDF:
{
hasStatus = processLoadSDFCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_CREATE_COLLISION_SHAPE:
{
hasStatus = processCreateCollisionShapeCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_CREATE_VISUAL_SHAPE:
{
hasStatus = processCreateVisualShapeCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_CREATE_MULTI_BODY:
{
hasStatus = processCreateMultiBodyCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_SET_ADDITIONAL_SEARCH_PATH:
{
hasStatus = processSetAdditionalSearchPathCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_LOAD_URDF:
{
hasStatus = processLoadURDFCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_LOAD_SOFT_BODY:
{
hasStatus = processLoadSoftBodyCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_CREATE_SENSOR:
{
hasStatus = processCreateSensorCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_PROFILE_TIMING:
{
hasStatus = processProfileTimingCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_SEND_DESIRED_STATE:
{
hasStatus = processSendDesiredStateCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_REQUEST_COLLISION_INFO:
{
hasStatus = processRequestCollisionInfoCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_CHANGE_DYNAMICS_INFO:
{
hasStatus = processChangeDynamicsInfoCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
};
case CMD_GET_DYNAMICS_INFO:
{
hasStatus = processGetDynamicsInfoCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS:
{
hasStatus = processRequestPhysicsSimulationParametersCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_INIT_POSE:
{
hasStatus = processInitPoseCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_CREATE_RIGID_BODY:
{
hasStatus = processCreateRigidBodyCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_CREATE_BOX_COLLISION_SHAPE:
{
//for backward compatibility, CMD_CREATE_BOX_COLLISION_SHAPE is the same as CMD_CREATE_RIGID_BODY
hasStatus = processCreateRigidBodyCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_PICK_BODY:
{
hasStatus = processPickBodyCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_MOVE_PICKED_BODY:
{
hasStatus = processMovePickedBodyCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_REMOVE_PICKING_CONSTRAINT_BODY:
{
hasStatus = processRemovePickingConstraintCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_REQUEST_AABB_OVERLAP:
{
hasStatus = processRequestAabbOverlapCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_REQUEST_OPENGL_VISUALIZER_CAMERA:
{
hasStatus = processRequestOpenGLVisualizeCameraCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_CONFIGURE_OPENGL_VISUALIZER:
{
hasStatus = processConfigureOpenGLVisualizerCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_REQUEST_CONTACT_POINT_INFORMATION:
{
hasStatus = processRequestContactpointInformationCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_CALCULATE_INVERSE_DYNAMICS:
{
hasStatus = processInverseDynamicsCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_CALCULATE_JACOBIAN:
{
hasStatus = processCalculateJacobianCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_CALCULATE_MASS_MATRIX:
{
hasStatus = processCalculateMassMatrixCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_APPLY_EXTERNAL_FORCE:
{
hasStatus = processApplyExternalForceCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_REMOVE_BODY:
{
hasStatus = processRemoveBodyCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_USER_CONSTRAINT:
{
hasStatus = processCreateUserConstraintCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_CALCULATE_INVERSE_KINEMATICS:
{
hasStatus = processCalculateInverseKinematicsCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_REQUEST_VISUAL_SHAPE_INFO:
{
hasStatus = processRequestVisualShapeInfoCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_REQUEST_COLLISION_SHAPE_INFO:
{
hasStatus = processRequestCollisionShapeInfoCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_UPDATE_VISUAL_SHAPE:
{
hasStatus = processUpdateVisualShapeCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_CHANGE_TEXTURE:
{
hasStatus = processChangeTextureCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_LOAD_TEXTURE:
{
hasStatus = processLoadTextureCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_RESTORE_STATE:
{
hasStatus = processRestoreStateCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_SAVE_STATE:
{
hasStatus = processSaveStateCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_LOAD_BULLET:
{
hasStatus = processLoadBulletCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_SAVE_BULLET:
{
hasStatus = processSaveBulletCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_LOAD_MJCF:
{
hasStatus = processLoadMJCFCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_USER_DEBUG_DRAW:
{
hasStatus = processUserDebugDrawCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_CUSTOM_COMMAND:
{
hasStatus = processCustomCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_REQUEST_USER_DATA:
{
hasStatus = processRequestUserDataCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_ADD_USER_DATA:
{
hasStatus = processAddUserDataCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_REMOVE_USER_DATA:
{
hasStatus = processRemoveUserDataCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
#endif
};
return hasStatus;
}
bool MuJoCoPhysicsServerCommandProcessor::processRequestInternalDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
bool hasStatus = true;
BT_PROFILE("CMD_REQUEST_INTERNAL_DATA");
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_REQUEST_INTERNAL_DATA_COMPLETED;
serverCmd.m_numDataStreamBytes = 0;
return hasStatus;
}
bool MuJoCoPhysicsServerCommandProcessor::processSyncBodyInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
bool hasStatus = true;
BT_PROFILE("CMD_SYNC_BODY_INFO");
int actualNumBodies = 0;
serverStatusOut.m_sdfLoadedArgs.m_numBodies = 0;
serverStatusOut.m_sdfLoadedArgs.m_numUserConstraints = 0;
serverStatusOut.m_type = CMD_SYNC_BODY_INFO_COMPLETED;
return hasStatus;
}
bool MuJoCoPhysicsServerCommandProcessor::processSyncUserDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
bool hasStatus = true;
BT_PROFILE("CMD_SYNC_USER_DATA");
int numIdentifiers = 0;
serverStatusOut.m_syncUserDataArgs.m_numUserDataIdentifiers = numIdentifiers;
serverStatusOut.m_type = CMD_SYNC_USER_DATA_COMPLETED;
return hasStatus;
}
bool MuJoCoPhysicsServerCommandProcessor::processLoadMJCFCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
bool hasStatus = true;
BT_PROFILE("CMD_LOAD_MJCF");
serverStatusOut.m_type = CMD_MJCF_LOADING_FAILED;
const MjcfArgs& mjcfArgs = clientCmd.m_mjcfArguments;
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
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if (m_data->m_verboseOutput)
{
printf("Processed CMD_LOAD_MJCF:%s", mjcfArgs.m_mjcfFileName);
}
bool useMultiBody = (clientCmd.m_updateFlags & URDF_ARGS_USE_MULTIBODY) ? (mjcfArgs.m_useMultiBody != 0) : true;
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
2018-07-01 21:42:32 +00:00
int flags = 0;
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
if (clientCmd.m_updateFlags & URDF_ARGS_HAS_CUSTOM_URDF_FLAGS)
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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{
flags |= clientCmd.m_mjcfArguments.m_flags;
}
const char* fileName = mjcfArgs.m_mjcfFileName;
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
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if (strlen(fileName) > 0)
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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{
char relativeFileName[1024];
b3FileUtils fu;
//bool fileFound = fu.findFile(fileName, relativeFileName, 1024);
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
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bool fileFound = (b3ResourcePath::findResourcePath(fileName, relativeFileName, 1024) > 0);
if (!fileFound)
{
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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printf("MJCF file not found: %s\n", fileName);
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
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}
else
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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{
int maxPathLen = 1024;
char pathPrefix[1024];
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
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fu.extractPath(relativeFileName, pathPrefix, maxPathLen);
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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{
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
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char error[1000] = "could not load binary model";
mjModel* mnew = 0;
if (strlen(relativeFileName) > 4 && !strcmp(relativeFileName + strlen(relativeFileName) - 4, ".mjb"))
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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{
mnew = mj_loadModel(relativeFileName, 0);
}
else
{
mnew = mj_loadXML(relativeFileName, 0, error, 1000);
if (mnew)
{
//replace old one for now
if (m_data->m_mujocoModel)
{
mj_deleteModel(m_data->m_mujocoModel);
}
if (m_data->m_mujocoData)
{
mj_deleteData(m_data->m_mujocoData);
}
m_data->m_mujocoModel = mnew;
m_data->m_mujocoData = mj_makeData(m_data->m_mujocoModel);
mj_forward(m_data->m_mujocoModel, m_data->m_mujocoData);
}
}
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
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if (!mnew)
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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{
printf("%s\n", error);
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
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}
else
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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{
int maxBodies = btMin(MAX_SDF_BODIES, mnew->nbody);
serverStatusOut.m_sdfLoadedArgs.m_numBodies = maxBodies;
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
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for (int i = 0; i < maxBodies; i++)
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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{
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
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serverStatusOut.m_sdfLoadedArgs.m_bodyUniqueIds[i] = i;
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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}
serverStatusOut.m_sdfLoadedArgs.m_numUserConstraints = 0;
serverStatusOut.m_type = CMD_MJCF_LOADING_COMPLETED;
}
}
}
}
return hasStatus;
}
bool MuJoCoPhysicsServerCommandProcessor::processRequestBodyInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
bool hasStatus = true;
BT_PROFILE("CMD_REQUEST_BODY_INFO");
const SdfRequestInfoArgs& sdfInfoArgs = clientCmd.m_sdfRequestInfoArgs;
//stream info into memory
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
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int streamSizeInBytes = 0; //createBodyInfoStream(sdfInfoArgs.m_bodyUniqueId, bufferServerToClient, bufferSizeInBytes);
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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serverStatusOut.m_type = CMD_BODY_INFO_COMPLETED;
serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = sdfInfoArgs.m_bodyUniqueId;
serverStatusOut.m_dataStreamArguments.m_bodyName[0] = 0;
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
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if (m_data->m_mujocoModel && sdfInfoArgs.m_bodyUniqueId >= 0 && sdfInfoArgs.m_bodyUniqueId < m_data->m_mujocoModel->nbody)
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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{
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
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const char* name = m_data->m_mujocoModel->names + m_data->m_mujocoModel->name_bodyadr[sdfInfoArgs.m_bodyUniqueId];
strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, name);
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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}
serverStatusOut.m_numDataStreamBytes = streamSizeInBytes;
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
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return hasStatus;
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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}
bool MuJoCoPhysicsServerCommandProcessor::processForwardDynamicsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
bool hasStatus = true;
BT_PROFILE("CMD_STEP_FORWARD_SIMULATION");
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
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PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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if (m_data->m_mujocoModel)
{
if (m_data->m_verboseOutput)
{
b3Printf("Step simulation request");
b3Printf("CMD_STEP_FORWARD_SIMULATION clientCmd = %d\n", clientCmd.m_sequenceNumber);
}
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
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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btScalar deltaTimeScaled = m_data->m_physicsDeltaTime;
if (m_data->m_numSimulationSubSteps > 0)
{
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
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for (int i = 0; i < m_data->m_numSimulationSubSteps; i++)
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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{
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
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m_data->m_mujocoModel->opt.timestep = m_data->m_physicsDeltaTime / m_data->m_numSimulationSubSteps;
mj_step(m_data->m_mujocoModel, m_data->m_mujocoData);
mj_forward(m_data->m_mujocoModel, m_data->m_mujocoData);
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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}
}
else
{
m_data->m_mujocoModel->opt.timestep = m_data->m_physicsDeltaTime;
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
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mj_step(m_data->m_mujocoModel, m_data->m_mujocoData);
mj_forward(m_data->m_mujocoModel, m_data->m_mujocoData);
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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}
}
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
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SharedMemoryStatus& serverCmd = serverStatusOut;
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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serverCmd.m_type = CMD_STEP_FORWARD_SIMULATION_COMPLETED;
return hasStatus;
}
bool MuJoCoPhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
bool hasStatus = true;
BT_PROFILE("CMD_SEND_PHYSICS_SIMULATION_PARAMETERS");
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
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if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_DELTA_TIME)
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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{
m_data->m_physicsDeltaTime = clientCmd.m_physSimParamArgs.m_deltaTime;
}
#if 0
if (clientCmd.m_updateFlags & SIM_PARAM_ENABLE_CONE_FRICTION)
{
if (clientCmd.m_physSimParamArgs.m_enableConeFriction)
{
m_data->m_dynamicsWorld->getSolverInfo().m_solverMode &=~SOLVER_DISABLE_IMPLICIT_CONE_FRICTION;
} else
{
m_data->m_dynamicsWorld->getSolverInfo().m_solverMode |=SOLVER_DISABLE_IMPLICIT_CONE_FRICTION;
}
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DETERMINISTIC_OVERLAPPING_PAIRS)
{
m_data->m_dynamicsWorld->getDispatchInfo().m_deterministicOverlappingPairs = (clientCmd.m_physSimParamArgs.m_deterministicOverlappingPairs!=0);
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_CCD_ALLOWED_PENETRATION)
{
m_data->m_dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration = clientCmd.m_physSimParamArgs.m_allowedCcdPenetration;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_JOINT_FEEDBACK_MODE)
{
gJointFeedbackInWorldSpace = (clientCmd.m_physSimParamArgs.m_jointFeedbackMode&JOINT_FEEDBACK_IN_WORLD_SPACE)!=0;
gJointFeedbackInJointFrame = (clientCmd.m_physSimParamArgs.m_jointFeedbackMode&JOINT_FEEDBACK_IN_JOINT_FRAME)!=0;
}
if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_REAL_TIME_SIMULATION)
{
m_data->m_useRealTimeSimulation = (clientCmd.m_physSimParamArgs.m_useRealTimeSimulation!=0);
}
//see
if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_INTERNAL_SIMULATION_FLAGS)
{
//these flags are for internal/temporary/easter-egg/experimental demo purposes, use at own risk
gInternalSimFlags = clientCmd.m_physSimParamArgs.m_internalSimFlags;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_GRAVITY)
{
btVector3 grav(clientCmd.m_physSimParamArgs.m_gravityAcceleration[0],
clientCmd.m_physSimParamArgs.m_gravityAcceleration[1],
clientCmd.m_physSimParamArgs.m_gravityAcceleration[2]);
this->m_data->m_dynamicsWorld->setGravity(grav);
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
m_data->m_dynamicsWorld->getWorldInfo().m_gravity=grav;
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
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
2018-07-01 21:42:32 +00:00
#endif
if (m_data->m_verboseOutput)
{
b3Printf("Updated Gravity: %f,%f,%f",grav[0],grav[1],grav[2]);
}
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS)
{
m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = clientCmd.m_physSimParamArgs.m_numSolverIterations;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_SOLVER_RESIDULAL_THRESHOLD)
{
m_data->m_dynamicsWorld->getSolverInfo().m_leastSquaresResidualThreshold = clientCmd.m_physSimParamArgs.m_solverResidualThreshold;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_CONTACT_BREAKING_THRESHOLD)
{
gContactBreakingThreshold = clientCmd.m_physSimParamArgs.m_contactBreakingThreshold;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_CONTACT_SLOP)
{
m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = clientCmd.m_physSimParamArgs.m_contactSlop;
}
if (clientCmd.m_updateFlags&SIM_PARAM_ENABLE_SAT)
{
m_data->m_dynamicsWorld->getDispatchInfo().m_enableSatConvex = clientCmd.m_physSimParamArgs.m_enableSAT!=0;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_COLLISION_FILTER_MODE)
{
m_data->m_broadphaseCollisionFilterCallback->m_filterMode = clientCmd.m_physSimParamArgs.m_collisionFilterMode;
}
if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_USE_SPLIT_IMPULSE)
{
m_data->m_dynamicsWorld->getSolverInfo().m_splitImpulse = clientCmd.m_physSimParamArgs.m_useSplitImpulse;
}
if (clientCmd.m_updateFlags &SIM_PARAM_UPDATE_SPLIT_IMPULSE_PENETRATION_THRESHOLD)
{
m_data->m_dynamicsWorld->getSolverInfo().m_splitImpulsePenetrationThreshold = clientCmd.m_physSimParamArgs.m_splitImpulsePenetrationThreshold;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_NUM_SIMULATION_SUB_STEPS)
{
m_data->m_numSimulationSubSteps = clientCmd.m_physSimParamArgs.m_numSimulationSubSteps;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DEFAULT_CONTACT_ERP)
{
m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = clientCmd.m_physSimParamArgs.m_defaultContactERP;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DEFAULT_NON_CONTACT_ERP)
{
m_data->m_dynamicsWorld->getSolverInfo().m_erp = clientCmd.m_physSimParamArgs.m_defaultNonContactERP;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DEFAULT_FRICTION_ERP)
{
m_data->m_dynamicsWorld->getSolverInfo().m_frictionERP = clientCmd.m_physSimParamArgs.m_frictionERP;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DEFAULT_GLOBAL_CFM)
{
m_data->m_dynamicsWorld->getSolverInfo().m_globalCfm = clientCmd.m_physSimParamArgs.m_defaultGlobalCFM;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DEFAULT_FRICTION_CFM)
{
m_data->m_dynamicsWorld->getSolverInfo().m_frictionCFM = clientCmd.m_physSimParamArgs.m_frictionCFM;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_RESTITUTION_VELOCITY_THRESHOLD)
{
m_data->m_dynamicsWorld->getSolverInfo().m_restitutionVelocityThreshold = clientCmd.m_physSimParamArgs.m_restitutionVelocityThreshold;
}
if (clientCmd.m_updateFlags&SIM_PARAM_ENABLE_FILE_CACHING)
{
b3EnableFileCaching(clientCmd.m_physSimParamArgs.m_enableFileCaching);
}
#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
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SharedMemoryStatus& serverCmd = serverStatusOut;
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;
return hasStatus;
}
bool MuJoCoPhysicsServerCommandProcessor::processRequestActualStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
bool hasStatus = true;
serverStatusOut.m_type = CMD_ACTUAL_STATE_UPDATE_FAILED;
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
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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if (m_data->m_mujocoModel)
{
BT_PROFILE("CMD_REQUEST_ACTUAL_STATE");
if (m_data->m_verboseOutput)
{
b3Printf("Sending the actual state (Q,U)");
}
int bodyUniqueId = clientCmd.m_requestActualStateInformationCommandArgument.m_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
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if (bodyUniqueId >= 0 && bodyUniqueId < m_data->m_mujocoModel->nbody)
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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{
SharedMemoryStatus& serverCmd = serverStatusOut;
serverStatusOut.m_type = CMD_ACTUAL_STATE_UPDATE_COMPLETED;
serverCmd.m_sendActualStateArgs.m_bodyUniqueId = 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
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serverCmd.m_sendActualStateArgs.m_numLinks = 0; //todo body->m_multiBody->getNumLinks();
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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int totalDegreeOfFreedomQ = 0;
int totalDegreeOfFreedomU = 0;
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if (serverCmd.m_sendActualStateArgs.m_numLinks >= MAX_DEGREE_OF_FREEDOM)
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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{
serverStatusOut.m_type = CMD_ACTUAL_STATE_UPDATE_FAILED;
hasStatus = true;
return hasStatus;
}
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bool computeForwardKinematics = ((clientCmd.m_updateFlags & ACTUAL_STATE_COMPUTE_FORWARD_KINEMATICS) != 0);
bool computeLinkVelocities = ((clientCmd.m_updateFlags & ACTUAL_STATE_COMPUTE_LINKVELOCITY) != 0);
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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if (computeForwardKinematics || computeLinkVelocities)
{
//todo:check this
mj_forward(m_data->m_mujocoModel, m_data->m_mujocoData);
}
//always add the base, even for static (non-moving objects)
//so that we can easily move the 'fixed' base when needed
//do we don't use this conditional "if (!mb->hasFixedBase())"
{
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int rootLink = 0; //todo check
int type = (m_data->m_mujocoModel->jnt_type + m_data->m_mujocoModel->body_jntnum[bodyUniqueId])[rootLink];
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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//assume mjJNT_FREE?
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int qposAdr = (m_data->m_mujocoModel->jnt_qposadr + m_data->m_mujocoModel->body_jntnum[bodyUniqueId])[rootLink];
mjtNum* pos = m_data->m_mujocoData->xipos + bodyUniqueId * 3;
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[0] = 0;
serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[1] = 0;
serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[2] = 0;
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
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mjtNum* orn = m_data->m_mujocoData->xquat + bodyUniqueId * 4;
mjtNum* cvel = m_data->m_mujocoData->cvel + bodyUniqueId * 6;
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[3] = 0;
serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[4] = 0;
serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[5] = 0;
serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[6] = 1;
//base position in world space, carthesian
serverCmd.m_sendActualStateArgs.m_actualStateQ[0] = pos[0];
serverCmd.m_sendActualStateArgs.m_actualStateQ[1] = pos[1];
serverCmd.m_sendActualStateArgs.m_actualStateQ[2] = pos[2];
//base orientation, quaternion x,y,z,w, in world space, carthesian
serverCmd.m_sendActualStateArgs.m_actualStateQ[3] = orn[0];
serverCmd.m_sendActualStateArgs.m_actualStateQ[4] = orn[1];
serverCmd.m_sendActualStateArgs.m_actualStateQ[5] = orn[2];
serverCmd.m_sendActualStateArgs.m_actualStateQ[6] = orn[3];
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totalDegreeOfFreedomQ += 7; //pos + quaternion
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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//base linear velocity (in world space, carthesian)
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serverCmd.m_sendActualStateArgs.m_actualStateQdot[0] = cvel[3]; //mb->getBaseVel()[0];
serverCmd.m_sendActualStateArgs.m_actualStateQdot[1] = cvel[4]; //mb->getBaseVel()[1];
serverCmd.m_sendActualStateArgs.m_actualStateQdot[2] = cvel[5]; //mb->getBaseVel()[2];
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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//base angular velocity (in world space, carthesian)
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serverCmd.m_sendActualStateArgs.m_actualStateQdot[3] = cvel[0]; //mb->getBaseOmega()[0];
serverCmd.m_sendActualStateArgs.m_actualStateQdot[4] = cvel[1]; //mb->getBaseOmega()[1];
serverCmd.m_sendActualStateArgs.m_actualStateQdot[5] = cvel[2]; //mb->getBaseOmega()[2];
totalDegreeOfFreedomU += 6; //3 linear and 3 angular DOF
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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}
//btAlignedObjectArray<btVector3> omega;
//btAlignedObjectArray<btVector3> linVel;
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PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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int numLinks = m_data->m_mujocoModel->body_jntnum[bodyUniqueId];
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for (int l = 0; l < numLinks; l++)
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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{
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
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int type = (m_data->m_mujocoModel->jnt_type + m_data->m_mujocoModel->body_jntnum[bodyUniqueId])[l];
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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//int type=(m_data->m_mujocoModel->jnt_type+m_data->m_mujocoModel->body_jntnum[bodyUniqueId])[l];
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#if 0
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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mjtNum* xpos =
for (int d=0;d<mb->getLink(l).m_posVarCount;d++)
{
serverCmd.m_sendActualStateArgs.m_actualStateQ[totalDegreeOfFreedomQ++] = 0;
}
for (int d=0;d<mb->getLink(l).m_dofCount;d++)
{
serverCmd.m_sendActualStateArgs.m_actualStateQdot[totalDegreeOfFreedomU++] = 0;
}
if (0 == mb->getLink(l).m_jointFeedback)
{
for (int d=0;d<6;d++)
{
serverCmd.m_sendActualStateArgs.m_jointReactionForces[l*6+d]=0;
}
} else
{
serverCmd.m_sendActualStateArgs.m_jointReactionForces[l*6+0] = 0;
serverCmd.m_sendActualStateArgs.m_jointReactionForces[l*6+1] = 0;
serverCmd.m_sendActualStateArgs.m_jointReactionForces[l*6+2] = 0;
serverCmd.m_sendActualStateArgs.m_jointReactionForces[l*6+3] = 0;
serverCmd.m_sendActualStateArgs.m_jointReactionForces[l*6+4] = 0;
serverCmd.m_sendActualStateArgs.m_jointReactionForces[l*6+5] = 0;
}
serverCmd.m_sendActualStateArgs.m_jointMotorForce[l] = 0;
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#if 0
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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if (supportsJointMotor(mb,l))
{
if (motor && m_data->m_physicsDeltaTime>btScalar(0))
{
serverCmd.m_sendActualStateArgs.m_jointMotorForce[l] = 0;
}
}
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#endif
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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//btVector3 linkLocalInertialOrigin = body->m_linkLocalInertialFrames[l].getOrigin();
//btQuaternion linkLocalInertialRotation = body->m_linkLocalInertialFrames[l].getRotation();
//btVector3 linkCOMOrigin = mb->getLink(l).m_cachedWorldTransform.getOrigin();
//btQuaternion linkCOMRotation = mb->getLink(l).m_cachedWorldTransform.getRotation();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+0] = 0;//linkCOMOrigin.getX();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+1] = 0;//linkCOMOrigin.getY();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+2] = 0;//linkCOMOrigin.getZ();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+3] = 0;//linkCOMRotation.x();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+4] = 0;//linkCOMRotation.y();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+5] = 0;//linkCOMRotation.z();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+6] = 1;//linkCOMRotation.w();
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#if 0
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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btVector3 worldLinVel(0,0,0);
btVector3 worldAngVel(0,0,0);
if (computeLinkVelocities)
{
const btMatrix3x3& linkRotMat = mb->getLink(l).m_cachedWorldTransform.getBasis();
worldLinVel = linkRotMat * linVel[l+1];
worldAngVel = linkRotMat * omega[l+1];
}
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#endif
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+0] = 0;//worldLinVel[0];
serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+1] = 0;//worldLinVel[1];
serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+2] = 0;//worldLinVel[2];
serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+3] = 0;//worldAngVel[0];
serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+4] = 0;//worldAngVel[1];
serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+5] = 0;//worldAngVel[2];
serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+0] = 0;//linkLocalInertialOrigin.getX();
serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+1] = 0;//linkLocalInertialOrigin.getY();
serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+2] = 0;//linkLocalInertialOrigin.getZ();
serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+3] = 0;//linkLocalInertialRotation.x();
serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+4] = 0;//linkLocalInertialRotation.y();
serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+5] = 0;//linkLocalInertialRotation.z();
serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+6] = 1;//linkLocalInertialRotation.w();
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#endif
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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}
serverCmd.m_sendActualStateArgs.m_numDegreeOfFreedomQ = totalDegreeOfFreedomQ;
serverCmd.m_sendActualStateArgs.m_numDegreeOfFreedomU = totalDegreeOfFreedomU;
hasStatus = true;
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}
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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}
return hasStatus;
}
bool MuJoCoPhysicsServerCommandProcessor::processResetSimulationCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
bool hasStatus = true;
BT_PROFILE("CMD_RESET_SIMULATION");
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PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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resetSimulation();
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SharedMemoryStatus& serverCmd = serverStatusOut;
PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. PyBullet: add 2d biped example.,
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serverCmd.m_type = CMD_RESET_SIMULATION_COMPLETED;
return hasStatus;
}
bool MuJoCoPhysicsServerCommandProcessor::receiveStatus(struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
return false;
}
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#endif //BT_ENABLE_MUJOCO
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