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bullet3/examples/SharedMemory/PhysicsServerCommandProcessor.h

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add physics server loopback (both client and server in the same process, using shared memory) add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
2015-11-23 04:50:32 +00:00
#ifndef PHYSICS_SERVER_COMMAND_PROCESSOR_H
#define PHYSICS_SERVER_COMMAND_PROCESSOR_H
Adds support for loading user data from URDF files.
2020-01-17 10:55:42 +00:00
#include "LinearMath/btHashMap.h"
add physics server loopback (both client and server in the same process, using shared memory) add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
2015-11-23 04:50:32 +00:00
#include "LinearMath/btVector3.h"
work-in-progress add UDP network connection for physics client <-> server. also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever)
2016-11-04 20:15:10 +00:00
#include "PhysicsCommandProcessorInterface.h"
load deformable object from URDF files
2020-04-01 03:55:47 +00:00
#include "../Importers/ImportURDFDemo/UrdfParser.h"
work-in-progress add UDP network connection for physics client <-> server. also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever)
2016-11-04 20:15:10 +00:00
add physics server loopback (both client and server in the same process, using shared memory) add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
2015-11-23 04:50:32 +00:00
struct SharedMemLines
{
btVector3 m_from;
btVector3 m_to;
btVector3 m_color;
};
///todo: naming. Perhaps PhysicsSdkCommandprocessor?
print better error warning, in case the physics client/server version mismatch. fix in b3HashString remove many unused dependencies from kuka_grasp_block_playback.py (time,math, datetime ,numpy,pylab ,sys, os, fnmatch,argparse were not used!) move block_grasp_log.bin from Bullet3/data to Bullet3/examples/pybullet/examples/data folder. PhysicsServerCommandProcessor, derive from CommandProcessorInterface to prepare for different back-end implementation
2017-05-29 00:05:18 +00:00
class PhysicsServerCommandProcessor : public CommandProcessorInterface
add physics server loopback (both client and server in the same process, using shared memory) add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
2015-11-23 04:50:32 +00:00
{
struct PhysicsServerCommandProcessorInternalData* m_data;
clang format PhysicsServerCommandProcessor and BulletSoftBody
2020-06-17 23:45:22 +00:00
void resetSimulation(int flags = 0);
Several fixes for the parallel raycasts - Limits the maximum number of threads to 64, since btThreadSupportPosix and btThreadsupportWin32 don't support more than 64 bits at this moment, due to the use of UINT64 bitmasks. This could be fixed by using std::bitset or some other alternative. - Introduces a threadpool class, b3ThreadPool, which is a simple wrapper around btThreadSupportInterface and uses this instead of the global task scheduler for parallel raycasting. This is actually quite a bit faster than the task scheduler (~10-15% in my tests for parallel raycasts), since the advanced features (parallelFor) are not necessary for the parallel raycasts. - Puts 16*1024 of MAX_RAY_INTERSECTION_MAX_SIZE_STREAMING in parentheses, since it otherwise causes problems with other operators of equal precedence and introduces a smaller constant for Apple targets. - Refactors the parallel raycasts code and adds some more profiling.
2018-06-19 16:28:48 +00:00
void createThreadPool();
add a tray, similar to those ones: https://research.googleblog.com/2016/03/deep-learning-for-robots-learning-from.html tune the VR demo a bit, to make it more user friendly.
2016-11-30 01:08:47 +00:00
fix load_soft_body.py example. add optional flags in pybullet.resetSimulation. fix compile issue due to SKIP_DEFORMABLE_WORLD fix issue in .obj importer (todo: replace with tiny_obj_loader) todo: replace std::ifstream fs; by fileIO usage.
2019-11-15 05:20:42 +00:00
class btDeformableMultiBodyDynamicsWorld* getDeformableWorld();
class btSoftMultiBodyDynamicsWorld* getSoftWorld();
add physics server loopback (both client and server in the same process, using shared memory) add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
2015-11-23 04:50:32 +00:00
protected:
Finally refactored the PhysicsServerCommandProcessor::processCommand switch statements into over 50 separate functions. Over time, some of those functions can be moved into separate plugins, similar to vrSyncPlugin (either statically/dynamically linked plugins or dynamically loaded at run-time)
2017-11-18 00:14:18 +00:00
bool processStateLoggingCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestCameraImageCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processSaveWorldCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCreateCollisionShapeCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCreateVisualShapeCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
get mesh data api fix compile fix typo
2019-06-18 00:32:01 +00:00
bool processRequestMeshDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
implement resetMeshData for deformable bodies, this allows better reset for reinforcement learning algorithms.
2021-09-03 00:27:05 +00:00
bool processResetMeshDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
Finally refactored the PhysicsServerCommandProcessor::processCommand switch statements into over 50 separate functions. Over time, some of those functions can be moved into separate plugins, similar to vrSyncPlugin (either statically/dynamically linked plugins or dynamically loaded at run-time)
2017-11-18 00:14:18 +00:00
bool processCustomCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processUserDebugDrawCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processSetVRCameraStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestVREventsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestMouseEventsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestKeyboardEventsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestRaycastIntersectionsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestDebugLinesCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processSyncBodyInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processSendDesiredStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestActualStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestContactpointInformationCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
implement request deformable contact info
2021-08-19 01:48:35 +00:00
bool processRequestDeformableContactpointHelper(const struct SharedMemoryCommand& clientCmd);
Finally refactored the PhysicsServerCommandProcessor::processCommand switch statements into over 50 separate functions. Over time, some of those functions can be moved into separate plugins, similar to vrSyncPlugin (either statically/dynamically linked plugins or dynamically loaded at run-time)
2017-11-18 00:14:18 +00:00
bool processRequestBodyInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processLoadSDFCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCreateMultiBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
allow batch creation of objects through PyBullet.createMultiBody, see createMultiBodyBatch.py example. expose minGraphicsUpdateTimeMs through PyBullet.connect(p.GUI, options="minGraphicsUpdateTimeMs=32000"), by default OpenGL rendering runs at 4000microseconds intervals. allow a maximum of 128k objects fix meshScale for PyBullet.createCollisionShape for custom mesh expose Pybullet.setPhysicsEngineParameter(minimumSolverIslandSize=...), larger minimum batches group solver constraints together in the same island, to reduce calling overhead (even if they are not related)
2019-02-12 18:36:01 +00:00
bool processCreateMultiBodyCommandSingle(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
Finally refactored the PhysicsServerCommandProcessor::processCommand switch statements into over 50 separate functions. Over time, some of those functions can be moved into separate plugins, similar to vrSyncPlugin (either statically/dynamically linked plugins or dynamically loaded at run-time)
2017-11-18 00:14:18 +00:00
bool processLoadURDFCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
Change the API names for loading softbody.
2018-01-08 03:24:37 +00:00
bool processLoadSoftBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
Finally refactored the PhysicsServerCommandProcessor::processCommand switch statements into over 50 separate functions. Over time, some of those functions can be moved into separate plugins, similar to vrSyncPlugin (either statically/dynamically linked plugins or dynamically loaded at run-time)
2017-11-18 00:14:18 +00:00
bool processCreateSensorCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processProfileTimingCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestCollisionInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processForwardDynamicsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
add performCollisionDetection (stepSimulation also calls this, but does more, including solving constraints and integration)
2021-03-26 17:31:13 +00:00
bool performCollisionDetectionCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
Finally refactored the PhysicsServerCommandProcessor::processCommand switch statements into over 50 separate functions. Over time, some of those functions can be moved into separate plugins, similar to vrSyncPlugin (either statically/dynamically linked plugins or dynamically loaded at run-time)
2017-11-18 00:14:18 +00:00
bool processRequestInternalDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processChangeDynamicsInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processSetAdditionalSearchPathCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processGetDynamicsInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestPhysicsSimulationParametersCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processSendPhysicsParametersCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processInitPoseCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processResetSimulationCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCreateRigidBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processPickBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processMovePickedBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRemovePickingConstraintCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestAabbOverlapCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestOpenGLVisualizeCameraCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processConfigureOpenGLVisualizerCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processInverseDynamicsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCalculateJacobianCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCalculateMassMatrixCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processApplyExternalForceCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRemoveBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCreateUserConstraintCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCalculateInverseKinematicsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
fix in multi-endeffector IK, calculate jacobian uses dofs without base, fix premake build of some projects
2019-07-12 05:22:35 +00:00
bool processCalculateInverseKinematicsCommand2(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
Finally refactored the PhysicsServerCommandProcessor::processCommand switch statements into over 50 separate functions. Over time, some of those functions can be moved into separate plugins, similar to vrSyncPlugin (either statically/dynamically linked plugins or dynamically loaded at run-time)
2017-11-18 00:14:18 +00:00
bool processRequestVisualShapeInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
Start of a urdfEditor.py, limited support to extract a URDF from a PyBullet body. Use btCylinderShapeZ for URDF cylinder, instead of converting it to a btConvexHullShape. Implement PyBullet.getCollisionShapeData Extend PyBullet.getDynamicsInfo / b3GetDynamicsInfo, remove flag (don't rely on API returning a fixed number of elements in a list!) Extend PyBullet.getJointInfo: add parentIndex
2018-01-04 03:17:28 +00:00
bool processRequestCollisionShapeInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
Finally refactored the PhysicsServerCommandProcessor::processCommand switch statements into over 50 separate functions. Over time, some of those functions can be moved into separate plugins, similar to vrSyncPlugin (either statically/dynamically linked plugins or dynamically loaded at run-time)
2017-11-18 00:14:18 +00:00
bool processUpdateVisualShapeCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processChangeTextureCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processLoadTextureCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processLoadBulletCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processSaveBulletCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processLoadMJCFCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
preliminary work towards saveState/restoreState and saveRestoreState.py example (not implemented yet) allow multiple options in connect, for example: p.connect(p.GUI, options="--width=640, --height=480")
2017-12-28 18:05:51 +00:00
bool processRestoreStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
implement pybullet.saveState command, for in-memory storage of state. bump up pybullet API version (SHARED_MEMORY_MAGIC_NUMBER) to 201801010
2017-12-31 23:37:16 +00:00
bool processSaveStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
implement PyBullet removeState command. Fixes Issue #2163 https://github.com/bulletphysics/bullet3/issues/2163
2019-04-04 03:06:40 +00:00
bool processRemoveStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
PyBullet.addUserData / getUserData / removeUserData / getUserDataId / getNumUserData / getUserDataInfo See examples/pybullet/examples/userData.py how to use it. TODO: add to PyBullet Quickstart Guide. Thanks to Tigran Gasparian for the contribution!
2018-06-02 20:40:08 +00:00
bool processSyncUserDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestUserDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processAddUserDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRemoveUserDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
PyBullet / BulletRobotics: Implement collisionFilterPlugin, use setCollisionFilterPair to enable or disable collision detection between specific pairs of objects. Also, expose setCollisionFilterGroupMask as PyBullet API and in urdf using the tag <collision group="1" mask="2"/>. See examples/pybullet/examples/collisionFilter.py for an example. PyBullet default: Lower the warmstarting factor, for maximal coordinates rigid bodies for more stable simulation. Add btCollisionWorld::refreshBroadphaseProxy to easier recreate the broadphase proxy without adding/removing objects to the world.
2018-09-13 02:30:49 +00:00
bool processCollisionFilterCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
work-in-progress add UDP network connection for physics client <-> server. also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever)
2016-11-04 20:15:10 +00:00
warning fix (param name different in header/cpp)
2018-01-04 23:48:59 +00:00
int extractCollisionShapes(const class btCollisionShape* colShape, const class btTransform& transform, struct b3CollisionShapeData* collisionShapeBuffer, int maxCollisionShapes);
Start of a urdfEditor.py, limited support to extract a URDF from a PyBullet body. Use btCylinderShapeZ for URDF cylinder, instead of converting it to a btConvexHullShape. Implement PyBullet.getCollisionShapeData Extend PyBullet.getDynamicsInfo / b3GetDynamicsInfo, remove flag (don't rely on API returning a fixed number of elements in a list!) Extend PyBullet.getJointInfo: add parentIndex
2018-01-04 03:17:28 +00:00
Expose optional "globalScaling" factor to pybullet.loadURDF and pybullet.loadSDF. This will scale the visual, collision shapes and transform locations. Fix two_cubes.sdf (was lacking collision shape for second cube)
2017-08-14 21:59:41 +00:00
bool loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags, btScalar globalScaling);
Fix pybullet Windows build errors: C99 requires variables to be defined at the start of the function. Improve CMake Windows support to build PyBullet (BUILD_PYBULLET) Implement b3LoadSdfCommandInit in shared memory API Implement pybullet SDF loading binding, in loadSDF API TODO for SDF support is provide way to query object/link/joint information.
2016-06-13 17:11:28 +00:00
add physics server loopback (both client and server in the same process, using shared memory) add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
2015-11-23 04:50:32 +00:00
bool loadUrdf(const char* fileName, const class btVector3& pos, const class btQuaternion& orn,
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes, int flags, btScalar globalScaling);
add physics server loopback (both client and server in the same process, using shared memory) add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
2015-11-23 04:50:32 +00:00
update pybullet quickstart quide PDF hook up the loadMJCF importing MuJoCo xml files in pybullet and shared memory API b3LoadMJCFCommandInit
2016-12-31 22:43:15 +00:00
bool loadMjcf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags);
bool processImportedObjects(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags, class URDFImporterInterface& u2b);
load deformable object from URDF files
2020-04-01 03:55:47 +00:00
bool processDeformable(const UrdfDeformable& deformable, const btVector3& pos, const btQuaternion& orn, int* bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes, btScalar scale, bool useSelfCollision);
add reduced deformable urdf parser
2021-11-04 20:12:08 +00:00
bool processReducedDeformable(const UrdfReducedDeformable& deformable, const btVector3& pos, const btQuaternion& orn, int* bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes, btScalar scale, bool useSelfCollision);
update pybullet quickstart quide PDF hook up the loadMJCF importing MuJoCo xml files in pybullet and shared memory API b3LoadMJCFCommandInit
2016-12-31 22:43:15 +00:00
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
bool supportsJointMotor(class btMultiBody* body, int linkIndex);
work-in-progress add UDP network connection for physics client <-> server. also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever)
2016-11-04 20:15:10 +00:00
work-in-progress send object/joint information after loading SDF file
2016-06-15 01:41:19 +00:00
int createBodyInfoStream(int bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes);
Add premake support to build pybullet, Windows and Linux tested, will enable Mac in next commit. Expose inverse dynamics to Bullet shared memory API, through b3CalculateInverseDynamicsCommandInit and b3GetStatusInverseDynamicsJointForces command/status. See PhysicsClientExeample or pybullet for usage. Add option for Windows and Linux to set python_lib_dir and python_include_dir for premake and --enable_pybullet option Expose inverse dynamics to pybullet: [force] = p.calculateInverseDynamics(objectIndex,[q],[qdot],[acc]) Thanks to Jeff Bingham for the suggestion.
2016-08-10 01:40:12 +00:00
void deleteCachedInverseDynamicsBodies();
add a tray, similar to those ones: https://research.googleblog.com/2016/03/deep-learning-for-robots-learning-from.html tune the VR demo a bit, to make it more user friendly.
2016-11-30 01:08:47 +00:00
void deleteCachedInverseKinematicsBodies();
initial implementation of state logging. see examples/pybullet/logMinitaur.py for example. Other state logging will include general robot states and VR controllers state.
2017-02-17 22:25:53 +00:00
void deleteStateLoggers();
add physics server loopback (both client and server in the same process, using shared memory) add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
2015-11-23 04:50:32 +00:00
public:
PhysicsServerCommandProcessor();
virtual ~PhysicsServerCommandProcessor();
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
void createJointMotors(class btMultiBody* body);
work-in-progress add UDP network connection for physics client <-> server. also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever)
2016-11-04 20:15:10 +00:00
clang format PhysicsServerCommandProcessor and BulletSoftBody
2020-06-17 23:45:22 +00:00
virtual void createEmptyDynamicsWorld(int flags = 0);
add physics server loopback (both client and server in the same process, using shared memory) add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
2015-11-23 04:50:32 +00:00
virtual void deleteDynamicsWorld();
work-in-progress add UDP network connection for physics client <-> server. also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever)
2016-11-04 20:15:10 +00:00
virtual bool connect()
{
return true;
};
virtual void disconnect() {}
virtual bool isConnected() const
{
return true;
}
virtual bool processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
virtual bool receiveStatus(struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
return false;
};
add physics server loopback (both client and server in the same process, using shared memory) add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
2015-11-23 04:50:32 +00:00
Add a btIDEbugDraw::clearLines, helps multi-threaded rendering of lines (while updating those lines in a dynamics world in a different thread) Expose COV_ENABLE_VR_RENDER_CONTROLLERS, to enable/disable rendering of controllers (and some frames) in VR Expose COV_ENABLE_RENDERING to enable/disable rendering. Fix some multi-threading issues (potential crashes), related to debug drawing/rendering in one thread, while changing the dynamics world/removing/resetSimulation in a different thread.
2017-05-16 19:19:03 +00:00
virtual void renderScene(int renderFlags);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
virtual void physicsDebugDraw(int debugDrawFlags);
add physics server loopback (both client and server in the same process, using shared memory) add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
2015-11-23 04:50:32 +00:00
virtual void setGuiHelper(struct GUIHelperInterface* guiHelper);
Improve debug text/line rendering, can be use to draw frames and text in local coordinate of an object / link. example: kuka = p.loadURDF("kuka_iiwa/model.urdf") p.getNumJoints(kuka) pybullet.addUserDebugLine([0,0,0],[0,0,0.1],[0,0,1],trackObjectUniqueId=2,trackLinkIndex=6) pybullet.addUserDebugText("tip", [0,0,0.1],textColorRGB=[1,0,0],trackObjectUniqueId=2,trackLinkIndex=6) Also allow to render text using a given orientation (instead of pointing to the camera), example: pybullet.addUserDebugText("tip", [0,0,0.1],textColorRGB=[1,0,0],textOrientation=[0,0,0,1], trackObjectUniqueId=2,trackLinkIndex=6) Add drawTexturedTriangleMesh, for drawing 3d text. Expose readSingleInstanceTransformToCPU, to extract position/orientation from graphics index. updateTexture: allow to not flip texels around up axis
2017-05-24 05:05:26 +00:00
virtual void syncPhysicsToGraphics();
fixes for RemoteGUIHelper
2019-06-14 21:34:56 +00:00
virtual void syncPhysicsToGraphics2();
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 physics server loopback (both client and server in the same process, using shared memory) add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
2015-11-23 04:50:32 +00:00
//@todo(erwincoumans) Should we have shared memory commands for picking objects?
///The pickBody method will try to pick the first body along a ray, return true if succeeds, false otherwise
virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
virtual void removePickingConstraint();
prepare state logging system (log state of robot, vr controllers after each stepSimulation)
2017-02-17 18:47:55 +00:00
//logging /playback the shared memory commands
print better error warning, in case the physics client/server version mismatch. fix in b3HashString remove many unused dependencies from kuka_grasp_block_playback.py (time,math, datetime ,numpy,pylab ,sys, os, fnmatch,argparse were not used!) move block_grasp_log.bin from Bullet3/data to Bullet3/examples/pybullet/examples/data folder. PhysicsServerCommandProcessor, derive from CommandProcessorInterface to prepare for different back-end implementation
2017-05-29 00:05:18 +00:00
virtual void enableCommandLogging(bool enable, const char* fileName);
virtual void replayFromLogFile(const char* fileName);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
virtual void replayLogCommand(char* bufferServerToClient, int bufferSizeInBytes);
prepare state logging system (log state of robot, vr controllers after each stepSimulation)
2017-02-17 18:47:55 +00:00
//logging of object states (position etc)
Changes tickPlugins to reportNotifications and only calls the processNotifications function on the plugins when there are actually notifications available. tickPlugins will to into a separate PR.
2018-07-25 12:47:34 +00:00
virtual void reportNotifications();
allow pybullet to connect to GRPC server. (need to use flag --enable_grpc in premake build system) add grpcPlugin, it can work in GUI, SHARED_MEMORY_SERVER, DIRECT and other modes. example script to start server from pybullet: import pybullet as p p.connect(p.GUI) #if statically linked plugin id = p.loadPlugin("grpcPlugin") #dynamics loading the plugin #id = p.loadPlugin("E:/develop/bullet3/bin/pybullet_grpcPlugin_vs2010_x64_debug.dll", postFix="_grpcPlugin") #start the GRPC server at hostname, port if (id>=0): p.executePluginCommand(id, "localhost:1234") Only in DIRECT mode, since there is no 'ping' you need to call to handle RCPs: numRPC = 10 while (1): p.executePluginCommand(id, intArgs=[numRPC])
2018-09-06 00:58:14 +00:00
virtual void processClientCommands();
More work on the C/C++ plugin system for pybullet/C-API: Add preTickPluginCallback/postTickPluginCallback User pointer for b3PluginContext, to store objects (class/struct instances) Pass ints and floats as optional argument for plugin executePluginCommand
2017-09-24 01:05:23 +00:00
void tickPlugins(btScalar timeStep, bool isPreTick);
prepare state logging system (log state of robot, vr controllers after each stepSimulation)
2017-02-17 18:47:55 +00:00
void logObjectStates(btScalar timeStep);
add more tinyaudio preparation, some test wav files, play sound on collision events. Will expose this in the C-API to pick wav files and collision threshold levels etc. Use the premake --audio flag to try it out. The TinyAudio example in the ExampleBrowser works on Mac, Linux and Windows, you can play notes by pressing keys.
2017-04-29 17:32:30 +00:00
void processCollisionForces(btScalar timeStep);
prepare state logging system (log state of robot, vr controllers after each stepSimulation)
2017-02-17 18:47:55 +00:00
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
virtual void stepSimulationRealTime(double dtInSec, const struct b3VRControllerEvent* vrControllerEvents, int numVRControllerEvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents, const struct b3MouseEvent* mouseEvents, int numMouseEvents);
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
print better error warning, in case the physics client/server version mismatch. fix in b3HashString remove many unused dependencies from kuka_grasp_block_playback.py (time,math, datetime ,numpy,pylab ,sys, os, fnmatch,argparse were not used!) move block_grasp_log.bin from Bullet3/data to Bullet3/examples/pybullet/examples/data folder. PhysicsServerCommandProcessor, derive from CommandProcessorInterface to prepare for different back-end implementation
2017-05-29 00:05:18 +00:00
virtual void enableRealTimeSimulation(bool enableRealTimeSim);
Prepare/allow for non-Bullet2-based physics command processor in pybullet/Bullet-C-API !!! Make sure to add examples/SharedMemory/PhysicsServerExampleBullet2.cpp to your build system, if needed Bump up pybullet to version 1.0.9
2017-05-31 02:54:55 +00:00
virtual bool isRealTimeSimulationEnabled() const;
add joint damping in PhysicsServerCommandProcessor
2016-04-14 00:21:43 +00:00
void applyJointDamping(int bodyUniqueId);
expose timeout in pybullet/shared memory API add RobotSimulator, a C++ API similar to pybullet. (work-in-progress, only part of API implemeted)
2017-02-24 23:34:11 +00:00
virtual void setTimeOut(double timeOutInSeconds);
Prepare/allow for non-Bullet2-based physics command processor in pybullet/Bullet-C-API !!! Make sure to add examples/SharedMemory/PhysicsServerExampleBullet2.cpp to your build system, if needed Bump up pybullet to version 1.0.9
2017-05-31 02:54:55 +00:00
virtual const btVector3& getVRTeleportPosition() const;
fix some warnings
2017-06-01 23:48:07 +00:00
virtual void setVRTeleportPosition(const btVector3& vrTeleportPos);
Prepare/allow for non-Bullet2-based physics command processor in pybullet/Bullet-C-API !!! Make sure to add examples/SharedMemory/PhysicsServerExampleBullet2.cpp to your build system, if needed Bump up pybullet to version 1.0.9
2017-05-31 02:54:55 +00:00
virtual const btQuaternion& getVRTeleportOrientation() const;
fix some warnings
2017-06-01 23:48:07 +00:00
virtual void setVRTeleportOrientation(const btQuaternion& vrTeleportOrn);
Notify plugins on certain events (e.g. body added). This also adds a periodic tick function to plugins, giving them periodically control over the simulation thread, even when the simulation is paused.
2018-07-24 12:12:16 +00:00
private:
Update PhysicsServerCommandProcessor and plugins to support render
2019-06-26 00:59:15 +00:00
void addBodyChangedNotifications();
Adds support for loading user data from URDF files.
2020-01-17 10:55:42 +00:00
int addUserData(int bodyUniqueId, int linkIndex, int visualShapeIndex, const char* key, const char* valueBytes, int valueLength, int valueType);
void addUserData(const btHashMap<btHashString, std::string>& user_data_entries, int bodyUniqueId, int linkIndex = -1, int visualShapeIndex = -1);
add physics server loopback (both client and server in the same process, using shared memory) add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
2015-11-23 04:50:32 +00:00
};
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
#endif //PHYSICS_SERVER_COMMAND_PROCESSOR_H
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