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bullet3/examples/SharedMemory/PhysicsClientC_API.h

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fix various warnings, more work on shared memory API
2015-07-23 01:06:05 +00:00
#ifndef PHYSICS_CLIENT_C_API_H
#define PHYSICS_CLIENT_C_API_H
another step closer to useable shared memory C API (force/torque sensor needs new API) in a nutshell, users of shared memory physics API should not directly poke into shared memory, not fill 'SharedMemorCommand' nor read SharedMemoryStatus directly. The C-API declares 'handles' for those, to avoid it from happening.
2015-09-17 06:09:10 +00:00
//#include "SharedMemoryBlock.h"
#include "SharedMemoryPublic.h"
fix various warnings, more work on shared memory API
2015-07-23 01:06:05 +00:00
#define B3_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name
B3_DECLARE_HANDLE(b3PhysicsClientHandle);
another step closer to useable shared memory C API (force/torque sensor needs new API) in a nutshell, users of shared memory physics API should not directly poke into shared memory, not fill 'SharedMemorCommand' nor read SharedMemoryStatus directly. The C-API declares 'handles' for those, to avoid it from happening.
2015-09-17 06:09:10 +00:00
B3_DECLARE_HANDLE(b3SharedMemoryCommandHandle);
B3_DECLARE_HANDLE(b3SharedMemoryStatusHandle);
Quick first prototype/test to integrate pybullet into Unity, see readme.txt for details.
2017-09-21 06:18:18 +00:00
#ifdef _WIN32
add B3_SHARED_API definition for Mac / Linux / gcc
2017-09-21 15:37:00 +00:00
#define B3_SHARED_API __declspec(dllexport)
#elif defined (__GNUC__)
#define B3_SHARED_API __attribute__((visibility("default")))
#else
#define B3_SHARED_API
Quick first prototype/test to integrate pybullet into Unity, see readme.txt for details.
2017-09-21 06:18:18 +00:00
#endif
fix various warnings, more work on shared memory API
2015-07-23 01:06:05 +00:00
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
///There are several connection methods, see following header files:
#include "PhysicsClientSharedMemory_C_API.h"
#include "PhysicsClientSharedMemory2_C_API.h"
#include "PhysicsDirectC_API.h"
Add Extras/BulletRobotics, will be installed as 'Extra Libs' using CMake Reduce size of command-logfile (used in PhysicsServer (Logging) and PhysicsServer (Log Replay)) Make Bullet3Common and BulletInverseDynamics part of core Bullet libraries (not optional)
2017-09-06 20:18:39 +00:00
#ifdef BT_ENABLE_ENET
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
#include "PhysicsClientUDP_C_API.h"
Add Extras/BulletRobotics, will be installed as 'Extra Libs' using CMake Reduce size of command-logfile (used in PhysicsServer (Logging) and PhysicsServer (Log Replay)) Make Bullet3Common and BulletInverseDynamics part of core Bullet libraries (not optional)
2017-09-06 20:18:39 +00:00
#endif
#ifdef BT_ENABLE_CLSOCKET
#include "PhysicsClientTCP_C_API.h"
#endif
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
#include "SharedMemoryInProcessPhysicsC_API.h"
fix various warnings, more work on shared memory API
2015-07-23 01:06:05 +00:00
#ifdef __cplusplus
extern "C" {
#endif
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
fix various warnings, more work on shared memory API
2015-07-23 01:06:05 +00:00
add a few lines of documentation and some error checks in SharedMemory API
2016-04-13 20:06:15 +00:00
///b3DisconnectSharedMemory will disconnect the client from the server and cleanup memory.
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API void b3DisconnectSharedMemory(b3PhysicsClientHandle physClient);
fix various warnings, more work on shared memory API
2015-07-23 01:06:05 +00:00
add a few lines of documentation and some error checks in SharedMemory API
2016-04-13 20:06:15 +00:00
///There can only be 1 outstanding command. Check if a command can be send.
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API int b3CanSubmitCommand(b3PhysicsClientHandle physClient);
fix various warnings, more work on shared memory API
2015-07-23 01:06:05 +00:00
add a few lines of documentation and some error checks in SharedMemory API
2016-04-13 20:06:15 +00:00
///blocking submit command and wait for status
Quick first prototype/test to integrate pybullet into Unity, see readme.txt for details.
2017-09-21 06:18:18 +00:00
B3_SHARED_API b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle);
more work on physics client c-api over shared memory
2015-09-17 16:37:44 +00:00
add a few lines of documentation and some error checks in SharedMemory API
2016-04-13 20:06:15 +00:00
///In general it is better to use b3SubmitClientCommandAndWaitStatus. b3SubmitClientCommand is a non-blocking submit
///command, which requires checking for the status manually, using b3ProcessServerStatus. Also, before sending the
///next command, make sure to check if you can send a command using 'b3CanSubmitCommand'.
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API int b3SubmitClientCommand(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle);
fix various warnings, more work on shared memory API
2015-07-23 01:06:05 +00:00
more work on physics client c-api over shared memory
2015-09-17 16:37:44 +00:00
///non-blocking check status
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryStatusHandle b3ProcessServerStatus(b3PhysicsClientHandle physClient);
more work on physics client c-api over shared memory
2015-09-17 16:37:44 +00:00
add a few lines of documentation and some error checks in SharedMemory API
2016-04-13 20:06:15 +00:00
/// Get the physics server return status type. See EnumSharedMemoryServerStatus in SharedMemoryPublic.h for error codes.
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API int b3GetStatusType(b3SharedMemoryStatusHandle statusHandle);
more work on physics client c-api over shared memory
2015-09-17 16:37:44 +00:00
create a C/C++ plugin system for pybullet / C-API.
2017-09-23 02:17:57 +00:00
///Plugin system, load and unload a plugin, execute a command
B3_SHARED_API b3SharedMemoryCommandHandle b3CreateCustomCommand(b3PhysicsClientHandle physClient);
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
B3_SHARED_API void b3CustomCommandLoadPlugin(b3SharedMemoryCommandHandle commandHandle, const char* pluginPath);
add option to statically link a plugin, select the postFix (to avoid naming conflict of multiple plugins functions ('initPlugin' becomes initPlugin_postFix) pass events (keyboard, mouse, vr controllers etc) to the plugin, and clear them after the tick callback, so that it doesn't interfere with Python 'getEvents'
2017-10-03 22:00:52 +00:00
B3_SHARED_API void b3CustomCommandLoadPluginSetPostFix(b3SharedMemoryCommandHandle commandHandle, const char* postFix);
create a C/C++ plugin system for pybullet / C-API.
2017-09-23 02:17:57 +00:00
B3_SHARED_API int b3GetStatusPluginUniqueId(b3SharedMemoryStatusHandle statusHandle);
B3_SHARED_API int b3GetStatusPluginCommandResult(b3SharedMemoryStatusHandle statusHandle);
B3_SHARED_API void b3CustomCommandUnloadPlugin(b3SharedMemoryCommandHandle commandHandle, int pluginUniqueId);
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
B3_SHARED_API void b3CustomCommandExecutePluginCommand(b3SharedMemoryCommandHandle commandHandle, int pluginUniqueId, const char* textArguments);
B3_SHARED_API void b3CustomCommandExecuteAddIntArgument(b3SharedMemoryCommandHandle commandHandle, int intVal);
B3_SHARED_API void b3CustomCommandExecuteAddFloatArgument(b3SharedMemoryCommandHandle commandHandle, float floatVal);
create a C/C++ plugin system for pybullet / C-API.
2017-09-23 02:17:57 +00:00
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API int b3GetStatusBodyIndices(b3SharedMemoryStatusHandle statusHandle, int* bodyIndicesOut, int bodyIndicesCapacity);
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 B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API int b3GetStatusBodyIndex(b3SharedMemoryStatusHandle statusHandle);
initial support for multiple robots in shared memory API
2015-10-13 18:32:25 +00:00
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API int b3GetStatusActualState(b3SharedMemoryStatusHandle statusHandle,
Add b3GetStatusActualState() to C_API. Change pick-and-move C_API to use handlers
2015-11-05 00:08:28 +00:00
int* bodyUniqueId,
int* numDegreeOfFreedomQ,
int* numDegreeOfFreedomU,
const double* rootLocalInertialFrame[],
const double* actualStateQ[],
const double* actualStateQdot[],
const double* jointReactionForces[]);
add getAABB.py example. fix getAABB / b3RequestCollisionInfoCommandInit to use less stack memory
2017-06-17 01:10:10 +00:00
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3RequestCollisionInfoCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId);
B3_SHARED_API int b3GetStatusAABB(b3SharedMemoryStatusHandle statusHandle, int linkIndex, double aabbMin[/*3*/], double aabbMax[/*3*/]);
pybullet.getAABB and getAPIVersion fix btMultiBody::getLinkCollider bump up Bullet C-API version
2017-06-16 02:46:27 +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
///If you re-connected to an existing server, or server changed otherwise, sync the body info and user constraints etc.
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3InitSyncBodyInfoCommand(b3PhysicsClientHandle physClient);
add hand.py/hand.ino used to create this VR glove, using MuJoCo Haptix MPL hand (Apache 2 license) https://www.youtube.com/watch?v=VMJyZtHQL50 added b3InitSyncBodyInfoCommand, to retrieve body info, when connecting to a server with existing bodies pybullet will call this b3InitSyncBodyInfoCommand automatically after connecting Avoid overriding the py.setVRCameraState setting in VR
2017-01-21 02:13:24 +00:00
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRemoveBodyCommand(b3PhysicsClientHandle physClient, int bodyUniqueId);
more work towards removeBody for C-API/pybullet, work-in-progress.
2017-05-04 04:53:29 +00:00
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
///return the total number of bodies in the simulation
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API int b3GetNumBodies(b3PhysicsClientHandle physClient);
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
/// return the body unique id, given the index in range [0 , b3GetNumBodies() )
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API int b3GetBodyUniqueId(b3PhysicsClientHandle physClient, int serialIndex);
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
///given a body unique id, return the body information. See b3BodyInfo in SharedMemoryPublic.h
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API int b3GetBodyInfo(b3PhysicsClientHandle physClient, int bodyUniqueId, struct b3BodyInfo* info);
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
add a few lines of documentation and some error checks in SharedMemory API
2016-04-13 20:06:15 +00:00
///give a unique body index (after loading the body) return the number of joints.
fix compile warnings
2017-09-25 06:26:06 +00:00
B3_SHARED_API int b3GetNumJoints(b3PhysicsClientHandle physClient, int bodyId);
fix various warnings, more work on shared memory API
2015-07-23 01:06:05 +00:00
fix GetJointInfo to use a param called jointIndex (not linkIndex) for naming consistency
2016-07-20 18:01:02 +00:00
///given a body and joint index, return the joint information. See b3JointInfo in SharedMemoryPublic.h
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API int b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointIndex, struct b3JointInfo* info);
Add API to reset mass.
2017-05-02 05:18:54 +00:00
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3GetDynamicsInfoCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex);
Use "change" instead of "reset" for changing dynamics info.
2017-05-09 17:44:33 +00:00
///given a body unique id and link index, return the dynamics information. See b3DynamicsInfo in SharedMemoryPublic.h
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API int b3GetDynamicsInfo(b3SharedMemoryStatusHandle statusHandle, struct b3DynamicsInfo* info);
Add API to reset mass.
2017-05-02 05:18:54 +00:00
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3InitChangeDynamicsInfo(b3PhysicsClientHandle physClient);
B3_SHARED_API int b3ChangeDynamicsInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double mass);
expose API to change the local inertia diagonal, pybullet.ChangeDynamics(objectUid, linkIndex, localInertiaDiagonal=[xx,yy,zz])
2017-12-21 00:56:31 +00:00
B3_SHARED_API int b3ChangeDynamicsInfoSetLocalInertiaDiagonal(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double localInertiaDiagonal[3]);
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API int b3ChangeDynamicsInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction);
B3_SHARED_API int b3ChangeDynamicsInfoSetSpinningFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double friction);
B3_SHARED_API int b3ChangeDynamicsInfoSetRollingFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double friction);
B3_SHARED_API int b3ChangeDynamicsInfoSetRestitution(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double restitution);
B3_SHARED_API int b3ChangeDynamicsInfoSetLinearDamping(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId,double linearDamping);
B3_SHARED_API int b3ChangeDynamicsInfoSetAngularDamping(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId,double angularDamping);
B3_SHARED_API int b3ChangeDynamicsInfoSetContactStiffnessAndDamping(b3SharedMemoryCommandHandle commandHandle,int bodyUniqueId,int linkIndex,double contactStiffness, double contactDamping);
B3_SHARED_API int b3ChangeDynamicsInfoSetFrictionAnchor(b3SharedMemoryCommandHandle commandHandle,int bodyUniqueId,int linkIndex, int frictionAnchor);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info);
[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
///return a unique id for the user constraint, after successful creation, or -1 for an invalid constraint id
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API int b3GetStatusUserConstraintUniqueId(b3SharedMemoryStatusHandle statusHandle);
[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
///change parameters of an existing user constraint
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3InitChangeUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId);
B3_SHARED_API int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHandle commandHandle, double jointChildPivot[/*3*/]);
B3_SHARED_API int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle commandHandle, double jointChildFrameOrn[/*4*/]);
B3_SHARED_API int b3InitChangeUserConstraintSetMaxForce(b3SharedMemoryCommandHandle commandHandle, double maxAppliedForce);
B3_SHARED_API int b3InitChangeUserConstraintSetGearRatio(b3SharedMemoryCommandHandle commandHandle, double gearRatio);
B3_SHARED_API int b3InitChangeUserConstraintSetGearAuxLink(b3SharedMemoryCommandHandle commandHandle, int gearAuxLink);
expose gear erp/relative position target to C-API/pybullet finish much better C++ vrSyncPlugin, running in-the-loop with the physics at high frequency, see also vr_kuka_setup_vrSyncPlugin.py
2017-09-27 02:54:36 +00:00
B3_SHARED_API int b3InitChangeUserConstraintSetRelativePositionTarget(b3SharedMemoryCommandHandle commandHandle, double relativePositionTarget);
B3_SHARED_API int b3InitChangeUserConstraintSetERP(b3SharedMemoryCommandHandle commandHandle, double erp);
enable btGearConstraint, expose 'changeDynamics' for gearRatio, only works for maximalCoordinates rigid bodies. See examples\pybullet\examples\mimicJointConstraint.py
2017-06-07 20:44:34 +00:00
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId);
fix various warnings, more work on shared memory API
2015-07-23 01:06:05 +00:00
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API int b3GetNumUserConstraints(b3PhysicsClientHandle physClient);
fix the pybullet.changeDynamics linear/angular damping expose pybullet.getConstraintState
2017-10-19 02:15:35 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3InitGetUserConstraintStateCommand(b3PhysicsClientHandle physClient, int constraintUniqueId);
B3_SHARED_API int b3GetStatusUserConstraintState(b3SharedMemoryStatusHandle statusHandle, struct b3UserConstraintState* constraintState);
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API int b3GetUserConstraintInfo(b3PhysicsClientHandle physClient, int constraintUniqueId, struct b3UserConstraint* info);
Add API to get user constraint id.
2017-05-04 01:25:25 +00:00
/// return the user constraint id, given the index in range [0 , b3GetNumUserConstraints() )
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API int b3GetUserConstraintId(b3PhysicsClientHandle physClient, int serialIndex);
[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 user debug line/text features in pybullet + shared memory API: addUserDebugLine, addUserDebugText removeUserDebugItem removeAllUserDebugItems
2016-11-14 15:39:34 +00:00
///Request physics debug lines for debug visualization. The flags in debugMode are the same as used in Bullet
add a few lines of documentation and some error checks in SharedMemory API
2016-04-13 20:06:15 +00:00
///See btIDebugDraw::DebugDrawModes in Bullet/src/LinearMath/btIDebugDraw.h
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestDebugLinesCommand(b3PhysicsClientHandle physClient, int debugMode);
add a few lines of documentation and some error checks in SharedMemory API
2016-04-13 20:06:15 +00:00
add user debug line/text features in pybullet + shared memory API: addUserDebugLine, addUserDebugText removeUserDebugItem removeAllUserDebugItems
2016-11-14 15:39:34 +00:00
///Get the pointers to the physics debug line information, after b3InitRequestDebugLinesCommand returns
add a few lines of documentation and some error checks in SharedMemory API
2016-04-13 20:06:15 +00:00
///status CMD_DEBUG_LINES_COMPLETED
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API void b3GetDebugLines(b3PhysicsClientHandle physClient, struct b3DebugLines* lines);
allow to enable/disable GUI, shadows, wireframe of OpenGL Visualizer from API (pybullet.configureDebugVisualizer)
2017-02-22 01:36:54 +00:00
///configure the 3D OpenGL debug visualizer (enable/disable GUI widgets, shadows, position camera etc)
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3InitConfigureOpenGLVisualizer(b3PhysicsClientHandle physClient);
B3_SHARED_API void b3ConfigureOpenGLVisualizerSetVisualizationFlags(b3SharedMemoryCommandHandle commandHandle, int flag, int enabled);
B3_SHARED_API void b3ConfigureOpenGLVisualizerSetViewMatrix(b3SharedMemoryCommandHandle commandHandle, float cameraDistance, float cameraPitch, float cameraYaw, const float cameraTargetPosition[/*3*/]);
work-in-progress tinyrenderer -> shared memory API synthetic camera image
2016-05-18 06:57:19 +00:00
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestOpenGLVisualizerCameraCommand(b3PhysicsClientHandle physClient);
B3_SHARED_API int b3GetStatusOpenGLVisualizerCamera(b3SharedMemoryStatusHandle statusHandle, struct b3OpenGLVisualizerCameraInfo* camera);
implement pybullet.getDebugVisualizerCamera, width, height, providing viewmatrix, projection matrix
2017-04-10 18:03:41 +00:00
allow to enable/disable GUI, shadows, wireframe of OpenGL Visualizer from API (pybullet.configureDebugVisualizer)
2017-02-22 01:36:54 +00:00
add user debug line/text features in pybullet + shared memory API: addUserDebugLine, addUserDebugText removeUserDebugItem removeAllUserDebugItems
2016-11-14 15:39:34 +00:00
/// Add/remove user-specific debug lines and debug text messages
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3PhysicsClientHandle physClient, double fromXYZ[/*3*/], double toXYZ[/*3*/], double colorRGB[/*3*/], double lineWidth, double lifeTime);
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
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle physClient, const char* txt, double positionXYZ[/*3*/], double colorRGB[/*3*/], double textSize, double lifeTime);
B3_SHARED_API void b3UserDebugTextSetOptionFlags(b3SharedMemoryCommandHandle commandHandle, int optionFlags);
B3_SHARED_API void b3UserDebugTextSetOrientation(b3SharedMemoryCommandHandle commandHandle, double orientation[/*4*/]);
pybullet: allow to replace existing text, to avoid flickering (remove/add) allow texture caching (disable using the disable file caching)
2017-10-25 15:15:01 +00:00
B3_SHARED_API void b3UserDebugItemSetReplaceItemUniqueId(b3SharedMemoryCommandHandle commandHandle, int replaceItem);
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
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API void b3UserDebugItemSetParentObject(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex);
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
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugAddParameter(b3PhysicsClientHandle physClient, const char* txt, double rangeMin, double rangeMax, double startValue);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugReadParameter(b3PhysicsClientHandle physClient, int debugItemUniqueId);
B3_SHARED_API int b3GetStatusDebugParameterValue(b3SharedMemoryStatusHandle statusHandle, double* paramValue);
[pybullet] implement addUserDebugParameter / readUserDebugParameter fix inertial frame for door.urdf allow picking of links of multi-bodies with a fixed base
2017-01-17 23:42:32 +00:00
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawRemove(b3PhysicsClientHandle physClient, int debugItemUniqueId);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawRemoveAll(b3PhysicsClientHandle physClient);
setDebugObjectColor
2016-11-21 15:42:11 +00:00
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3InitDebugDrawingCommand(b3PhysicsClientHandle physClient);
B3_SHARED_API void b3SetDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex, double objectColorRGB[/*3*/]);
B3_SHARED_API void b3RemoveDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex);
setDebugObjectColor
2016-11-21 15:42:11 +00:00
add user debug line/text features in pybullet + shared memory API: addUserDebugLine, addUserDebugText removeUserDebugItem removeAllUserDebugItems
2016-11-14 15:39:34 +00:00
///All debug items unique Ids are positive: a negative unique Id means failure.
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API int b3GetDebugItemUniqueId(b3SharedMemoryStatusHandle statusHandle);
add user debug line/text features in pybullet + shared memory API: addUserDebugLine, addUserDebugText removeUserDebugItem removeAllUserDebugItems
2016-11-14 15:39:34 +00:00
setDebugObjectColor
2016-11-21 15:42:11 +00:00
work-in-progress tinyrenderer -> shared memory API synthetic camera image
2016-05-18 06:57:19 +00:00
///request an image from a simulated camera, using a software renderer.
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient);
fix compile warnings
2017-09-25 06:26:06 +00:00
B3_SHARED_API void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle commandHandle, float viewMatrix[/*16*/], float projectionMatrix[/*16*/]);
B3_SHARED_API void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle commandHandle, int width, int height );
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API void b3RequestCameraImageSetLightDirection(b3SharedMemoryCommandHandle commandHandle, const float lightDirection[/*3*/]);
B3_SHARED_API void b3RequestCameraImageSetLightColor(b3SharedMemoryCommandHandle commandHandle, const float lightColor[/*3*/]);
B3_SHARED_API void b3RequestCameraImageSetLightDistance(b3SharedMemoryCommandHandle commandHandle, float lightDistance);
B3_SHARED_API void b3RequestCameraImageSetLightAmbientCoeff(b3SharedMemoryCommandHandle commandHandle, float lightAmbientCoeff);
B3_SHARED_API void b3RequestCameraImageSetLightDiffuseCoeff(b3SharedMemoryCommandHandle commandHandle, float lightDiffuseCoeff);
B3_SHARED_API void b3RequestCameraImageSetLightSpecularCoeff(b3SharedMemoryCommandHandle commandHandle, float lightSpecularCoeff);
B3_SHARED_API void b3RequestCameraImageSetShadow(b3SharedMemoryCommandHandle commandHandle, int hasShadow);
B3_SHARED_API void b3RequestCameraImageSelectRenderer(b3SharedMemoryCommandHandle commandHandle, int renderer);
add segmask_linkindex.py example using p.getCameraImage(320,200,flags=p.ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX) to extract object unique id and link index from segmentation mask in getCameraImage
2017-12-28 20:37:07 +00:00
B3_SHARED_API void b3RequestCameraImageSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags);
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData);
add pybullet getCameraImage, replacing renderImage, cleaner API: always pass in width, hight and viewMatrix, projectionMatrix, optionally lightDir added helper methods computeViewMatrix, computeViewMatrixFromYawPitchRoll, computeProjectionMatrix, computeProjectionMatrixFOV see Bullet/examples/pybullet/testrender.py + testrender_np.py for example use add missing base_link.stl for husky.urdf
2016-11-17 23:15:52 +00:00
///compute a view matrix, helper function for b3RequestCameraImageSetCameraMatrices
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API void b3ComputeViewMatrixFromPositions(const float cameraPosition[/*3*/], const float cameraTargetPosition[/*3*/], const float cameraUp[/*3*/], float viewMatrix[/*16*/]);
B3_SHARED_API void b3ComputeViewMatrixFromYawPitchRoll(const float cameraTargetPosition[/*3*/], float distance, float yaw, float pitch, float roll, int upAxis, float viewMatrix[/*16*/]);
B3_SHARED_API void b3ComputePositionFromViewMatrix(const float viewMatrix[/*16*/], float cameraPosition[/*3*/], float cameraTargetPosition[/*3*/], float cameraUp[/*3*/]);
add pybullet getCameraImage, replacing renderImage, cleaner API: always pass in width, hight and viewMatrix, projectionMatrix, optionally lightDir added helper methods computeViewMatrix, computeViewMatrixFromYawPitchRoll, computeProjectionMatrix, computeProjectionMatrixFOV see Bullet/examples/pybullet/testrender.py + testrender_np.py for example use add missing base_link.stl for husky.urdf
2016-11-17 23:15:52 +00:00
///compute a projection matrix, helper function for b3RequestCameraImageSetCameraMatrices
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API void b3ComputeProjectionMatrix(float left, float right, float bottom, float top, float nearVal, float farVal, float projectionMatrix[/*16*/]);
B3_SHARED_API void b3ComputeProjectionMatrixFOV(float fov, float aspect, float nearVal, float farVal, float projectionMatrix[/*16*/]);
add pybullet getCameraImage, replacing renderImage, cleaner API: always pass in width, hight and viewMatrix, projectionMatrix, optionally lightDir added helper methods computeViewMatrix, computeViewMatrixFromYawPitchRoll, computeProjectionMatrix, computeProjectionMatrixFOV see Bullet/examples/pybullet/testrender.py + testrender_np.py for example use add missing base_link.stl for husky.urdf
2016-11-17 23:15:52 +00:00
/* obsolete, please use b3ComputeViewProjectionMatrices */
fix compile warnings
2017-09-25 06:26:06 +00:00
B3_SHARED_API void b3RequestCameraImageSetViewMatrix(b3SharedMemoryCommandHandle commandHandle, const float cameraPosition[/*3*/], const float cameraTargetPosition[/*3*/], const float cameraUp[/*3*/]);
add pybullet getCameraImage, replacing renderImage, cleaner API: always pass in width, hight and viewMatrix, projectionMatrix, optionally lightDir added helper methods computeViewMatrix, computeViewMatrixFromYawPitchRoll, computeProjectionMatrix, computeProjectionMatrixFOV see Bullet/examples/pybullet/testrender.py + testrender_np.py for example use add missing base_link.stl for husky.urdf
2016-11-17 23:15:52 +00:00
/* obsolete, please use b3ComputeViewProjectionMatrices */
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API void b3RequestCameraImageSetViewMatrix2(b3SharedMemoryCommandHandle commandHandle, const float cameraTargetPosition[/*3*/], float distance, float yaw, float pitch, float roll, int upAxis);
add pybullet getCameraImage, replacing renderImage, cleaner API: always pass in width, hight and viewMatrix, projectionMatrix, optionally lightDir added helper methods computeViewMatrix, computeViewMatrixFromYawPitchRoll, computeProjectionMatrix, computeProjectionMatrixFOV see Bullet/examples/pybullet/testrender.py + testrender_np.py for example use add missing base_link.stl for husky.urdf
2016-11-17 23:15:52 +00:00
/* obsolete, please use b3ComputeViewProjectionMatrices */
fix compile warnings
2017-09-25 06:26:06 +00:00
B3_SHARED_API void b3RequestCameraImageSetProjectionMatrix(b3SharedMemoryCommandHandle commandHandle, float left, float right, float bottom, float top, float nearVal, float farVal);
add pybullet getCameraImage, replacing renderImage, cleaner API: always pass in width, hight and viewMatrix, projectionMatrix, optionally lightDir added helper methods computeViewMatrix, computeViewMatrixFromYawPitchRoll, computeProjectionMatrix, computeProjectionMatrixFOV see Bullet/examples/pybullet/testrender.py + testrender_np.py for example use add missing base_link.stl for husky.urdf
2016-11-17 23:15:52 +00:00
/* obsolete, please use b3ComputeViewProjectionMatrices */
fix compile warnings
2017-09-25 06:26:06 +00:00
B3_SHARED_API void b3RequestCameraImageSetFOVProjectionMatrix(b3SharedMemoryCommandHandle commandHandle, float fov, float aspect, float nearVal, float farVal);
add pybullet getCameraImage, replacing renderImage, cleaner API: always pass in width, hight and viewMatrix, projectionMatrix, optionally lightDir added helper methods computeViewMatrix, computeViewMatrixFromYawPitchRoll, computeProjectionMatrix, computeProjectionMatrixFOV see Bullet/examples/pybullet/testrender.py + testrender_np.py for example use add missing base_link.stl for husky.urdf
2016-11-17 23:15:52 +00:00
work-in-progress tinyrenderer -> shared memory API synthetic camera image
2016-05-18 06:57:19 +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
///request an contact point information
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestContactPointInformation(b3PhysicsClientHandle physClient);
B3_SHARED_API void b3SetContactFilterBodyA(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdA);
B3_SHARED_API void b3SetContactFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB);
B3_SHARED_API void b3SetContactFilterLinkA(b3SharedMemoryCommandHandle commandHandle, int linkIndexA);
B3_SHARED_API void b3SetContactFilterLinkB(b3SharedMemoryCommandHandle commandHandle, int linkIndexB);
fix compile warnings
2017-09-25 06:26:06 +00:00
B3_SHARED_API void b3GetContactPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointData);
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
pybullet getClosestPoints
2016-11-10 05:01:04 +00:00
///compute the closest points between two bodies
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3InitClosestDistanceQuery(b3PhysicsClientHandle physClient);
B3_SHARED_API void b3SetClosestDistanceFilterBodyA(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdA);
B3_SHARED_API void b3SetClosestDistanceFilterLinkA(b3SharedMemoryCommandHandle commandHandle, int linkIndexA);
B3_SHARED_API void b3SetClosestDistanceFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB);
B3_SHARED_API void b3SetClosestDistanceFilterLinkB(b3SharedMemoryCommandHandle commandHandle, int linkIndexB);
B3_SHARED_API void b3SetClosestDistanceThreshold(b3SharedMemoryCommandHandle commandHandle, double distance);
B3_SHARED_API void b3GetClosestPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointInfo);
pybullet getClosestPoints
2016-11-10 05:01:04 +00:00
///get all the bodies that touch a given axis aligned bounding box specified in world space (min and max coordinates)
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3InitAABBOverlapQuery(b3PhysicsClientHandle physClient, const double aabbMin[/*3*/],const double aabbMax[/*3*/]);
B3_SHARED_API void b3GetAABBOverlapResults(b3PhysicsClientHandle physClient, struct b3AABBOverlapData* data);
pybullet getClosestPoints
2016-11-10 05:01:04 +00:00
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
//request visual shape information
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestVisualShapeInformation(b3PhysicsClientHandle physClient, int bodyUniqueIdA);
B3_SHARED_API void b3GetVisualShapeInformation(b3PhysicsClientHandle physClient, struct b3VisualShapeInformation* visualShapeInfo);
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
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
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestCollisionShapeInformation(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex);
B3_SHARED_API void b3GetCollisionShapeInformation(b3PhysicsClientHandle physClient, struct b3CollisionShapeInformation* collisionShapeInfo);
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3InitLoadTexture(b3PhysicsClientHandle physClient, const char* filename);
B3_SHARED_API int b3GetStatusTextureUniqueId(b3SharedMemoryStatusHandle statusHandle);
fixes in pybullet.loadTexture, changeVisualShape replacing texture. (also works for OpenGL3 renderer now)
2017-06-30 20:35:07 +00:00
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3CreateChangeTextureCommandInit(b3PhysicsClientHandle physClient, int textureUniqueId, int width, int height, const char* rgbPixels);
fixes in pybullet.loadTexture, changeVisualShape replacing texture. (also works for OpenGL3 renderer now)
2017-06-30 20:35:07 +00:00
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId);
B3_SHARED_API void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle commandHandle, double rgbaColor[/*4*/]);
B3_SHARED_API void b3UpdateVisualShapeSpecularColor(b3SharedMemoryCommandHandle commandHandle, double specularColor[/*3*/]);
implement specular, URDF non-standard specular part (see sphere2.urdf) and SDF specular support. pybullet.changeVisualShape(obUid,linkIndex,specularColor=[R,G,B]) and Bullet C-API b3UpdateVisualShapeSpecularColor Bug fixes in b3ResourcePath::findResourcePath resolution. add stadium.sdf and roboschool/models_outdoor/stadium assets https://github.com/openai/roboschool/tree/master/roboschool/models_outdoor/stadium minor fixes to obj2sdf
2017-06-01 19:32:44 +00:00
another step closer to useable shared memory C API (force/torque sensor needs new API) in a nutshell, users of shared memory physics API should not directly poke into shared memory, not fill 'SharedMemorCommand' nor read SharedMemoryStatus directly. The C-API declares 'handles' for those, to avoid it from happening.
2015-09-17 06:09:10 +00:00
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient);
B3_SHARED_API int b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz);
B3_SHARED_API int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double timeStep);
B3_SHARED_API int b3PhysicsParamSetDefaultContactERP(b3SharedMemoryCommandHandle commandHandle, double defaultContactERP);
B3_SHARED_API int b3PhysicsParamSetDefaultNonContactERP(b3SharedMemoryCommandHandle commandHandle, double defaultNonContactERP);
B3_SHARED_API int b3PhysicsParamSetDefaultFrictionERP(b3SharedMemoryCommandHandle commandHandle, double frictionERP);
B3_SHARED_API int b3PhysicsParamSetNumSubSteps(b3SharedMemoryCommandHandle commandHandle, int numSubSteps);
B3_SHARED_API int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation);
B3_SHARED_API int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations);
B3_SHARED_API int b3PhysicsParamSetCollisionFilterMode(b3SharedMemoryCommandHandle commandHandle, int filterMode);
B3_SHARED_API int b3PhysicsParamSetUseSplitImpulse(b3SharedMemoryCommandHandle commandHandle, int useSplitImpulse);
B3_SHARED_API int b3PhysicsParamSetSplitImpulsePenetrationThreshold(b3SharedMemoryCommandHandle commandHandle, double splitImpulsePenetrationThreshold);
B3_SHARED_API int b3PhysicsParamSetContactBreakingThreshold(b3SharedMemoryCommandHandle commandHandle, double contactBreakingThreshold);
B3_SHARED_API int b3PhysicsParamSetMaxNumCommandsPer1ms(b3SharedMemoryCommandHandle commandHandle, int maxNumCmdPer1ms);
B3_SHARED_API int b3PhysicsParamSetEnableFileCaching(b3SharedMemoryCommandHandle commandHandle, int enableFileCaching);
B3_SHARED_API int b3PhysicsParamSetRestitutionVelocityThreshold(b3SharedMemoryCommandHandle commandHandle, double restitutionVelocityThreshold);
expose pybullet 'enableConeFriction' to switch between pyramid and cone friction model.
2017-12-01 18:07:07 +00:00
B3_SHARED_API int b3PhysicsParamSetEnableConeFriction(b3SharedMemoryCommandHandle commandHandle, int enableConeFriction);
expose pybullet changeDynamics(spinningFriction=..., rollingFriction=..., restitution=...) Bullet C-API b3ChangeDynamicsInfoSetSpinningFriction/RollingFriction/Resitution b3PhysicsParamSetRestitutionVelocityThreshold, / pybullet.setPhysicsEngineParameter restitutionVelocityThreshold: if the velocity is below this threshhold, the restitution is zero (this prevents energy buildup at near-resting state) pybullet restitution.py example.
2017-05-27 01:14:38 +00:00
expose some parameters through pybullet.getPhysicsEngineParameters (C-API: b3InitRequestPhysicsParamCommand + b3GetStatusPhysicsSimulationParameters)
2017-10-05 18:43:14 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestPhysicsParamCommand(b3PhysicsClientHandle physClient);
B3_SHARED_API int b3GetStatusPhysicsSimulationParameters(b3SharedMemoryStatusHandle statusHandle,struct b3PhysicsSimulationParameters* params);
expose b3PhysicsParamSetNumSolverIterations split Visual Studio project generation batch file in regular and VR+pybullet+double precision build. disable KUKA iiwa joint limit hack
2016-10-05 23:31:48 +00:00
added b3PhysicsParamSetInternalSimFlags command, and pybullet setInternalSimFlags API. //Use at own risk: magic things may or my not happen when calling this API. This allows to enable/disable robot assets (samurai world, gripper, KUKA robot etc) in Physics Server (and App_PhysicsServerVR etc) 1 = create robot assets 2 = create experimental box-vr-gui Add optional command-line parameter for App_PhysicsServerVR, --norobotassets, to start with an empty world, no assets in VR (no gripper, no kuka)
2016-10-23 14:14:50 +00:00
//b3PhysicsParamSetInternalSimFlags is for internal/temporary/easter-egg/experimental demo purposes
//Use at own risk: magic things may or my not happen when calling this API
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API int b3PhysicsParamSetInternalSimFlags(b3SharedMemoryCommandHandle commandHandle, int flags);
expose b3PhysicsParamSetNumSolverIterations split Visual Studio project generation batch file in regular and VR+pybullet+double precision build. disable KUKA iiwa joint limit hack
2016-10-05 23:31:48 +00:00
small progress towards shared memory C-api and test.c.
2015-07-31 06:22:44 +00:00
Quick first prototype/test to integrate pybullet into Unity, see readme.txt for details.
2017-09-21 06:18:18 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient);
small progress towards shared memory C-api and test.c.
2015-07-31 06:22:44 +00:00
Quick first prototype/test to integrate pybullet into Unity, see readme.txt for details.
2017-09-21 06:18:18 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHandle physClient);
reset simulation in test/SharedMemory/test for proper cleanup, and it can restart without shutting down/restarting physics server w
2015-08-28 00:51:31 +00:00
more comments in SharedMemory C API
2016-04-14 00:09:48 +00:00
///Load a robot from a URDF file. Status type will CMD_URDF_LOADING_COMPLETED.
///Access the robot from the unique body index, through b3GetStatusBodyIndex(statusHandle);
Quick first prototype/test to integrate pybullet into Unity, see readme.txt for details.
2017-09-21 06:18:18 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName);
more comments in SharedMemory C API
2016-04-14 00:09:48 +00:00
Quick first prototype/test to integrate pybullet into Unity, see readme.txt for details.
2017-09-21 06:18:18 +00:00
B3_SHARED_API int b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ);
B3_SHARED_API int b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
B3_SHARED_API int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
B3_SHARED_API int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase);
B3_SHARED_API int b3LoadUrdfCommandSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags);
B3_SHARED_API int b3LoadUrdfCommandSetGlobalScaling(b3SharedMemoryCommandHandle commandHandle, double globalScaling);
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
ping-pong back/forward in PGS solving iterations to reduce bias in constraint order add experimental rhs clamp in btMultiBodyJointMotor to control maximum error resolution.
2016-09-28 18:17:11 +00:00
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
B3_SHARED_API b3SharedMemoryCommandHandle b3SaveStateCommandInit(b3PhysicsClientHandle physClient);
B3_SHARED_API int b3GetStatusGetStateId(b3SharedMemoryStatusHandle statusHandle);
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadStateCommandInit(b3PhysicsClientHandle physClient);
B3_SHARED_API int b3LoadStateSetStateId(b3SharedMemoryCommandHandle commandHandle, int stateId);
B3_SHARED_API int b3LoadStateSetFileName(b3SharedMemoryCommandHandle commandHandle, const char* fileName);
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadBulletCommandInit(b3PhysicsClientHandle physClient, const char* fileName);
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
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3SaveBulletCommandInit(b3PhysicsClientHandle physClient, const char* fileName);
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadMJCFCommandInit(b3PhysicsClientHandle physClient, const char* fileName);
B3_SHARED_API void b3LoadMJCFCommandSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags);
add pybullet loadBullet, saveBullet (work-in-progress) and placeholder for loadMJCF.
2016-11-12 02:07:42 +00:00
small progress towards shared memory C-api and test.c.
2015-07-31 06:22:44 +00:00
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
///compute the forces to achieve an acceleration, given a state q and qdot using inverse dynamics
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3CalculateInverseDynamicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex,
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
const double* jointPositionsQ, const double* jointVelocitiesQdot, const double* jointAccelerations);
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API int b3GetStatusInverseDynamicsJointForces(b3SharedMemoryStatusHandle statusHandle,
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
int* bodyUniqueId,
int* dofCount,
double* jointForces);
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3CalculateJacobianCommandInit(b3PhysicsClientHandle physClient, int bodyIndex, int linkIndex, const double* localPosition, const double* jointPositionsQ, const double* jointVelocitiesQdot, const double* jointAccelerations);
[pybullet] Add calculateJacobian. * Add the calculateJacobian method to the pybullet API. * Adjust the shared memory interface to handle fixed/floating bases in the calculateJacobian method. * Fix a few comments.
2017-09-24 02:58:59 +00:00
B3_SHARED_API int b3GetStatusJacobian(b3SharedMemoryStatusHandle statusHandle,
int* dofCount,
double* linearJacobian,
double* angularJacobian);
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
Add calculateMass to shared memory interface.
2017-09-30 20:39:11 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3CalculateMassMatrixCommandInit(b3PhysicsClientHandle physClient, int bodyIndex, const double* jointPositionsQ);
Allow to configure Y=up, default is Z=up, using pybullet.configureDebugVisualizer(COV_ENABLE_Y_AXIS_UP,0/1) Implement pybullet.getConnectionInfo, returns [isConnected, connectionMethod], where isConnected=0 or 1
2017-10-05 16:02:33 +00:00
///the mass matrix is stored in column-major layout of size dofCount*dofCount
B3_SHARED_API int b3GetStatusMassMatrix(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int* dofCount, double* massMatrix);
Add calculateMass to shared memory interface.
2017-09-30 20:39:11 +00:00
Create project file for BussIK inverse kinematics library (premake, cmake) URDF/SDF: add a flag to force concave mesh collisiofor static objects. <collision concave="yes" name="pod_collision"> VR: support teleporting using buttong, allow multiple controllers to be used, fast wireframe rendering, Turn off warnings about deprecated C routine in btScalar.h/b3Scalar.h Add a dummy return to stop a warning Expose defaultContactERP in shared memory api/pybullet. First start to expose IK in shared memory api/pybullet (not working yet)
2016-09-08 22:15:58 +00:00
///compute the joint positions to move the end effector to a desired target using inverse kinematics
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3CalculateInverseKinematicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex);
B3_SHARED_API void b3CalculateInverseKinematicsAddTargetPurePosition(b3SharedMemoryCommandHandle commandHandle, int endEffectorLinkIndex, const double targetPosition[/*3*/]);
B3_SHARED_API void b3CalculateInverseKinematicsAddTargetPositionWithOrientation(b3SharedMemoryCommandHandle commandHandle, int endEffectorLinkIndex, const double targetPosition[/*3*/], const double targetOrientation[/*4*/]);
B3_SHARED_API void b3CalculateInverseKinematicsPosWithNullSpaceVel(b3SharedMemoryCommandHandle commandHandle, int numDof, int endEffectorLinkIndex, const double targetPosition[/*3*/], const double* lowerLimit, const double* upperLimit, const double* jointRange, const double* restPose);
B3_SHARED_API void b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(b3SharedMemoryCommandHandle commandHandle, int numDof, int endEffectorLinkIndex, const double targetPosition[/*3*/], const double targetOrientation[/*4*/], const double* lowerLimit, const double* upperLimit, const double* jointRange, const double* restPose);
B3_SHARED_API void b3CalculateInverseKinematicsSetJointDamping(b3SharedMemoryCommandHandle commandHandle, int numDof, const double* jointDampingCoeff);
Expose IK solver options including DLS and SDLS.
2017-10-19 21:00:53 +00:00
B3_SHARED_API void b3CalculateInverseKinematicsSelectSolver(b3SharedMemoryCommandHandle commandHandle, int solver);
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle statusHandle,
Create project file for BussIK inverse kinematics library (premake, cmake) URDF/SDF: add a flag to force concave mesh collisiofor static objects. <collision concave="yes" name="pod_collision"> VR: support teleporting using buttong, allow multiple controllers to be used, fast wireframe rendering, Turn off warnings about deprecated C routine in btScalar.h/b3Scalar.h Add a dummy return to stop a warning Expose defaultContactERP in shared memory api/pybullet. First start to expose IK in shared memory api/pybullet (not working yet)
2016-09-08 22:15:58 +00:00
int* bodyUniqueId,
int* dofCount,
double* jointPositions);
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadSdfCommandInit(b3PhysicsClientHandle physClient, const char* sdfFileName);
B3_SHARED_API int b3LoadSdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
B3_SHARED_API int b3LoadSdfCommandSetUseGlobalScaling(b3SharedMemoryCommandHandle commandHandle, double globalScaling);
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
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
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3SaveWorldCommandInit(b3PhysicsClientHandle physClient, const char* sdfFileName);
Add rudimentary 'saveWorld' command in shared memory API and pybullet, see examples/pybullet/saveWorld.py Use trilinear filtering instead of bilinear
2016-10-13 06:03:36 +00:00
re-introduce old method in pybullet for temporary back-wards compatibility b3JointControlCommandInit requires 3 args, but it was only 2, use b3JointControlCommandInit2 for now.
2016-06-23 15:40:36 +00:00
///The b3JointControlCommandInit method is obsolete, use b3JointControlCommandInit2 instead
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3JointControlCommandInit(b3PhysicsClientHandle physClient, int controlMode);
re-introduce old method in pybullet for temporary back-wards compatibility b3JointControlCommandInit requires 3 args, but it was only 2, use b3JointControlCommandInit2 for now.
2016-06-23 15:40:36 +00:00
tweaks in pybullet and shared memory C-API: allow to reset the state of a single joint allow to set the target/mode for a single joint motor at a time rename pybullet API: initializeJointPositions -> resetJointState
2016-06-24 14:31:17 +00:00
///Set joint motor control variables such as desired position/angle, desired velocity,
further work on shared memory API fix dependency of BulletDynamics to Bullet3Common (b3Printf)
2015-08-02 21:00:43 +00:00
///applied joint forces, dependent on the control mode (CONTROL_MODE_VELOCITY or CONTROL_MODE_TORQUE)
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3JointControlCommandInit2(b3PhysicsClientHandle physClient, int bodyUniqueId, int controlMode);
re-introduce old method in pybullet for temporary back-wards compatibility b3JointControlCommandInit requires 3 args, but it was only 2, use b3JointControlCommandInit2 for now.
2016-06-23 15:40:36 +00:00
tweaks in pybullet and shared memory C-API: allow to reset the state of a single joint allow to set the target/mode for a single joint motor at a time rename pybullet API: initializeJointPositions -> resetJointState
2016-06-24 14:31:17 +00:00
///Only use when controlMode is CONTROL_MODE_POSITION_VELOCITY_PD
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API int b3JointControlSetDesiredPosition(b3SharedMemoryCommandHandle commandHandle, int qIndex, double value);
B3_SHARED_API int b3JointControlSetKp(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
B3_SHARED_API int b3JointControlSetKd(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
expose a maximum velocity due to the joint motor in position control. see also pybullet/examples/motorMaxVelocity.py this fixes issue 1444
2017-11-22 01:05:28 +00:00
B3_SHARED_API int b3JointControlSetMaximumVelocity(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double maximumVelocity);
tweaks in pybullet and shared memory C-API: allow to reset the state of a single joint allow to set the target/mode for a single joint motor at a time rename pybullet API: initializeJointPositions -> resetJointState
2016-06-24 14:31:17 +00:00
///Only use when controlMode is CONTROL_MODE_VELOCITY
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API int b3JointControlSetDesiredVelocity(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value); /* find a better name for dof/q/u indices, point to b3JointInfo */
B3_SHARED_API int b3JointControlSetMaximumForce(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
further work on shared memory API fix dependency of BulletDynamics to Bullet3Common (b3Printf)
2015-08-02 21:00:43 +00:00
///Only use if when controlMode is CONTROL_MODE_TORQUE,
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API int b3JointControlSetDesiredForceTorque(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
further work on shared memory API fix dependency of BulletDynamics to Bullet3Common (b3Printf)
2015-08-02 21:00:43 +00:00
///the creation of collision shapes and rigid bodies etc is likely going to change,
///but good to have a b3CreateBoxShapeCommandInit for now
pybullet.createCollisionShape, createVisualShape, createMultiBody, programmatic creation using ProgrammaticUrdfInterface (still preliminary, not ready for commit yet, see examples\pybullet\examples\createSphereMultiBodies.py)
2017-06-03 17:57:56 +00:00
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3CreateCollisionShapeCommandInit(b3PhysicsClientHandle physClient);
B3_SHARED_API int b3CreateCollisionShapeAddSphere(b3SharedMemoryCommandHandle commandHandle,double radius);
B3_SHARED_API int b3CreateCollisionShapeAddBox(b3SharedMemoryCommandHandle commandHandle,double halfExtents[/*3*/]);
B3_SHARED_API int b3CreateCollisionShapeAddCapsule(b3SharedMemoryCommandHandle commandHandle,double radius, double height);
B3_SHARED_API int b3CreateCollisionShapeAddCylinder(b3SharedMemoryCommandHandle commandHandle,double radius, double height);
B3_SHARED_API int b3CreateCollisionShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, double planeNormal[/*3*/], double planeConstant);
B3_SHARED_API int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle commandHandle,const char* fileName, double meshScale[/*3*/]);
B3_SHARED_API void b3CreateCollisionSetFlag(b3SharedMemoryCommandHandle commandHandle,int shapeIndex, int flags);
B3_SHARED_API void b3CreateCollisionShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle,int shapeIndex, double childPosition[/*3*/], double childOrientation[/*4*/]);
B3_SHARED_API int b3GetStatusCollisionShapeUniqueId(b3SharedMemoryStatusHandle statusHandle);
pybullet.createCollisionShape, createVisualShape, createMultiBody, programmatic creation using ProgrammaticUrdfInterface (still preliminary, not ready for commit yet, see examples\pybullet\examples\createSphereMultiBodies.py)
2017-06-03 17:57:56 +00:00
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3CreateVisualShapeCommandInit(b3PhysicsClientHandle physClient);
Implement first draft of pybullet.createVisualShape and add createVisualShape.py example add normals to duck.obj for nicer appearance fix plane100.urdf (so collision shape matches visual shape size)
2017-10-08 01:50:23 +00:00
B3_SHARED_API int b3CreateVisualShapeAddSphere(b3SharedMemoryCommandHandle commandHandle,double radius);
B3_SHARED_API int b3CreateVisualShapeAddBox(b3SharedMemoryCommandHandle commandHandle,double halfExtents[/*3*/]);
B3_SHARED_API int b3CreateVisualShapeAddCapsule(b3SharedMemoryCommandHandle commandHandle,double radius, double height);
B3_SHARED_API int b3CreateVisualShapeAddCylinder(b3SharedMemoryCommandHandle commandHandle,double radius, double height);
B3_SHARED_API int b3CreateVisualShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, double planeNormal[/*3*/], double planeConstant);
B3_SHARED_API int b3CreateVisualShapeAddMesh(b3SharedMemoryCommandHandle commandHandle,const char* fileName, double meshScale[/*3*/]);
B3_SHARED_API void b3CreateVisualSetFlag(b3SharedMemoryCommandHandle commandHandle,int shapeIndex, int flags);
B3_SHARED_API void b3CreateVisualShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle,int shapeIndex, double childPosition[/*3*/], double childOrientation[/*4*/]);
B3_SHARED_API void b3CreateVisualShapeSetSpecularColor(b3SharedMemoryCommandHandle commandHandle,int shapeIndex, double specularColor[/*3*/]);
B3_SHARED_API void b3CreateVisualShapeSetRGBAColor(b3SharedMemoryCommandHandle commandHandle,int shapeIndex, double rgbaColor[/*4*/]);
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API int b3GetStatusVisualShapeUniqueId(b3SharedMemoryStatusHandle statusHandle);
pybullet.createCollisionShape, createVisualShape, createMultiBody, programmatic creation using ProgrammaticUrdfInterface (still preliminary, not ready for commit yet, see examples\pybullet\examples\createSphereMultiBodies.py)
2017-06-03 17:57:56 +00:00
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3CreateMultiBodyCommandInit(b3PhysicsClientHandle physClient);
B3_SHARED_API int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandle, double mass, int collisionShapeUnique, int visualShapeUniqueId, double basePosition[/*3*/], double baseOrientation[/*4*/] , double baseInertialFramePosition[/*3*/], double baseInertialFrameOrientation[/*4*/]);
pybullet.createCollisionShape, createVisualShape, createMultiBody, programmatic creation using ProgrammaticUrdfInterface (still preliminary, not ready for commit yet, see examples\pybullet\examples\createSphereMultiBodies.py)
2017-06-03 17:57:56 +00:00
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API int b3CreateMultiBodyLink(b3SharedMemoryCommandHandle commandHandle, double linkMass, double linkCollisionShapeIndex,
add capsule, cylinder, plane, mesh support for pybullet.createCollisionShape preparation to add links to pybullet.createMultiBody
2017-06-19 17:14:26 +00:00
double linkVisualShapeIndex,
Quick first prototype/test to integrate pybullet into Unity, see readme.txt for details.
2017-09-21 06:18:18 +00:00
double linkPosition[/*3*/],
double linkOrientation[/*4*/],
double linkInertialFramePosition[/*3*/],
double linkInertialFrameOrientation[/*4*/],
add capsule, cylinder, plane, mesh support for pybullet.createCollisionShape preparation to add links to pybullet.createMultiBody
2017-06-19 17:14:26 +00:00
int linkParentIndex,
int linkJointType,
Quick first prototype/test to integrate pybullet into Unity, see readme.txt for details.
2017-09-21 06:18:18 +00:00
double linkJointAxis[/*3*/]);
add capsule, cylinder, plane, mesh support for pybullet.createCollisionShape preparation to add links to pybullet.createMultiBody
2017-06-19 17:14:26 +00:00
work on pybullet/C-API createMultiBody (still preliminary, only sphere/box collision shapes, no links/hierarchies yet, soon) pybullet/C-API, expose linear/angular damping fix some warnings (param name needs to be same in .h and .cpp) fix potential startup threading issue (args were deleted in main thread while still possibly use in child thread) fix for spinning/rolling friction in case of mixing maximal and reduced coordinate btMultiBody+btRigidBody
2017-06-05 05:04:16 +00:00
//useMaximalCoordinates are disabled by default, enabling them is experimental and not fully supported yet
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API void b3CreateMultiBodyUseMaximalCoordinates(b3SharedMemoryCommandHandle commandHandle);
pybullet.createCollisionShape, createVisualShape, createMultiBody, programmatic creation using ProgrammaticUrdfInterface (still preliminary, not ready for commit yet, see examples\pybullet\examples\createSphereMultiBodies.py)
2017-06-03 17:57:56 +00:00
work on pybullet/C-API createMultiBody (still preliminary, only sphere/box collision shapes, no links/hierarchies yet, soon) pybullet/C-API, expose linear/angular damping fix some warnings (param name needs to be same in .h and .cpp) fix potential startup threading issue (args were deleted in main thread while still possibly use in child thread) fix for spinning/rolling friction in case of mixing maximal and reduced coordinate btMultiBody+btRigidBody
2017-06-05 05:04:16 +00:00
//int b3CreateMultiBodyAddLink(b3SharedMemoryCommandHandle commandHandle, int jointType, int parentLinkIndex, double linkMass, int linkCollisionShapeUnique, int linkVisualShapeUniqueId);
pybullet.createCollisionShape, createVisualShape, createMultiBody, programmatic creation using ProgrammaticUrdfInterface (still preliminary, not ready for commit yet, see examples\pybullet\examples\createSphereMultiBodies.py)
2017-06-03 17:57:56 +00:00
add a few lines of documentation and some error checks in SharedMemory API
2016-04-13 20:06:15 +00:00
///create a box of size (1,1,1) at world origin (0,0,0) at orientation quat (0,0,0,1)
///after that, you can optionally adjust the initial position, orientation and size
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3CreateBoxShapeCommandInit(b3PhysicsClientHandle physClient);
B3_SHARED_API int b3CreateBoxCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ);
B3_SHARED_API int b3CreateBoxCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
B3_SHARED_API int b3CreateBoxCommandSetHalfExtents(b3SharedMemoryCommandHandle commandHandle, double halfExtentsX,double halfExtentsY,double halfExtentsZ);
B3_SHARED_API int b3CreateBoxCommandSetMass(b3SharedMemoryCommandHandle commandHandle, double mass);
B3_SHARED_API int b3CreateBoxCommandSetCollisionShapeType(b3SharedMemoryCommandHandle commandHandle, int collisionShapeType);
B3_SHARED_API int b3CreateBoxCommandSetColorRGBA(b3SharedMemoryCommandHandle commandHandle, double red,double green,double blue, double alpha);
Physics SharedMemory: Add flags BOX_SHAPE_HAS_MASS and BOX_SHAPE_HAS_COLLISION_SHAPE_TYPE to CMD_CREATE_RIGID_BODY (which maps to CMD_CREATE_BOX_COLLISION_SHAPE for backward compatibility for now) Need to add way to receive world transform
2015-10-27 21:55:46 +00:00
Implement CMD_INIT_POSE to set base position, base orientation and joint position (angle). See PhysicsClientExample for example use of CMD_INIT_POSE. Change: CMD_INIT_POSE uses m_initPoseArgs and not m_sendDesiredStateCommandArgument
2015-10-14 05:23:28 +00:00
more comments in SharedMemory C API
2016-04-14 00:09:48 +00:00
///b3CreatePoseCommandInit will initialize (teleport) the pose of a body/robot. You can individually set the base position,
///base orientation and joint angles. This will set all velocities of base and joints to zero.
///This is not a robot control command using actuators/joint motors, but manual repositioning the robot.
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3CreatePoseCommandInit(b3PhysicsClientHandle physClient, int bodyIndex);
B3_SHARED_API int b3CreatePoseCommandSetBasePosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ);
B3_SHARED_API int b3CreatePoseCommandSetBaseOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
B3_SHARED_API int b3CreatePoseCommandSetBaseLinearVelocity(b3SharedMemoryCommandHandle commandHandle, double linVel[/*3*/]);
B3_SHARED_API int b3CreatePoseCommandSetBaseAngularVelocity(b3SharedMemoryCommandHandle commandHandle, double angVel[/*3*/]);
add pybullet getBaseVelocity / resetBaseVelocity C-API b3CreatePoseCommandSetBaseLinearVelocity/b3CreatePoseCommandSetBaseAngularVelocity
2016-11-28 23:11:34 +00:00
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API int b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle commandHandle, int numJointPositions, const double* jointPositions);
B3_SHARED_API int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, double jointPosition);
further work on shared memory API fix dependency of BulletDynamics to Bullet3Common (b3Printf)
2015-08-02 21:00:43 +00:00
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API int b3CreatePoseCommandSetJointVelocities(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int numJointVelocities, const double* jointVelocities);
B3_SHARED_API int b3CreatePoseCommandSetJointVelocity(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, double jointVelocity);
expose optional targetVelocity to pybullet.resetJointState add C-API: b3CreatePoseCommandSetJointVelocities and b3CreatePoseCommandSetJointVelocity
2017-03-23 17:29:16 +00:00
more comments in SharedMemory C API
2016-04-14 00:09:48 +00:00
///We are currently not reading the sensor information from the URDF file, and programmatically assign sensors.
///This is rather inconsistent, to mix programmatical creation with loading from file.
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3CreateSensorCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId);
B3_SHARED_API int b3CreateSensorEnable6DofJointForceTorqueSensor(b3SharedMemoryCommandHandle commandHandle, int jointIndex, int enable);
more comments in SharedMemory C API
2016-04-14 00:09:48 +00:00
///b3CreateSensorEnableIMUForLink is not implemented yet.
///For now, if the IMU is located in the root link, use the root world transform to mimic an IMU.
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API int b3CreateSensorEnableIMUForLink(b3SharedMemoryCommandHandle commandHandle, int linkIndex, int enable);
further work on shared memory API fix dependency of BulletDynamics to Bullet3Common (b3Printf)
2015-08-02 21:00:43 +00:00
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandle physClient,int bodyUniqueId);
B3_SHARED_API int b3RequestActualStateCommandComputeLinkVelocity(b3SharedMemoryCommandHandle commandHandle, int computeLinkVelocity);
bump up shared memory version number add option to recompute forward kinematics, to be consistent with link velocities in pybullet.getLinkState (..., computeForwardKinematics=0/1), thanks to Jeff Bingham for bringing up this inconsistency
2017-09-26 17:05:17 +00:00
B3_SHARED_API int b3RequestActualStateCommandComputeForwardKinematics(b3SharedMemoryCommandHandle commandHandle, int computeForwardKinematics);
Split Bullet/src/LinearMath/btSerializer.cpp into btSerializer64.cpp to make it easier to rebuild serialization structure. Add several MSVC optimization flags to cmake. Bump up VERSION because serialization format changed Expose btScalar& jointMaxForce, btScalar& jointMaxVelocity to 'getJointInfo2' API, add backwards compatibility to examples\Importers\ImportURDFDemo\URDFImporterInterface::getJointInfo. pybullet: expose 4 more fields to getJointInfo: jointLowerLimit/jointUpperLimit/jointMaxForce/jointMaxVelocity fix performance issue in CMD_ACTUAL_STATE_UPDATE_COMPLETED
2017-03-26 20:06:46 +00:00
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API int b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int jointIndex, struct b3JointSensorState *state);
B3_SHARED_API int b3GetLinkState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int linkIndex, struct b3LinkState *state);
improvements to the shared memory physics API: support picking in C API etc.
2015-09-25 05:42:22 +00:00
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3PickBody(b3PhysicsClientHandle physClient, double rayFromWorldX,
Add b3GetStatusActualState() to C_API. Change pick-and-move C_API to use handlers
2015-11-05 00:08:28 +00:00
double rayFromWorldY, double rayFromWorldZ,
double rayToWorldX, double rayToWorldY, double rayToWorldZ);
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3MovePickedBody(b3PhysicsClientHandle physClient, double rayFromWorldX,
Add b3GetStatusActualState() to C_API. Change pick-and-move C_API to use handlers
2015-11-05 00:08:28 +00:00
double rayFromWorldY, double rayFromWorldZ,
double rayToWorldX, double rayToWorldY,
double rayToWorldZ);
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3RemovePickingConstraint(b3PhysicsClientHandle physClient);
fix various warnings, more work on shared memory API
2015-07-23 01:06:05 +00:00
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3CreateRaycastCommandInit(b3PhysicsClientHandle physClient, double rayFromWorldX,
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
double rayFromWorldY, double rayFromWorldZ,
double rayToWorldX, double rayToWorldY, double rayToWorldZ);
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3CreateRaycastBatchCommandInit(b3PhysicsClientHandle physClient);
B3_SHARED_API void b3RaycastBatchAddRay(b3SharedMemoryCommandHandle commandHandle, const double rayFromWorld[/*3*/], const double rayToWorld[/*3*/]);
Implement rayTestBatch. At the moment, it is still testing individual rays on the physics server. We can enable multi-threaded version later. At least the python + shared-memory IPC overhead will be much lower.
2017-04-05 22:21:26 +00:00
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API void b3GetRaycastInformation(b3PhysicsClientHandle physClient, struct b3RaycastInformation* raycastInfo);
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
implement a few more pybullet methods: pybullet_applyExternalForce, pybullet_applyExternalTorque, pybullet_setTimeStep, pybullet_resetBasePositionAndOrientation, pybullet_getQuaternionFromEuler, pybullet_getEulerFromQuaternion
2016-06-27 01:18:30 +00:00
/// Apply external force at the body (or link) center of mass, in world space/Cartesian coordinates.
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3ApplyExternalForceCommandInit(b3PhysicsClientHandle physClient);
fix compile warnings
2017-09-25 06:26:06 +00:00
B3_SHARED_API void b3ApplyExternalForce(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double force[/*3*/], const double position[/*3*/], int flag);
B3_SHARED_API void b3ApplyExternalTorque(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double torque[/*3*/], int flag);
[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 pybullet loadBullet, saveBullet (work-in-progress) and placeholder for loadMJCF.
2016-11-12 02:07:42 +00:00
///experiments of robots interacting with non-rigid objects (such as btSoftBody)
Add filename as an argument in the softbody loading function.
2018-01-08 03:56:46 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadSoftBodyCommandInit(b3PhysicsClientHandle physClient, const char* fileName);
Change the API names for loading softbody.
2018-01-08 03:24:37 +00:00
B3_SHARED_API int b3LoadSoftBodySetScale(b3SharedMemoryCommandHandle commandHandle, double scale);
B3_SHARED_API int b3LoadSoftBodySetMass(b3SharedMemoryCommandHandle commandHandle, double mass);
B3_SHARED_API int b3LoadSoftBodySetCollisionMargin(b3SharedMemoryCommandHandle commandHandle, double collisionMargin);
implement a few more pybullet methods: pybullet_applyExternalForce, pybullet_applyExternalTorque, pybullet_setTimeStep, pybullet_resetBasePositionAndOrientation, pybullet_getQuaternionFromEuler, pybullet_getEulerFromQuaternion
2016-06-27 01:18:30 +00:00
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
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3RequestVREventsCommandInit(b3PhysicsClientHandle physClient);
B3_SHARED_API void b3VREventsSetDeviceTypeFilter(b3SharedMemoryCommandHandle commandHandle, int deviceTypeFilter);
also report VR events for HMD and generic tracked devices. Also expose those VR events to pybullet: expose a deviceTypeFilter, that defaults to VR_DEVICE_CONTROLLER
2017-04-08 05:53:36 +00:00
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API void b3GetVREventsData(b3PhysicsClientHandle physClient, struct b3VREventsData* vrEventsData);
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
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3SetVRCameraStateCommandInit(b3PhysicsClientHandle physClient);
B3_SHARED_API int b3SetVRCameraRootPosition(b3SharedMemoryCommandHandle commandHandle, double rootPos[/*3*/]);
B3_SHARED_API int b3SetVRCameraRootOrientation(b3SharedMemoryCommandHandle commandHandle, double rootOrn[/*4*/]);
B3_SHARED_API int b3SetVRCameraTrackingObject(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId);
B3_SHARED_API int b3SetVRCameraTrackingObjectFlag(b3SharedMemoryCommandHandle commandHandle, int flag);
Add pybullet setVRCameraState and b3SetVRCameraStateCommandInit to set the VR camera root transform (position/orientation) and optional tracking object unique id (-1 for no tracking) Fix robotcontrol.py script, getContactPointData -> getContactPoints
2017-01-06 01:41:58 +00:00
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3RequestKeyboardEventsCommandInit(b3PhysicsClientHandle physClient);
B3_SHARED_API void b3GetKeyboardEventsData(b3PhysicsClientHandle physClient, struct b3KeyboardEventsData* keyboardEventsData);
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
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3RequestMouseEventsCommandInit(b3PhysicsClientHandle physClient);
B3_SHARED_API void b3GetMouseEventsData(b3PhysicsClientHandle physClient, struct b3MouseEventsData* mouseEventsData);
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
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3StateLoggingCommandInit(b3PhysicsClientHandle physClient);
B3_SHARED_API int b3StateLoggingStart(b3SharedMemoryCommandHandle commandHandle, int loggingType, const char* fileName);
B3_SHARED_API int b3StateLoggingAddLoggingObjectUniqueId(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId);
B3_SHARED_API int b3StateLoggingSetMaxLogDof(b3SharedMemoryCommandHandle commandHandle, int maxLogDof);
B3_SHARED_API int b3StateLoggingSetLinkIndexA(b3SharedMemoryCommandHandle commandHandle, int linkIndexA);
B3_SHARED_API int b3StateLoggingSetLinkIndexB(b3SharedMemoryCommandHandle commandHandle, int linkIndexB);
B3_SHARED_API int b3StateLoggingSetBodyAUniqueId(b3SharedMemoryCommandHandle commandHandle, int bodyAUniqueId);
B3_SHARED_API int b3StateLoggingSetBodyBUniqueId(b3SharedMemoryCommandHandle commandHandle, int bodyBUniqueId);
B3_SHARED_API int b3StateLoggingSetDeviceTypeFilter(b3SharedMemoryCommandHandle commandHandle, int deviceTypeFilter);
B3_SHARED_API int b3StateLoggingSetLogFlags(b3SharedMemoryCommandHandle commandHandle, int logFlags);
fix quadruped, allow user to pick the maximum number of dofs to log
2017-03-04 23:30:57 +00:00
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API int b3GetStatusLoggingUniqueId(b3SharedMemoryStatusHandle statusHandle);
fix compile warnings
2017-09-25 06:26:06 +00:00
B3_SHARED_API int b3StateLoggingStop(b3SharedMemoryCommandHandle commandHandle, int loggingUid);
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 quadruped, allow user to pick the maximum number of dofs to log
2017-03-04 23:30:57 +00:00
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3ProfileTimingCommandInit(b3PhysicsClientHandle physClient, const char* name);
B3_SHARED_API void b3SetProfileTimingDuractionInMicroSeconds(b3SharedMemoryCommandHandle commandHandle, int duration);
fix quadruped, allow user to pick the maximum number of dofs to log
2017-03-04 23:30:57 +00:00
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API void b3SetTimeOut(b3PhysicsClientHandle physClient, double timeOutInSeconds);
B3_SHARED_API double b3GetTimeOut(b3PhysicsClientHandle physClient);
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
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API b3SharedMemoryCommandHandle b3SetAdditionalSearchPath(b3PhysicsClientHandle physClient, char* path);
more fixes in pybullet_gym envs/data. implement pybullet.setAdditionalSearchPath
2017-08-28 02:34:00 +00:00
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 23:40:19 +00:00
B3_SHARED_API void b3MultiplyTransforms(const double posA[/*3*/], const double ornA[/*4*/], const double posB[/*3*/], const double ornB[/*4*/], double outPos[/*3*/], double outOrn[/*4*/]);
B3_SHARED_API void b3InvertTransform(const double pos[/*3*/], const double orn[/*4*/], double outPos[/*3*/], double outOrn[/*4*/]);
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
fix various warnings, more work on shared memory API
2015-07-23 01:06:05 +00:00
#ifdef __cplusplus
}
#endif
#endif //PHYSICS_CLIENT_C_API_H
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