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# ifndef SHARED_MEMORY_COMMANDS_H
# define SHARED_MEMORY_COMMANDS_H
//this is a very experimental draft of commands. We will iterate on this API (commands, arguments etc)
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# include "SharedMemoryPublic.h"
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# ifdef __GNUC__
# include <stdint.h>
typedef int32_t smInt32_t ;
typedef int64_t smInt64_t ;
typedef uint32_t smUint32_t ;
typedef uint64_t smUint64_t ;
# elif defined(_MSC_VER)
typedef __int32 smInt32_t ;
typedef __int64 smInt64_t ;
typedef unsigned __int32 smUint32_t ;
typedef unsigned __int64 smUint64_t ;
# else
typedef int smInt32_t ;
typedef long long int smInt64_t ;
typedef unsigned int smUint32_t ;
typedef unsigned long long int smUint64_t ;
# endif
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# define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (512*1024)
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# define SHARED_MEMORY_SERVER_TEST_C
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# define MAX_DEGREE_OF_FREEDOM 128
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# define MAX_NUM_SENSORS 256
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# define MAX_URDF_FILENAME_LENGTH 1024
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# define MAX_SDF_FILENAME_LENGTH 1024
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# define MAX_FILENAME_LENGTH MAX_URDF_FILENAME_LENGTH
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# define MAX_NUM_LINKS MAX_DEGREE_OF_FREEDOM
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struct TmpFloat3
{
float m_x ;
float m_y ;
float m_z ;
} ;
# ifdef _WIN32
__inline
# else
inline
# endif
TmpFloat3 CreateTmpFloat3 ( float x , float y , float z )
{
TmpFloat3 tmp ;
tmp . m_x = x ;
tmp . m_y = y ;
tmp . m_z = z ;
return tmp ;
}
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enum EnumSdfArgsUpdateFlags
{
SDF_ARGS_FILE_NAME = 1 ,
} ;
struct SdfArgs
{
char m_sdfFileName [ MAX_URDF_FILENAME_LENGTH ] ;
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int m_useMultiBody ;
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double m_globalScaling ;
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} ;
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struct FileArgs
{
char m_fileName [ MAX_URDF_FILENAME_LENGTH ] ;
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int m_stateId ;
} ;
enum EnumLoadStateArgsUpdateFlags
{
CMD_LOAD_STATE_HAS_STATEID = 1 ,
CMD_LOAD_STATE_HAS_FILENAME = 2 ,
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} ;
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enum EnumUrdfArgsUpdateFlags
{
URDF_ARGS_FILE_NAME = 1 ,
URDF_ARGS_INITIAL_POSITION = 2 ,
URDF_ARGS_INITIAL_ORIENTATION = 4 ,
URDF_ARGS_USE_MULTIBODY = 8 ,
URDF_ARGS_USE_FIXED_BASE = 16 ,
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URDF_ARGS_HAS_CUSTOM_URDF_FLAGS = 32 ,
URDF_ARGS_USE_GLOBAL_SCALING = 64 ,
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} ;
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struct UrdfArgs
{
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char m_urdfFileName [ MAX_URDF_FILENAME_LENGTH ] ;
double m_initialPosition [ 3 ] ;
double m_initialOrientation [ 4 ] ;
int m_useMultiBody ;
int m_useFixedBase ;
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int m_urdfFlags ;
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double m_globalScaling ;
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} ;
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struct MjcfArgs
{
char m_mjcfFileName [ MAX_URDF_FILENAME_LENGTH ] ;
int m_useMultiBody ;
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int m_flags ;
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} ;
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struct b3SearchPathfArgs
{
char m_path [ MAX_FILENAME_LENGTH ] ;
} ;
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enum CustomCommandEnum
{
CMD_CUSTOM_COMMAND_LOAD_PLUGIN = 1 ,
CMD_CUSTOM_COMMAND_UNLOAD_PLUGIN = 2 ,
CMD_CUSTOM_COMMAND_EXECUTE_PLUGIN_COMMAND = 4 ,
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CMD_CUSTOM_COMMAND_LOAD_PLUGIN_POSTFIX = 8 ,
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} ;
struct b3CustomCommand
{
int m_pluginUniqueId ;
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b3PluginArguments m_arguments ;
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char m_pluginPath [ MAX_FILENAME_LENGTH ] ;
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char m_postFix [ MAX_FILENAME_LENGTH ] ;
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} ;
struct b3CustomCommandResultArgs
{
int m_pluginUniqueId ;
int m_executeCommandResult ;
} ;
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struct BulletDataStreamArgs
{
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char m_bulletFileName [ MAX_FILENAME_LENGTH ] ;
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int m_bodyUniqueId ;
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char m_bodyName [ MAX_FILENAME_LENGTH ] ;
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} ;
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enum EnumChangeDynamicsInfoFlags
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{
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CHANGE_DYNAMICS_INFO_SET_MASS = 1 ,
CHANGE_DYNAMICS_INFO_SET_COM = 2 ,
CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION = 4 ,
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CHANGE_DYNAMICS_INFO_SET_SPINNING_FRICTION = 8 ,
CHANGE_DYNAMICS_INFO_SET_ROLLING_FRICTION = 16 ,
CHANGE_DYNAMICS_INFO_SET_RESTITUTION = 32 ,
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CHANGE_DYNAMICS_INFO_SET_LINEAR_DAMPING = 64 ,
CHANGE_DYNAMICS_INFO_SET_ANGULAR_DAMPING = 128 ,
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CHANGE_DYNAMICS_INFO_SET_CONTACT_STIFFNESS_AND_DAMPING = 256 ,
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CHANGE_DYNAMICS_INFO_SET_FRICTION_ANCHOR = 512 ,
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CHANGE_DYNAMICS_INFO_SET_LOCAL_INERTIA_DIAGONAL = 1024 ,
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} ;
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struct ChangeDynamicsInfoArgs
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{
int m_bodyUniqueId ;
int m_linkIndex ;
double m_mass ;
double m_COM [ 3 ] ;
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double m_lateralFriction ;
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double m_spinningFriction ;
double m_rollingFriction ;
double m_restitution ;
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double m_linearDamping ;
double m_angularDamping ;
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double m_contactStiffness ;
double m_contactDamping ;
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double m_localInertiaDiagonal [ 3 ] ;
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int m_frictionAnchor ;
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} ;
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struct GetDynamicsInfoArgs
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{
int m_bodyUniqueId ;
int m_linkIndex ;
} ;
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struct SetJointFeedbackArgs
{
int m_bodyUniqueId ;
int m_linkId ;
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int m_isEnabled ;
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} ;
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enum EnumInitPoseFlags
{
INIT_POSE_HAS_INITIAL_POSITION = 1 ,
INIT_POSE_HAS_INITIAL_ORIENTATION = 2 ,
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INIT_POSE_HAS_JOINT_STATE = 4 ,
INIT_POSE_HAS_BASE_LINEAR_VELOCITY = 8 ,
INIT_POSE_HAS_BASE_ANGULAR_VELOCITY = 16 ,
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INIT_POSE_HAS_JOINT_VELOCITY = 32 ,
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} ;
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///InitPoseArgs is mainly to initialize (teleport) the robot in a particular position
///No motors or controls are needed to initialize the pose. It is similar to
///moving a robot to a starting place, while it is switched off. It is only called
///at the start of a robot control session. All velocities and control forces are cleared to zero.
struct InitPoseArgs
{
int m_bodyUniqueId ;
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int m_hasInitialStateQ [ MAX_DEGREE_OF_FREEDOM ] ;
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double m_initialStateQ [ MAX_DEGREE_OF_FREEDOM ] ;
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int m_hasInitialStateQdot [ MAX_DEGREE_OF_FREEDOM ] ;
double m_initialStateQdot [ MAX_DEGREE_OF_FREEDOM ] ;
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} ;
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struct RequestDebugLinesArgs
{
int m_debugMode ;
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int m_startingLineIndex ;
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} ;
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struct RequestPixelDataArgs
{
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float m_viewMatrix [ 16 ] ;
float m_projectionMatrix [ 16 ] ;
int m_startPixelIndex ;
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int m_pixelWidth ;
int m_pixelHeight ;
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float m_lightDirection [ 3 ] ;
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float m_lightColor [ 3 ] ;
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float m_lightDistance ;
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float m_lightAmbientCoeff ;
float m_lightDiffuseCoeff ;
float m_lightSpecularCoeff ;
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int m_hasShadow ;
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int m_flags ;
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} ;
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enum EnumRequestPixelDataUpdateFlags
{
REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES = 1 ,
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REQUEST_PIXEL_ARGS_SET_PIXEL_WIDTH_HEIGHT = 2 ,
REQUEST_PIXEL_ARGS_SET_LIGHT_DIRECTION = 4 ,
REQUEST_PIXEL_ARGS_SET_LIGHT_COLOR = 8 ,
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REQUEST_PIXEL_ARGS_SET_LIGHT_DISTANCE = 16 ,
REQUEST_PIXEL_ARGS_SET_SHADOW = 32 ,
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REQUEST_PIXEL_ARGS_SET_AMBIENT_COEFF = 64 ,
REQUEST_PIXEL_ARGS_SET_DIFFUSE_COEFF = 128 ,
REQUEST_PIXEL_ARGS_SET_SPECULAR_COEFF = 256 ,
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REQUEST_PIXEL_ARGS_HAS_FLAGS = 512 ,
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//don't exceed (1<<15), because this enum is shared with EnumRenderer in SharedMemoryPublic.h
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} ;
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enum EnumRequestContactDataUpdateFlags
{
CMD_REQUEST_CONTACT_POINT_HAS_QUERY_MODE = 1 ,
CMD_REQUEST_CONTACT_POINT_HAS_CLOSEST_DISTANCE_THRESHOLD = 2 ,
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CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER = 4 ,
CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER = 8 ,
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} ;
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struct RequestRaycastIntersections
{
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int m_numRays ;
double m_rayFromPositions [ MAX_RAY_INTERSECTION_BATCH_SIZE ] [ 3 ] ;
double m_rayToPositions [ MAX_RAY_INTERSECTION_BATCH_SIZE ] [ 3 ] ;
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} ;
struct SendRaycastHits
{
int m_numRaycastHits ;
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b3RayHitInfo m_rayHits [ MAX_RAY_INTERSECTION_BATCH_SIZE ] ;
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} ;
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struct RequestContactDataArgs
{
int m_startingContactPointIndex ;
int m_objectAIndexFilter ;
int m_objectBIndexFilter ;
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int m_linkIndexAIndexFilter ;
int m_linkIndexBIndexFilter ;
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double m_closestDistanceThreshold ;
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int m_mode ;
} ;
struct RequestOverlappingObjectsArgs
{
int m_startingOverlappingObjectIndex ;
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double m_aabbQueryMin [ 3 ] ;
double m_aabbQueryMax [ 3 ] ;
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} ;
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struct RequestVisualShapeDataArgs
{
int m_bodyUniqueId ;
int m_startingVisualShapeIndex ;
} ;
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struct RequestCollisionShapeDataArgs
{
int m_bodyUniqueId ;
int m_linkIndex ;
} ;
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enum EnumUpdateVisualShapeData
{
CMD_UPDATE_VISUAL_SHAPE_TEXTURE = 1 ,
CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR = 2 ,
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CMD_UPDATE_VISUAL_SHAPE_SPECULAR_COLOR = 4 ,
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} ;
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struct UpdateVisualShapeDataArgs
{
int m_bodyUniqueId ;
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int m_jointIndex ;
int m_shapeIndex ;
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int m_textureUniqueId ;
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double m_rgbaColor [ 4 ] ;
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double m_specularColor [ 3 ] ;
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} ;
struct LoadTextureArgs
{
char m_textureFileName [ MAX_FILENAME_LENGTH ] ;
} ;
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struct b3LoadTextureResultArgs
{
int m_textureUniqueId ;
} ;
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struct SendVisualShapeDataArgs
{
int m_bodyUniqueId ;
int m_startingVisualShapeIndex ;
int m_numVisualShapesCopied ;
int m_numRemainingVisualShapes ;
} ;
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struct SendCollisionShapeDataArgs
{
int m_bodyUniqueId ;
int m_linkIndex ;
int m_numCollisionShapes ;
} ;
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struct SendDebugLinesArgs
{
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int m_startingLineIndex ;
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int m_numDebugLines ;
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int m_numRemainingDebugLines ;
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} ;
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struct SendPixelDataArgs
{
int m_imageWidth ;
int m_imageHeight ;
int m_startingPixelIndex ;
int m_numPixelsCopied ;
int m_numRemainingPixels ;
} ;
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struct PickBodyArgs
{
double m_rayFromWorld [ 3 ] ;
double m_rayToWorld [ 3 ] ;
} ;
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///Controlling a robot involves sending the desired state to its joint motor controllers.
///The control mode determines the state variables used for motor control.
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struct SendDesiredStateArgs
{
int m_bodyUniqueId ;
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int m_controlMode ;
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//PD parameters in case m_controlMode == CONTROL_MODE_POSITION_VELOCITY_PD
double m_Kp [ MAX_DEGREE_OF_FREEDOM ] ; //indexed by degree of freedom, 6 for base, and then the dofs for each link
double m_Kd [ MAX_DEGREE_OF_FREEDOM ] ; //indexed by degree of freedom, 6 for base, and then the dofs for each link
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double m_rhsClamp [ MAX_DEGREE_OF_FREEDOM ] ;
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int m_hasDesiredStateFlags [ MAX_DEGREE_OF_FREEDOM ] ;
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//desired state is only written by the client, read-only access by server is expected
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//m_desiredStateQ is indexed by position variables,
//starting with 3 base position variables, 4 base orientation variables (quaternion), then link position variables
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double m_desiredStateQ [ MAX_DEGREE_OF_FREEDOM ] ;
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//m_desiredStateQdot is index by velocity degrees of freedom, 3 linear and 3 angular variables for the base and then link velocity variables
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double m_desiredStateQdot [ MAX_DEGREE_OF_FREEDOM ] ;
//m_desiredStateForceTorque is either the actual applied force/torque (in CONTROL_MODE_TORQUE) or
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//or the maximum applied force/torque for the PD/motor/constraint to reach the desired velocity in CONTROL_MODE_VELOCITY and CONTROL_MODE_POSITION_VELOCITY_PD mode
//indexed by degree of freedom, 6 dof base, and then dofs for each link
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double m_desiredStateForceTorque [ MAX_DEGREE_OF_FREEDOM ] ;
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} ;
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enum EnumSimDesiredStateUpdateFlags
{
SIM_DESIRED_STATE_HAS_Q = 1 ,
SIM_DESIRED_STATE_HAS_QDOT = 2 ,
SIM_DESIRED_STATE_HAS_KD = 4 ,
SIM_DESIRED_STATE_HAS_KP = 8 ,
SIM_DESIRED_STATE_HAS_MAX_FORCE = 16 ,
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SIM_DESIRED_STATE_HAS_RHS_CLAMP = 32
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} ;
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enum EnumSimParamUpdateFlags
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{
SIM_PARAM_UPDATE_DELTA_TIME = 1 ,
SIM_PARAM_UPDATE_GRAVITY = 2 ,
SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS = 4 ,
SIM_PARAM_UPDATE_NUM_SIMULATION_SUB_STEPS = 8 ,
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SIM_PARAM_UPDATE_REAL_TIME_SIMULATION = 16 ,
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SIM_PARAM_UPDATE_DEFAULT_CONTACT_ERP = 32 ,
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SIM_PARAM_UPDATE_INTERNAL_SIMULATION_FLAGS = 64 ,
SIM_PARAM_UPDATE_USE_SPLIT_IMPULSE = 128 ,
SIM_PARAM_UPDATE_SPLIT_IMPULSE_PENETRATION_THRESHOLD = 256 ,
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SIM_PARAM_UPDATE_COLLISION_FILTER_MODE = 512 ,
SIM_PARAM_UPDATE_CONTACT_BREAKING_THRESHOLD = 1024 ,
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SIM_PARAM_ENABLE_CONE_FRICTION = 2048 ,
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SIM_PARAM_ENABLE_FILE_CACHING = 4096 ,
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SIM_PARAM_UPDATE_RESTITUTION_VELOCITY_THRESHOLD = 8192 ,
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SIM_PARAM_UPDATE_DEFAULT_NON_CONTACT_ERP = 16384 ,
SIM_PARAM_UPDATE_DEFAULT_FRICTION_ERP = 32768 ,
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SIM_PARAM_UPDATE_DETERMINISTIC_OVERLAPPING_PAIRS = 65536 ,
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} ;
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enum EnumLoadSoftBodyUpdateFlags
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{
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LOAD_SOFT_BODY_FILE_NAME = 1 ,
LOAD_SOFT_BODY_UPDATE_SCALE = 2 ,
LOAD_SOFT_BODY_UPDATE_MASS = 4 ,
LOAD_SOFT_BODY_UPDATE_COLLISION_MARGIN = 8
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} ;
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enum EnumSimParamInternalSimFlags
{
SIM_PARAM_INTERNAL_CREATE_ROBOT_ASSETS = 1 ,
} ;
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///Controlling a robot involves sending the desired state to its joint motor controllers.
///The control mode determines the state variables used for motor control.
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struct LoadSoftBodyArgs
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{
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char m_fileName [ MAX_FILENAME_LENGTH ] ;
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double m_scale ;
double m_mass ;
double m_collisionMargin ;
} ;
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struct b3LoadSoftBodyResultArgs
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{
int m_objectUniqueId ;
} ;
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struct RequestActualStateArgs
{
int m_bodyUniqueId ;
} ;
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struct SendActualStateArgs
{
int m_bodyUniqueId ;
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int m_numLinks ;
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int m_numDegreeOfFreedomQ ;
int m_numDegreeOfFreedomU ;
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double m_rootLocalInertialFrame [ 7 ] ;
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//actual state is only written by the server, read-only access by client is expected
double m_actualStateQ [ MAX_DEGREE_OF_FREEDOM ] ;
double m_actualStateQdot [ MAX_DEGREE_OF_FREEDOM ] ;
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//measured 6DOF force/torque sensors: force[x,y,z] and torque[x,y,z]
double m_jointReactionForces [ 6 * MAX_DEGREE_OF_FREEDOM ] ;
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double m_jointMotorForce [ MAX_DEGREE_OF_FREEDOM ] ;
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double m_linkState [ 7 * MAX_NUM_LINKS ] ;
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double m_linkWorldVelocities [ 6 * MAX_NUM_LINKS ] ; //linear velocity and angular velocity in world space (x/y/z each).
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double m_linkLocalInertialFrames [ 7 * MAX_NUM_LINKS ] ;
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} ;
struct b3SendCollisionInfoArgs
{
int m_numLinks ;
double m_rootWorldAABBMin [ 3 ] ;
double m_rootWorldAABBMax [ 3 ] ;
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double m_linkWorldAABBsMin [ 3 * MAX_NUM_LINKS ] ;
double m_linkWorldAABBsMax [ 3 * MAX_NUM_LINKS ] ;
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} ;
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struct b3RequestCollisionInfoArgs
{
int m_bodyUniqueId ;
} ;
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enum EnumSensorTypes
{
SENSOR_FORCE_TORQUE = 1 ,
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SENSOR_IMU = 2 ,
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} ;
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struct CreateSensorArgs
{
int m_bodyUniqueId ;
int m_numJointSensorChanges ;
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int m_sensorType [ MAX_DEGREE_OF_FREEDOM ] ;
///todo: clean up the duplication, make sure no-one else is using those members directly (use C-API header instead)
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int m_jointIndex [ MAX_DEGREE_OF_FREEDOM ] ;
int m_enableJointForceSensor [ MAX_DEGREE_OF_FREEDOM ] ;
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int m_linkIndex [ MAX_DEGREE_OF_FREEDOM ] ;
int m_enableSensor [ MAX_DEGREE_OF_FREEDOM ] ;
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} ;
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typedef struct SharedMemoryCommand SharedMemoryCommand_t ;
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enum EnumBoxShapeFlags
{
BOX_SHAPE_HAS_INITIAL_POSITION = 1 ,
BOX_SHAPE_HAS_INITIAL_ORIENTATION = 2 ,
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BOX_SHAPE_HAS_HALF_EXTENTS = 4 ,
BOX_SHAPE_HAS_MASS = 8 ,
BOX_SHAPE_HAS_COLLISION_SHAPE_TYPE = 16 ,
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BOX_SHAPE_HAS_COLOR = 32 ,
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} ;
///This command will be replaced to allow arbitrary collision shape types
struct CreateBoxShapeArgs
{
double m_halfExtentsX ;
double m_halfExtentsY ;
double m_halfExtentsZ ;
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double m_mass ;
int m_collisionShapeType ; //see SharedMemoryPublic.h
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double m_initialPosition [ 3 ] ;
double m_initialOrientation [ 4 ] ;
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double m_colorRGBA [ 4 ] ;
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} ;
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struct b3ObjectArgs
{
int m_numBodies ;
int m_bodyUniqueIds [ MAX_SDF_BODIES ] ;
int m_numUserConstraints ;
int m_userConstraintUniqueIds [ MAX_SDF_BODIES ] ;
} ;
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struct b3Profile
{
char m_name [ MAX_FILENAME_LENGTH ] ;
int m_durationInMicroSeconds ;
} ;
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struct SdfLoadedArgs
{
int m_numBodies ;
int m_bodyUniqueIds [ MAX_SDF_BODIES ] ;
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int m_numUserConstraints ;
int m_userConstraintUniqueIds [ MAX_SDF_BODIES ] ;
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///@todo(erwincoumans) load cameras, lights etc
//int m_numCameras;
//int m_numLights;
} ;
struct SdfRequestInfoArgs
{
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int m_bodyUniqueId ;
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} ;
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///flags for b3ApplyExternalTorque and b3ApplyExternalForce
enum EnumExternalForcePrivateFlags
{
// EF_LINK_FRAME=1,
// EF_WORLD_FRAME=2,
EF_TORQUE = 4 ,
EF_FORCE = 8 ,
} ;
struct ExternalForceArgs
{
int m_numForcesAndTorques ;
int m_bodyUniqueIds [ MAX_SDF_BODIES ] ;
int m_linkIds [ MAX_SDF_BODIES ] ;
double m_forcesAndTorques [ 3 * MAX_SDF_BODIES ] ;
double m_positions [ 3 * MAX_SDF_BODIES ] ;
int m_forceFlags [ MAX_SDF_BODIES ] ;
} ;
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enum EnumSdfRequestInfoFlags
{
SDF_REQUEST_INFO_BODY = 1 ,
//SDF_REQUEST_INFO_CAMERA=2,
} ;
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struct CalculateInverseDynamicsArgs
{
int m_bodyUniqueId ;
double m_jointPositionsQ [ MAX_DEGREE_OF_FREEDOM ] ;
double m_jointVelocitiesQdot [ MAX_DEGREE_OF_FREEDOM ] ;
double m_jointAccelerations [ MAX_DEGREE_OF_FREEDOM ] ;
} ;
struct CalculateInverseDynamicsResultArgs
{
int m_bodyUniqueId ;
int m_dofCount ;
double m_jointForces [ MAX_DEGREE_OF_FREEDOM ] ;
} ;
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struct CalculateJacobianArgs
{
int m_bodyUniqueId ;
int m_linkIndex ;
double m_localPosition [ 3 ] ;
double m_jointPositionsQ [ MAX_DEGREE_OF_FREEDOM ] ;
double m_jointVelocitiesQdot [ MAX_DEGREE_OF_FREEDOM ] ;
double m_jointAccelerations [ MAX_DEGREE_OF_FREEDOM ] ;
} ;
struct CalculateJacobianResultArgs
{
int m_dofCount ;
double m_linearJacobian [ 3 * MAX_DEGREE_OF_FREEDOM ] ;
double m_angularJacobian [ 3 * MAX_DEGREE_OF_FREEDOM ] ;
} ;
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struct CalculateMassMatrixArgs
{
int m_bodyUniqueId ;
double m_jointPositionsQ [ MAX_DEGREE_OF_FREEDOM ] ;
} ;
struct CalculateMassMatrixResultArgs
{
int m_dofCount ;
} ;
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struct CalculateInverseKinematicsArgs
{
int m_bodyUniqueId ;
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// double m_jointPositionsQ[MAX_DEGREE_OF_FREEDOM];
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double m_targetPosition [ 3 ] ;
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double m_targetOrientation [ 4 ] ; //orientation represented as quaternion, x,y,z,w
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int m_endEffectorLinkIndex ;
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double m_lowerLimit [ MAX_DEGREE_OF_FREEDOM ] ;
double m_upperLimit [ MAX_DEGREE_OF_FREEDOM ] ;
double m_jointRange [ MAX_DEGREE_OF_FREEDOM ] ;
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double m_restPose [ MAX_DEGREE_OF_FREEDOM ] ;
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double m_jointDamping [ MAX_DEGREE_OF_FREEDOM ] ;
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} ;
struct CalculateInverseKinematicsResultArgs
{
int m_bodyUniqueId ;
int m_dofCount ;
double m_jointPositions [ MAX_DEGREE_OF_FREEDOM ] ;
} ;
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enum EnumUserConstraintFlags
{
USER_CONSTRAINT_ADD_CONSTRAINT = 1 ,
USER_CONSTRAINT_REMOVE_CONSTRAINT = 2 ,
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USER_CONSTRAINT_CHANGE_CONSTRAINT = 4 ,
USER_CONSTRAINT_CHANGE_PIVOT_IN_B = 8 ,
USER_CONSTRAINT_CHANGE_FRAME_ORN_IN_B = 16 ,
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USER_CONSTRAINT_CHANGE_MAX_FORCE = 32 ,
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USER_CONSTRAINT_REQUEST_INFO = 64 ,
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USER_CONSTRAINT_CHANGE_GEAR_RATIO = 128 ,
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USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK = 256 ,
USER_CONSTRAINT_CHANGE_RELATIVE_POSITION_TARGET = 512 ,
USER_CONSTRAINT_CHANGE_ERP = 1024 ,
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USER_CONSTRAINT_REQUEST_STATE = 2048 ,
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} ;
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enum EnumBodyChangeFlags
{
BODY_DELETE_FLAG = 1 ,
} ;
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enum EnumUserDebugDrawFlags
{
USER_DEBUG_HAS_LINE = 1 ,
USER_DEBUG_HAS_TEXT = 2 ,
USER_DEBUG_REMOVE_ONE_ITEM = 4 ,
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USER_DEBUG_REMOVE_ALL = 8 ,
USER_DEBUG_SET_CUSTOM_OBJECT_COLOR = 16 ,
USER_DEBUG_REMOVE_CUSTOM_OBJECT_COLOR = 32 ,
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USER_DEBUG_ADD_PARAMETER = 64 ,
USER_DEBUG_READ_PARAMETER = 128 ,
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
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USER_DEBUG_HAS_OPTION_FLAGS = 256 ,
USER_DEBUG_HAS_TEXT_ORIENTATION = 512 ,
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USER_DEBUG_HAS_PARENT_OBJECT = 1024 ,
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USER_DEBUG_HAS_REPLACE_ITEM_UNIQUE_ID = 2048 ,
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} ;
struct UserDebugDrawArgs
{
double m_debugLineFromXYZ [ 3 ] ;
double m_debugLineToXYZ [ 3 ] ;
double m_debugLineColorRGB [ 3 ] ;
double m_lineWidth ;
double m_lifeTime ;
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int m_itemUniqueId ;
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char m_text [ MAX_FILENAME_LENGTH ] ;
double m_textPositionXYZ [ 3 ] ;
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
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double m_textOrientation [ 4 ] ;
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int m_parentObjectUniqueId ;
int m_parentLinkIndex ;
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double m_textColorRGB [ 3 ] ;
double m_textSize ;
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
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int m_optionFlags ;
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int m_replaceItemUniqueId ;
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double m_rangeMin ;
double m_rangeMax ;
double m_startValue ;
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double m_objectDebugColorRGB [ 3 ] ;
int m_objectUniqueId ;
int m_linkIndex ;
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} ;
struct UserDebugDrawResultArgs
{
int m_debugItemUniqueId ;
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double m_parameterValue ;
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} ;
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struct SendVREvents
{
int m_numVRControllerEvents ;
b3VRControllerEvent m_controllerEvents [ MAX_VR_CONTROLLERS ] ;
} ;
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struct SendKeyboardEvents
{
int m_numKeyboardEvents ;
b3KeyboardEvent m_keyboardEvents [ MAX_KEYBOARD_EVENTS ] ;
} ;
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struct SendMouseEvents
{
int m_numMouseEvents ;
b3MouseEvent m_mouseEvents [ MAX_MOUSE_EVENTS ] ;
} ;
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enum eVRCameraEnums
{
VR_CAMERA_ROOT_POSITION = 1 ,
VR_CAMERA_ROOT_ORIENTATION = 2 ,
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VR_CAMERA_ROOT_TRACKING_OBJECT = 4 ,
VR_CAMERA_FLAG = 8 ,
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} ;
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enum eStateLoggingEnums
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{
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STATE_LOGGING_START_LOG = 1 ,
STATE_LOGGING_STOP_LOG = 2 ,
STATE_LOGGING_FILTER_OBJECT_UNIQUE_ID = 4 ,
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STATE_LOGGING_MAX_LOG_DOF = 8 ,
STATE_LOGGING_FILTER_LINK_INDEX_A = 16 ,
STATE_LOGGING_FILTER_LINK_INDEX_B = 32 ,
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STATE_LOGGING_FILTER_BODY_UNIQUE_ID_A = 64 ,
STATE_LOGGING_FILTER_BODY_UNIQUE_ID_B = 128 ,
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STATE_LOGGING_FILTER_DEVICE_TYPE = 256 ,
STATE_LOGGING_LOG_FLAGS = 512
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} ;
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struct VRCameraState
{
double m_rootPosition [ 3 ] ;
double m_rootOrientation [ 4 ] ;
int m_trackingObjectUniqueId ;
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int m_trackingObjectFlag ;
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} ;
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struct StateLoggingRequest
{
char m_fileName [ MAX_FILENAME_LENGTH ] ;
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int m_logType ; //Minitaur, generic robot, VR states, contact points
int m_numBodyUniqueIds ; ////only if STATE_LOGGING_FILTER_OBJECT_UNIQUE_ID flag is set
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int m_bodyUniqueIds [ MAX_SDF_BODIES ] ;
int m_loggingUniqueId ;
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int m_maxLogDof ;
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int m_linkIndexA ; // only if STATE_LOGGING_FILTER_LINK_INDEX_A flag is set
int m_linkIndexB ; // only if STATE_LOGGING_FILTER_LINK_INDEX_B flag is set
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int m_bodyUniqueIdA ; // only if STATE_LOGGING_FILTER_BODY_UNIQUE_ID_A flag is set
int m_bodyUniqueIdB ; // only if STATE_LOGGING_FILTER_BODY_UNIQUE_ID_B flag is set
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int m_deviceFilterType ; //user to select (filter) which VR devices to log
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int m_logFlags ;
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} ;
struct StateLoggingResultArgs
{
int m_loggingUniqueId ;
} ;
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enum InternalOpenGLVisualizerUpdateFlags
{
COV_SET_CAMERA_VIEW_MATRIX = 1 ,
COV_SET_FLAGS = 2 ,
} ;
struct ConfigureOpenGLVisualizerRequest
{
double m_cameraDistance ;
double m_cameraPitch ;
double m_cameraYaw ;
double m_cameraTargetPosition [ 3 ] ;
int m_setFlag ;
int m_setEnabled ;
} ;
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enum
{
URDF_GEOM_HAS_RADIUS = 1 ,
} ;
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struct b3CreateUserShapeData
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{
int m_type ; //see UrdfGeomTypes
int m_hasChildTransform ;
double m_childPosition [ 3 ] ;
double m_childOrientation [ 4 ] ;
double m_sphereRadius ;
double m_boxHalfExtents [ 3 ] ;
double m_capsuleRadius ;
double m_capsuleHeight ;
int m_hasFromTo ;
double m_capsuleFrom [ 3 ] ;
double m_capsuleTo [ 3 ] ;
double m_planeNormal [ 3 ] ;
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double m_planeConstant ;
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int m_meshFileType ;
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char m_meshFileName [ VISUAL_SHAPE_MAX_PATH_LEN ] ;
double m_meshScale [ 3 ] ;
int m_collisionFlags ;
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int m_visualFlags ;
double m_rgbaColor [ 4 ] ;
double m_specularColor [ 3 ] ;
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} ;
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# define MAX_COMPOUND_COLLISION_SHAPES 16
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struct b3CreateUserShapeArgs
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{
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int m_numUserShapes ;
b3CreateUserShapeData m_shapes [ MAX_COMPOUND_COLLISION_SHAPES ] ;
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} ;
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struct b3CreateUserShapeResultArgs
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{
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int m_userShapeUniqueId ;
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} ;
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# define MAX_CREATE_MULTI_BODY_LINKS 128
enum eCreateMultiBodyEnum
{
MULTI_BODY_HAS_BASE = 1 ,
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MULT_BODY_USE_MAXIMAL_COORDINATES = 2 ,
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} ;
struct b3CreateMultiBodyArgs
{
char m_bodyName [ 1024 ] ;
int m_baseLinkIndex ;
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double m_linkPositions [ 3 * MAX_CREATE_MULTI_BODY_LINKS ] ;
double m_linkOrientations [ 4 * MAX_CREATE_MULTI_BODY_LINKS ] ;
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int m_numLinks ;
double m_linkMasses [ MAX_CREATE_MULTI_BODY_LINKS ] ;
double m_linkInertias [ MAX_CREATE_MULTI_BODY_LINKS * 3 ] ;
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double m_linkInertialFramePositions [ MAX_CREATE_MULTI_BODY_LINKS * 3 ] ;
double m_linkInertialFrameOrientations [ MAX_CREATE_MULTI_BODY_LINKS * 4 ] ;
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int m_linkCollisionShapeUniqueIds [ MAX_CREATE_MULTI_BODY_LINKS ] ;
int m_linkVisualShapeUniqueIds [ MAX_CREATE_MULTI_BODY_LINKS ] ;
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int m_linkParentIndices [ MAX_CREATE_MULTI_BODY_LINKS ] ;
int m_linkJointTypes [ MAX_CREATE_MULTI_BODY_LINKS ] ;
double m_linkJointAxis [ 3 * MAX_CREATE_MULTI_BODY_LINKS ] ;
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#if 0
std : : string m_name ;
std : : string m_sourceFile ;
btTransform m_rootTransformInWorld ;
btHashMap < btHashString , UrdfMaterial * > m_materials ;
btHashMap < btHashString , UrdfLink * > m_links ;
btHashMap < btHashString , UrdfJoint * > m_joints ;
# endif
} ;
struct b3CreateMultiBodyResultArgs
{
int m_bodyUniqueId ;
} ;
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struct b3ChangeTextureArgs
{
int m_textureUniqueId ;
int m_width ;
int m_height ;
} ;
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struct b3StateSerializationArguments
{
char m_fileName [ MAX_URDF_FILENAME_LENGTH ] ;
int m_stateId ;
} ;
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struct SharedMemoryCommand
{
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int m_type ;
smUint64_t m_timeStamp ;
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int m_sequenceNumber ;
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//m_updateFlags is a bit fields to tell which parameters need updating
//for example m_updateFlags = SIM_PARAM_UPDATE_DELTA_TIME | SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS;
int m_updateFlags ;
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union
{
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struct UrdfArgs m_urdfArguments ;
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struct SdfArgs m_sdfArguments ;
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struct MjcfArgs m_mjcfArguments ;
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struct FileArgs m_fileArguments ;
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struct SdfRequestInfoArgs m_sdfRequestInfoArgs ;
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struct ChangeDynamicsInfoArgs m_changeDynamicsInfoArgs ;
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struct GetDynamicsInfoArgs m_getDynamicsInfoArgs ;
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struct InitPoseArgs m_initPoseArgs ;
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struct b3PhysicsSimulationParameters m_physSimParamArgs ;
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struct BulletDataStreamArgs m_dataStreamArguments ;
struct SendDesiredStateArgs m_sendDesiredStateCommandArgument ;
struct RequestActualStateArgs m_requestActualStateInformationCommandArgument ;
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struct CreateSensorArgs m_createSensorArguments ;
struct CreateBoxShapeArgs m_createBoxShapeArguments ;
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struct RequestDebugLinesArgs m_requestDebugLinesArguments ;
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struct RequestPixelDataArgs m_requestPixelDataArguments ;
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struct PickBodyArgs m_pickBodyArguments ;
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struct ExternalForceArgs m_externalForceArguments ;
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struct CalculateInverseDynamicsArgs m_calculateInverseDynamicsArguments ;
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struct CalculateJacobianArgs m_calculateJacobianArguments ;
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struct CalculateMassMatrixArgs m_calculateMassMatrixArguments ;
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struct b3UserConstraint m_userConstraintArguments ;
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struct RequestContactDataArgs m_requestContactPointArguments ;
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struct RequestOverlappingObjectsArgs m_requestOverlappingObjectsArgs ;
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struct RequestVisualShapeDataArgs m_requestVisualShapeDataArguments ;
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struct UpdateVisualShapeDataArgs m_updateVisualShapeDataArguments ;
struct LoadTextureArgs m_loadTextureArguments ;
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struct CalculateInverseKinematicsArgs m_calculateInverseKinematicsArguments ;
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struct UserDebugDrawArgs m_userDebugDrawArgs ;
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struct RequestRaycastIntersections m_requestRaycastIntersections ;
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struct LoadSoftBodyArgs m_loadSoftBodyArguments ;
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struct VRCameraState m_vrCameraStateArguments ;
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struct StateLoggingRequest m_stateLoggingArguments ;
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struct ConfigureOpenGLVisualizerRequest m_configureOpenGLVisualizerArguments ;
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struct b3ObjectArgs m_removeObjectArgs ;
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struct b3Profile m_profile ;
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struct b3CreateUserShapeArgs m_createUserShapeArgs ;
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struct b3CreateMultiBodyArgs m_createMultiBodyArgs ;
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struct b3RequestCollisionInfoArgs m_requestCollisionInfoArgs ;
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struct b3ChangeTextureArgs m_changeTextureArgs ;
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struct b3SearchPathfArgs m_searchPathArgs ;
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struct b3CustomCommand m_customCommandArgs ;
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struct b3StateSerializationArguments m_loadStateArguments ;
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struct RequestCollisionShapeDataArgs m_requestCollisionShapeDataArguments ;
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} ;
} ;
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struct RigidBodyCreateArgs
{
int m_bodyUniqueId ;
} ;
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struct SendContactDataArgs
{
int m_startingContactPointIndex ;
int m_numContactPointsCopied ;
int m_numRemainingContactPoints ;
} ;
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struct SendOverlappingObjectsArgs
{
int m_startingOverlappingObjectIndex ;
int m_numOverlappingObjectsCopied ;
int m_numRemainingOverlappingObjects ;
} ;
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struct SharedMemoryStatus
{
int m_type ;
smUint64_t m_timeStamp ;
int m_sequenceNumber ;
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//m_streamBytes is only for internal purposes
int m_numDataStreamBytes ;
char * m_dataStream ;
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//m_updateFlags is a bit fields to tell which parameters were updated,
//m_updateFlags is ignored for most status messages
int m_updateFlags ;
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union
{
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struct BulletDataStreamArgs m_dataStreamArguments ;
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struct SdfLoadedArgs m_sdfLoadedArgs ;
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struct SendActualStateArgs m_sendActualStateArgs ;
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struct SendDebugLinesArgs m_sendDebugLinesArgs ;
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struct SendPixelDataArgs m_sendPixelDataArguments ;
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struct RigidBodyCreateArgs m_rigidBodyCreateArgs ;
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struct CalculateInverseDynamicsResultArgs m_inverseDynamicsResultArgs ;
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struct CalculateJacobianResultArgs m_jacobianResultArgs ;
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struct CalculateMassMatrixResultArgs m_massMatrixResultArgs ;
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struct SendContactDataArgs m_sendContactPointArgs ;
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struct SendOverlappingObjectsArgs m_sendOverlappingObjectsArgs ;
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struct CalculateInverseKinematicsResultArgs m_inverseKinematicsResultArgs ;
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struct SendVisualShapeDataArgs m_sendVisualShapeArgs ;
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struct UserDebugDrawResultArgs m_userDebugDrawArgs ;
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struct b3UserConstraint m_userConstraintResultArgs ;
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struct b3UserConstraintState m_userConstraintStateResultArgs ;
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struct SendVREvents m_sendVREvents ;
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struct SendKeyboardEvents m_sendKeyboardEvents ;
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struct SendRaycastHits m_raycastHits ;
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struct StateLoggingResultArgs m_stateLoggingResultArgs ;
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struct b3OpenGLVisualizerCameraInfo m_visualizerCameraResultArgs ;
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struct b3ObjectArgs m_removeObjectArgs ;
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struct b3DynamicsInfo m_dynamicsInfo ;
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struct b3CreateUserShapeResultArgs m_createUserShapeResultArgs ;
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struct b3CreateMultiBodyResultArgs m_createMultiBodyResultArgs ;
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struct b3SendCollisionInfoArgs m_sendCollisionInfoArgs ;
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struct SendMouseEvents m_sendMouseEvents ;
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struct b3LoadTextureResultArgs m_loadTextureResultArguments ;
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struct b3CustomCommandResultArgs m_customCommandResultArgs ;
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struct b3PhysicsSimulationParameters m_simulationParameterResultArgs ;
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struct b3StateSerializationArguments m_saveStateResultArgs ;
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struct b3LoadSoftBodyResultArgs m_loadSoftBodyResultArguments ;
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struct SendCollisionShapeDataArgs m_sendCollisionShapeArgs ;
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} ;
} ;
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typedef struct SharedMemoryStatus SharedMemoryStatus_t ;
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# endif //SHARED_MEMORY_COMMANDS_H