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bullet3/examples/SharedMemory/PhysicsLoopBack.h

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Create a PhysicsLoopBack that includes both PhysicsClient and PhysicsServer over shared memory. Add a test for PhysicsLoopBack.
2015-10-27 00:56:21 +00:00
#ifndef PHYSICS_LOOP_BACK_H
#define PHYSICS_LOOP_BACK_H
//#include "SharedMemoryCommands.h"
#include "PhysicsClient.h"
#include "LinearMath/btVector3.h"
///todo: the PhysicsClient API was designed with shared memory in mind,
///now it become more general we need to move out the shared memory specifics away
///for example naming [disconnectSharedMemory -> disconnect] [ move setSharedMemoryKey to shared memory specific subclass ]
class PhysicsLoopBack : public PhysicsClient
{
struct PhysicsLoopBackInternalData* m_data;
public:
PhysicsLoopBack();
virtual ~PhysicsLoopBack();
// return true if connection succesfull, can also check 'isConnected'
virtual bool connect();
////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;
Create a PhysicsLoopBack that includes both PhysicsClient and PhysicsServer over shared memory. Add a test for PhysicsLoopBack.
2015-10-27 00:56:21 +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;
Create a PhysicsLoopBack that includes both PhysicsClient and PhysicsServer over shared memory. Add a test for PhysicsLoopBack.
2015-10-27 00:56:21 +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
Create a PhysicsLoopBack that includes both PhysicsClient and PhysicsServer over shared memory. Add a test for PhysicsLoopBack.
2015-10-27 00:56:21 +00:00
///todo: move this out of the
virtual void setSharedMemoryKey(int key);
void uploadBulletFileToSharedMemory(const char* data, int len);
revert exposing getSharedMemoryStreamBuffer / adding to command structure use 16k rays by default add uploadRaysToSharedMemory method
2018-06-16 15:14:00 +00:00
virtual void uploadRaysToSharedMemory(struct SharedMemoryCommand& command, const double* rayFromWorldArray, const double* rayToWorldArray, int numRays);
Create a PhysicsLoopBack that includes both PhysicsClient and PhysicsServer over shared memory. Add a test for PhysicsLoopBack.
2015-10-27 00:56:21 +00:00
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(struct b3CameraImageData* cameraData);
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);
Create a PhysicsLoopBack that includes both PhysicsClient and PhysicsServer over shared memory. Add a test for PhysicsLoopBack.
2015-10-27 00:56:21 +00:00
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
fix PhysicsLoopBack
2018-01-04 05:38:09 +00:00
virtual void getCachedCollisionShapeInformation(struct b3CollisionShapeInformation* collisionShapesInfo);
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);
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);
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;
PyBullet.addUserData / getUserData / removeUserData / getUserDataId / getNumUserData / getUserDataInfo See examples/pybullet/examples/userData.py how to use it. TODO: add to PyBullet Quickstart Guide. Thanks to Tigran Gasparian for the contribution!
2018-06-02 20:40:08 +00:00
Changes UserData to use global identifiers and makes linkIndex optional. This removes the need to specify the body id/link index when retrieving a user data entry. Additionally, user data can now optionally be set to visual shapes as well. The following public pybullet APIs have changed (backwards incompatible) addUserData and getUserDataId Makes linkIndex parameter optional (default value is -1) Adds optional visualShapeIndex parameter (default value is -1) getUserData and removeUserData Removes required parameters bodyUniqueId and linkIndex getNumUserData Removes required bodyUniqueId parameter getUserDataInfo Removes required linkIndex parameter Changes returned tuple from (userDataId, key) to (userDataId, key, bodyUniqueId, linkIndex, visualShapeIndex)
2018-07-03 15:45:19 +00:00
virtual bool getCachedUserData(int userDataId, struct b3UserDataValue &valueOut) const;
virtual int getCachedUserDataId(int bodyUniqueId, int linkIndex, int visualShapeIndex, const char *key) const;
virtual int getNumUserData(int bodyUniqueId) const;
virtual void getUserDataInfo(int bodyUniqueId, int userDataIndex, const char **keyOut, int *userDataIdOut, int *linkIndexOut, int *visualShapeIndexOut) const;
Fix memory leak due to batchRayCast never deleting the btTaskScheduler. (and issue with TaskScheduler/btTaskScheduler.cpp, add JobQueue::exit, call it first, since it uses the m_threadSupport which was deleted before the destrucor was called. Use a hashmap to store user timers, to avoid allocating many identical strings.
2018-06-16 16:37:53 +00:00
virtual void pushProfileTiming(const char* timingName);
virtual void popProfileTiming();
Create a PhysicsLoopBack that includes both PhysicsClient and PhysicsServer over shared memory. Add a test for PhysicsLoopBack.
2015-10-27 00:56:21 +00:00
};
#endif //PHYSICS_LOOP_BACK_H
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