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bullet3/examples/SharedMemory/PhysicsDirect.h

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add physics server loopback (both client and server in the same process, using shared memory) add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
2015-11-23 04:50:32 +00:00
#ifndef PHYSICS_DIRECT_H
#define PHYSICS_DIRECT_H
//#include "SharedMemoryCommands.h"
#include "PhysicsClient.h"
#include "LinearMath/btVector3.h"
///PhysicsDirect executes the commands directly, without transporting them or having a separate server executing commands
class PhysicsDirect : public PhysicsClient
{
protected:
struct PhysicsDirectInternalData* m_data;
bool processDebugLines(const struct SharedMemoryCommand& orgCommand);
make one of the cubes in two_cubes.sdf static (immovable) using the <static> tag in SDF add an example using 'direct' fix the send-desired-state commands, to add flags for arguments set, using default values. Start exposing SDF loading in shared memory api, not fully implemented yet.
2016-06-04 02:03:56 +00:00
bool processCamera(const struct SharedMemoryCommand& orgCommand);
implement pybullet.getContactPointData(), two optional object unique ids as filter returns a pylist of contact points. Each point has the following data: 0 int m_contactFlags;//unused for now 1 int m_bodyUniqueIdA; 2 int m_bodyUniqueIdB; 3 int m_linkIndexA; 4 int m_linkIndexB; 5-6-7 double m_positionOnAInWS[3];//contact point location on object A, in world space coordinates 8-9-10 double m_positionOnBInWS[3];//contact point location on object A, in world space coordinates 11-12-13 double m_contactNormalOnBInWS[3];//the separating contact normal, pointing from object B towards object A 14 double m_contactDistance;//negative number is penetration, positive is distance. 15 double m_normalForce;
2016-09-02 01:28:39 +00:00
bool processContactPointData(const struct SharedMemoryCommand& orgCommand);
pybullet getOverlappingObjects added: report all object unique ids within a world space bounding box (aabb)
2016-11-10 19:22:22 +00:00
bool processOverlappingObjects(const struct SharedMemoryCommand& orgCommand);
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
bool processVisualShapeData(const struct SharedMemoryCommand& orgCommand);
work-in-progress send object/joint information after loading SDF file
2016-06-15 01:41:19 +00:00
void processBodyJointInfo(int bodyUniqueId, const struct SharedMemoryStatus& serverCmd);
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
void postProcessStatus(const struct SharedMemoryStatus& serverCmd);
remove some memory leaks in example code.
2017-01-10 22:57:16 +00:00
void resetData();
more work towards removeBody for C-API/pybullet, work-in-progress.
2017-05-04 04:53:29 +00:00
void removeCachedBody(int bodyUniqueId);
add physics server loopback (both client and server in the same process, using shared memory) add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
2015-11-23 04:50:32 +00:00
public:
remove some memory leaks in example code.
2017-01-10 22:57:16 +00:00
PhysicsDirect(class PhysicsCommandProcessorInterface* physSdk, bool passSdkOwnership);
add physics server loopback (both client and server in the same process, using shared memory) add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
2015-11-23 04:50:32 +00:00
virtual ~PhysicsDirect();
add single step simulation, using 'o' key. use 'i' key to suspend simulation first default background color a bit darker, to show debug lines tweaked contact point rendering a bit
2016-08-19 17:30:02 +00:00
// return true if connection succesfull, can also check 'isConnected'
//it is OK to pass a null pointer for the gui helper
add physics server loopback (both client and server in the same process, using shared memory) add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
2015-11-23 04:50:32 +00:00
virtual bool connect();
add single step simulation, using 'o' key. use 'i' key to suspend simulation first default background color a bit darker, to show debug lines tweaked contact point rendering a bit
2016-08-19 17:30:02 +00:00
add physics server loopback (both client and server in the same process, using shared memory) add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
2015-11-23 04:50:32 +00:00
////todo: rename to 'disconnect'
virtual void disconnectSharedMemory();
virtual bool isConnected() const;
// return non-null if there is a status, nullptr otherwise
virtual const SharedMemoryStatus* processServerStatus();
virtual SharedMemoryCommand* getAvailableSharedMemoryCommand();
virtual bool canSubmitCommand() const;
virtual bool submitClientCommand(const struct SharedMemoryCommand& command);
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;
virtual int getBodyUniqueId(int serialIndex) const;
virtual bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const;
add physics server loopback (both client and server in the same process, using shared memory) add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
2015-11-23 04:50:32 +00:00
virtual int getNumJoints(int bodyIndex) const;
implement getJointInfo for objects loaded through SDF
2016-06-16 01:01:41 +00:00
virtual bool getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const;
add physics server loopback (both client and server in the same process, using shared memory) add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
2015-11-23 04:50:32 +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;
virtual int getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint& info) const;
Add API to get user constraint id.
2017-05-04 01:25:25 +00:00
virtual int getUserConstraintId(int serialIndex) const;
[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
add physics server loopback (both client and server in the same process, using shared memory) add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
2015-11-23 04:50:32 +00:00
///todo: move this out of the
virtual void setSharedMemoryKey(int key);
void uploadBulletFileToSharedMemory(const char* data, int len);
virtual int getNumDebugLines() const;
virtual const float* getDebugLinesFrom() const;
virtual const float* getDebugLinesTo() const;
virtual const float* getDebugLinesColor() const;
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(b3CameraImageData* cameraData);
add single step simulation, using 'o' key. use 'i' key to suspend simulation first default background color a bit darker, to show debug lines tweaked contact point rendering a bit
2016-08-19 17:30:02 +00:00
add first draft of contact point query in shared memory API b3SharedMemoryCommandHandle b3InitRequestContactPointInformation(b3PhysicsClientHandle physClient); void b3SetContactFilterBodyA(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdA); void b3SetContactFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB); void b3GetContactPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointData); Implemented for PhysicsClientSharedMemory, not for PhysicsDirect yet. Add btCollisionObject::setUserIndex2
2016-09-01 20:30:07 +00:00
virtual void getCachedContactPointInformation(struct b3ContactInformation* contactPointData);
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);
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);
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);
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);
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);
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);
pybullet getOverlappingObjects added: report all object unique ids within a world space bounding box (aabb)
2016-11-10 19:22:22 +00:00
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);
[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
//the following APIs are for internal use for visualization:
add single step simulation, using 'o' key. use 'i' key to suspend simulation first default background color a bit darker, to show debug lines tweaked contact point rendering a bit
2016-08-19 17:30:02 +00:00
virtual bool connect(struct GUIHelperInterface* guiHelper);
virtual void renderScene();
virtual void debugDraw(int debugDrawMode);
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);
virtual double getTimeOut() const;
add physics server loopback (both client and server in the same process, using shared memory) add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
2015-11-23 04:50:32 +00:00
};
#endif //PHYSICS_DIRECT_H
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