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bullet3/examples/SharedMemory/PhysicsServerCommandProcessor.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_SERVER_COMMAND_PROCESSOR_H
#define PHYSICS_SERVER_COMMAND_PROCESSOR_H
#include "LinearMath/btVector3.h"
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)
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#include "PhysicsCommandProcessorInterface.h"
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)
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struct SharedMemLines
{
btVector3 m_from;
btVector3 m_to;
btVector3 m_color;
};
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
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: naming. Perhaps PhysicsSdkCommandprocessor?
print better error warning, in case the physics client/server version mismatch. fix in b3HashString remove many unused dependencies from kuka_grasp_block_playback.py (time,math, datetime ,numpy,pylab ,sys, os, fnmatch,argparse were not used!) move block_grasp_log.bin from Bullet3/data to Bullet3/examples/pybullet/examples/data folder. PhysicsServerCommandProcessor, derive from CommandProcessorInterface to prepare for different back-end implementation
2017-05-29 00:05:18 +00:00
class PhysicsServerCommandProcessor : public CommandProcessorInterface
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)
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{
struct PhysicsServerCommandProcessorInternalData* m_data;
add a tray, similar to those ones: https://research.googleblog.com/2016/03/deep-learning-for-robots-learning-from.html tune the VR demo a bit, to make it more user friendly.
2016-11-30 01:08:47 +00:00
void resetSimulation();
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
protected:
Finally refactored the PhysicsServerCommandProcessor::processCommand switch statements into over 50 separate functions. Over time, some of those functions can be moved into separate plugins, similar to vrSyncPlugin (either statically/dynamically linked plugins or dynamically loaded at run-time)
2017-11-18 00:14:18 +00:00
bool processStateLoggingCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestCameraImageCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processSaveWorldCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCreateCollisionShapeCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCreateVisualShapeCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCustomCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processUserDebugDrawCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processSetVRCameraStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestVREventsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestMouseEventsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestKeyboardEventsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestRaycastIntersectionsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestDebugLinesCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processSyncBodyInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processSendDesiredStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestActualStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestContactpointInformationCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestBodyInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processLoadSDFCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCreateMultiBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processLoadURDFCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
Change the API names for loading softbody.
2018-01-08 03:24:37 +00:00
bool processLoadSoftBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
Finally refactored the PhysicsServerCommandProcessor::processCommand switch statements into over 50 separate functions. Over time, some of those functions can be moved into separate plugins, similar to vrSyncPlugin (either statically/dynamically linked plugins or dynamically loaded at run-time)
2017-11-18 00:14:18 +00:00
bool processCreateSensorCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processProfileTimingCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestCollisionInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processForwardDynamicsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestInternalDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processChangeDynamicsInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processSetAdditionalSearchPathCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processGetDynamicsInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestPhysicsSimulationParametersCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processSendPhysicsParametersCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processInitPoseCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processResetSimulationCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCreateRigidBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processPickBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processMovePickedBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRemovePickingConstraintCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestAabbOverlapCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestOpenGLVisualizeCameraCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processConfigureOpenGLVisualizerCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processInverseDynamicsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCalculateJacobianCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCalculateMassMatrixCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processApplyExternalForceCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRemoveBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCreateUserConstraintCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCalculateInverseKinematicsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestVisualShapeInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
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
bool processRequestCollisionShapeInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
Finally refactored the PhysicsServerCommandProcessor::processCommand switch statements into over 50 separate functions. Over time, some of those functions can be moved into separate plugins, similar to vrSyncPlugin (either statically/dynamically linked plugins or dynamically loaded at run-time)
2017-11-18 00:14:18 +00:00
bool processUpdateVisualShapeCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processChangeTextureCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processLoadTextureCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processLoadBulletCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processSaveBulletCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processLoadMJCFCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
preliminary work towards saveState/restoreState and saveRestoreState.py example (not implemented yet) allow multiple options in connect, for example: p.connect(p.GUI, options="--width=640, --height=480")
2017-12-28 18:05:51 +00:00
bool processRestoreStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
implement pybullet.saveState command, for in-memory storage of state. bump up pybullet API version (SHARED_MEMORY_MAGIC_NUMBER) to 201801010
2017-12-31 23:37:16 +00:00
bool processSaveStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
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
warning fix (param name different in header/cpp)
2018-01-04 23:48:59 +00:00
int extractCollisionShapes(const class btCollisionShape* colShape, const class btTransform& transform, struct b3CollisionShapeData* collisionShapeBuffer, int maxCollisionShapes);
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
Expose optional "globalScaling" factor to pybullet.loadURDF and pybullet.loadSDF. This will scale the visual, collision shapes and transform locations. Fix two_cubes.sdf (was lacking collision shape for second cube)
2017-08-14 21:59:41 +00:00
bool loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags, btScalar globalScaling);
Fix pybullet Windows build errors: C99 requires variables to be defined at the start of the function. Improve CMake Windows support to build PyBullet (BUILD_PYBULLET) Implement b3LoadSdfCommandInit in shared memory API Implement pybullet SDF loading binding, in loadSDF API TODO for SDF support is provide way to query object/link/joint information.
2016-06-13 17:11:28 +00:00
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
bool loadUrdf(const char* fileName, const class btVector3& pos, const class btQuaternion& orn,
Expose optional "globalScaling" factor to pybullet.loadURDF and pybullet.loadSDF. This will scale the visual, collision shapes and transform locations. Fix two_cubes.sdf (was lacking collision shape for second cube)
2017-08-14 21:59:41 +00:00
bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes, int flags, btScalar globalScaling);
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
update pybullet quickstart quide PDF hook up the loadMJCF importing MuJoCo xml files in pybullet and shared memory API b3LoadMJCFCommandInit
2016-12-31 22:43:15 +00:00
bool loadMjcf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags);
bool processImportedObjects(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags, class URDFImporterInterface& u2b);
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
bool supportsJointMotor(class btMultiBody* body, int linkIndex);
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
work-in-progress send object/joint information after loading SDF file
2016-06-15 01:41:19 +00:00
int createBodyInfoStream(int bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes);
Add premake support to build pybullet, Windows and Linux tested, will enable Mac in next commit. Expose inverse dynamics to Bullet shared memory API, through b3CalculateInverseDynamicsCommandInit and b3GetStatusInverseDynamicsJointForces command/status. See PhysicsClientExeample or pybullet for usage. Add option for Windows and Linux to set python_lib_dir and python_include_dir for premake and --enable_pybullet option Expose inverse dynamics to pybullet: [force] = p.calculateInverseDynamics(objectIndex,[q],[qdot],[acc]) Thanks to Jeff Bingham for the suggestion.
2016-08-10 01:40:12 +00:00
void deleteCachedInverseDynamicsBodies();
add a tray, similar to those ones: https://research.googleblog.com/2016/03/deep-learning-for-robots-learning-from.html tune the VR demo a bit, to make it more user friendly.
2016-11-30 01:08:47 +00:00
void deleteCachedInverseKinematicsBodies();
initial implementation of state logging. see examples/pybullet/logMinitaur.py for example. Other state logging will include general robot states and VR controllers state.
2017-02-17 22:25:53 +00:00
void deleteStateLoggers();
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:
PhysicsServerCommandProcessor();
virtual ~PhysicsServerCommandProcessor();
void createJointMotors(class btMultiBody* body);
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
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 void createEmptyDynamicsWorld();
virtual void deleteDynamicsWorld();
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
virtual bool connect()
{
return true;
};
virtual void disconnect() {}
virtual bool isConnected() const
{
return true;
}
virtual bool processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
virtual bool receiveStatus(struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
return false;
};
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
Add a btIDEbugDraw::clearLines, helps multi-threaded rendering of lines (while updating those lines in a dynamics world in a different thread) Expose COV_ENABLE_VR_RENDER_CONTROLLERS, to enable/disable rendering of controllers (and some frames) in VR Expose COV_ENABLE_RENDERING to enable/disable rendering. Fix some multi-threading issues (potential crashes), related to debug drawing/rendering in one thread, while changing the dynamics world/removing/resetSimulation in a different thread.
2017-05-16 19:19:03 +00:00
virtual void renderScene(int renderFlags);
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 void physicsDebugDraw(int debugDrawFlags);
virtual void setGuiHelper(struct GUIHelperInterface* guiHelper);
Improve debug text/line rendering, can be use to draw frames and text in local coordinate of an object / link. example: kuka = p.loadURDF("kuka_iiwa/model.urdf") p.getNumJoints(kuka) pybullet.addUserDebugLine([0,0,0],[0,0,0.1],[0,0,1],trackObjectUniqueId=2,trackLinkIndex=6) pybullet.addUserDebugText("tip", [0,0,0.1],textColorRGB=[1,0,0],trackObjectUniqueId=2,trackLinkIndex=6) Also allow to render text using a given orientation (instead of pointing to the camera), example: pybullet.addUserDebugText("tip", [0,0,0.1],textColorRGB=[1,0,0],textOrientation=[0,0,0,1], trackObjectUniqueId=2,trackLinkIndex=6) Add drawTexturedTriangleMesh, for drawing 3d text. Expose readSingleInstanceTransformToCPU, to extract position/orientation from graphics index. updateTexture: allow to not flip texels around up axis
2017-05-24 05:05:26 +00:00
virtual void syncPhysicsToGraphics();
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(erwincoumans) Should we have shared memory commands for picking objects?
///The pickBody method will try to pick the first body along a ray, return true if succeeds, false otherwise
virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
virtual void removePickingConstraint();
prepare state logging system (log state of robot, vr controllers after each stepSimulation)
2017-02-17 18:47:55 +00:00
//logging /playback the shared memory commands
print better error warning, in case the physics client/server version mismatch. fix in b3HashString remove many unused dependencies from kuka_grasp_block_playback.py (time,math, datetime ,numpy,pylab ,sys, os, fnmatch,argparse were not used!) move block_grasp_log.bin from Bullet3/data to Bullet3/examples/pybullet/examples/data folder. PhysicsServerCommandProcessor, derive from CommandProcessorInterface to prepare for different back-end implementation
2017-05-29 00:05:18 +00:00
virtual void enableCommandLogging(bool enable, const char* fileName);
virtual void replayFromLogFile(const char* fileName);
virtual void replayLogCommand(char* bufferServerToClient, int bufferSizeInBytes );
prepare state logging system (log state of robot, vr controllers after each stepSimulation)
2017-02-17 18:47:55 +00:00
//logging of object states (position etc)
More work on the C/C++ plugin system for pybullet/C-API: Add preTickPluginCallback/postTickPluginCallback User pointer for b3PluginContext, to store objects (class/struct instances) Pass ints and floats as optional argument for plugin executePluginCommand
2017-09-24 01:05:23 +00:00
void tickPlugins(btScalar timeStep, bool isPreTick);
prepare state logging system (log state of robot, vr controllers after each stepSimulation)
2017-02-17 18:47:55 +00:00
void logObjectStates(btScalar timeStep);
add more tinyaudio preparation, some test wav files, play sound on collision events. Will expose this in the C-API to pick wav files and collision threshold levels etc. Use the premake --audio flag to try it out. The TinyAudio example in the ExampleBrowser works on Mac, Linux and Windows, you can play notes by pressing keys.
2017-04-29 17:32:30 +00:00
void processCollisionForces(btScalar timeStep);
prepare state logging system (log state of robot, vr controllers after each stepSimulation)
2017-02-17 18:47:55 +00:00
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 stepSimulationRealTime(double dtInSec,const struct b3VRControllerEvent* vrControllerEvents, int numVRControllerEvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents, const struct b3MouseEvent* mouseEvents, int numMouseEvents);
print better error warning, in case the physics client/server version mismatch. fix in b3HashString remove many unused dependencies from kuka_grasp_block_playback.py (time,math, datetime ,numpy,pylab ,sys, os, fnmatch,argparse were not used!) move block_grasp_log.bin from Bullet3/data to Bullet3/examples/pybullet/examples/data folder. PhysicsServerCommandProcessor, derive from CommandProcessorInterface to prepare for different back-end implementation
2017-05-29 00:05:18 +00:00
virtual void enableRealTimeSimulation(bool enableRealTimeSim);
Prepare/allow for non-Bullet2-based physics command processor in pybullet/Bullet-C-API !!! Make sure to add examples/SharedMemory/PhysicsServerExampleBullet2.cpp to your build system, if needed Bump up pybullet to version 1.0.9
2017-05-31 02:54:55 +00:00
virtual bool isRealTimeSimulationEnabled() const;
add joint damping in PhysicsServerCommandProcessor
2016-04-14 00:21:43 +00:00
void applyJointDamping(int bodyUniqueId);
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);
Prepare/allow for non-Bullet2-based physics command processor in pybullet/Bullet-C-API !!! Make sure to add examples/SharedMemory/PhysicsServerExampleBullet2.cpp to your build system, if needed Bump up pybullet to version 1.0.9
2017-05-31 02:54:55 +00:00
virtual const btVector3& getVRTeleportPosition() const;
fix some warnings
2017-06-01 23:48:07 +00:00
virtual void setVRTeleportPosition(const btVector3& vrTeleportPos);
Prepare/allow for non-Bullet2-based physics command processor in pybullet/Bullet-C-API !!! Make sure to add examples/SharedMemory/PhysicsServerExampleBullet2.cpp to your build system, if needed Bump up pybullet to version 1.0.9
2017-05-31 02:54:55 +00:00
virtual const btQuaternion& getVRTeleportOrientation() const;
fix some warnings
2017-06-01 23:48:07 +00:00
virtual void setVRTeleportOrientation(const btQuaternion& vrTeleportOrn);
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_SERVER_COMMAND_PROCESSOR_H
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