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Merge pull request #1546 from erwincoumans/master

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Add new methods for b3RobotSimulatorClientAPI
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erwincoumans 2018-02-02 20:52:14 -08:00 committed by GitHub
commit 0bebf86b50
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15 changed files with 2717 additions and 1334 deletions
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4
Extras/BulletRobotics/CMakeLists.txt
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@ -120,6 +120,10 @@ ELSE(WIN32)
IF(BUILD_CLSOCKET)
ADD_DEFINITIONS(${OSDEF})
ENDIF(BUILD_CLSOCKET)
IF(NOT APPLE)
LINK_LIBRARIES( pthread ${DL} )
ENDIF(APPLE)
ENDIF(WIN32)
IF(BUILD_ENET)

2
examples/ExampleBrowser/CMakeLists.txt
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@ -175,6 +175,8 @@ SET(BulletExampleBrowser_SRCS
../SharedMemory/b3PluginManager.cpp
../RobotSimulator/b3RobotSimulatorClientAPI.cpp
../RobotSimulator/b3RobotSimulatorClientAPI.h
../RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.cpp
../RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.h
../BasicDemo/BasicExample.cpp
../BasicDemo/BasicExample.h
../InverseDynamics/InverseDynamicsExample.cpp

2
examples/ExampleBrowser/premake4.lua
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@ -122,6 +122,8 @@ project "App_BulletExampleBrowser"
"../InverseDynamics/InverseDynamicsExample.h",
"../RobotSimulator/b3RobotSimulatorClientAPI.cpp",
"../RobotSimulator/b3RobotSimulatorClientAPI.h",
"../RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.cpp",
"../RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.h",
"../BasicDemo/BasicExample.*",
"../Tutorial/*",
"../ExtendedTutorials/*",

183
examples/RobotSimulator/CMakeLists.txt
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@ -1,4 +1,3 @@
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/examples
@ -9,77 +8,20 @@ INCLUDE_DIRECTORIES(
SET(RobotSimulator_SRCS
RobotSimulatorMain.cpp
b3RobotSimulatorClientAPI.cpp
b3RobotSimulatorClientAPI.h
MinitaurSetup.cpp
MinitaurSetup.h
../../examples/SharedMemory/IKTrajectoryHelper.cpp
../../examples/SharedMemory/IKTrajectoryHelper.h
../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
../../examples/OpenGLWindow/SimpleCamera.cpp
../../examples/OpenGLWindow/SimpleCamera.h
../../examples/TinyRenderer/geometry.cpp
../../examples/TinyRenderer/model.cpp
../../examples/TinyRenderer/tgaimage.cpp
../../examples/TinyRenderer/our_gl.cpp
../../examples/TinyRenderer/TinyRenderer.cpp
../../examples/SharedMemory/InProcessMemory.cpp
../../examples/SharedMemory/PhysicsClient.cpp
../../examples/SharedMemory/PhysicsClient.h
../../examples/SharedMemory/PhysicsServer.cpp
../../examples/SharedMemory/PhysicsServer.h
../../examples/SharedMemory/PhysicsServerExample.cpp
../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp
../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
../../examples/SharedMemory/PhysicsServerSharedMemory.h
../../examples/SharedMemory/PhysicsDirect.cpp
../../examples/SharedMemory/PhysicsDirect.h
../../examples/SharedMemory/PhysicsDirectC_API.cpp
../../examples/SharedMemory/PhysicsDirectC_API.h
../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
../../examples/SharedMemory/PhysicsServerCommandProcessor.h
../../examples/SharedMemory/b3PluginManager.cpp
../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
../../examples/SharedMemory/PhysicsClientSharedMemory.h
../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp
../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h
../../examples/SharedMemory/PhysicsClientC_API.cpp
../../examples/SharedMemory/PhysicsClientC_API.h
../../examples/SharedMemory/Win32SharedMemory.cpp
../../examples/SharedMemory/Win32SharedMemory.h
../../examples/SharedMemory/PosixSharedMemory.cpp
../../examples/SharedMemory/PosixSharedMemory.h
../../examples/Utils/b3ResourcePath.cpp
../../examples/Utils/b3ResourcePath.h
../../examples/Utils/RobotLoggingUtil.cpp
../../examples/Utils/RobotLoggingUtil.h
../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
../../examples/MultiThreading/b3PosixThreadSupport.cpp
../../examples/MultiThreading/b3Win32ThreadSupport.cpp
../../examples/MultiThreading/b3ThreadSupportInterface.cpp
)
RobotSimulatorMain.cpp
b3RobotSimulatorClientAPI.cpp
b3RobotSimulatorClientAPI.h
b3RobotSimulatorClientAPI_NoGUI.cpp
b3RobotSimulatorClientAPI_NoGUI.h
MinitaurSetup.cpp
MinitaurSetup.h
../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
../../examples/SharedMemory/PhysicsServerExample.cpp
../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp
../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
)
IF(BUILD_CLSOCKET)
ADD_DEFINITIONS(-DBT_ENABLE_CLSOCKET)
@ -89,54 +31,9 @@ IF(WIN32)
LINK_LIBRARIES(
${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
IF(BUILD_ENET)
ADD_DEFINITIONS(-DWIN32 -DBT_ENABLE_ENET)
ENDIF(BUILD_ENET)
IF(BUILD_CLSOCKET)
ADD_DEFINITIONS(-DWIN32)
ENDIF(BUILD_CLSOCKET)
ELSE(WIN32)
IF(BUILD_ENET)
ADD_DEFINITIONS(-DHAS_SOCKLEN_T -DBT_ENABLE_ENET)
ENDIF(BUILD_ENET)
IF(BUILD_CLSOCKET)
ADD_DEFINITIONS(${OSDEF})
ENDIF(BUILD_CLSOCKET)
ENDIF(WIN32)
IF(BUILD_ENET)
set(RobotSimulator_SRCS ${RobotSimulator_SRCS}
../../examples/SharedMemory/PhysicsClientUDP.cpp
../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp
../../examples/SharedMemory/PhysicsClientUDP.h
../../examples/SharedMemory/PhysicsClientUDP_C_API.h
../../examples/ThirdPartyLibs/enet/win32.c
../../examples/ThirdPartyLibs/enet/unix.c
../../examples/ThirdPartyLibs/enet/callbacks.c
../../examples/ThirdPartyLibs/enet/compress.c
../../examples/ThirdPartyLibs/enet/host.c
../../examples/ThirdPartyLibs/enet/list.c
../../examples/ThirdPartyLibs/enet/packet.c
../../examples/ThirdPartyLibs/enet/peer.c
../../examples/ThirdPartyLibs/enet/protocol.c
)
ENDIF(BUILD_ENET)
IF(BUILD_CLSOCKET)
set(RobotSimulator_SRCS ${RobotSimulator_SRCS}
../../examples/SharedMemory/PhysicsClientTCP.cpp
../../examples/SharedMemory/PhysicsClientTCP.h
../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp
../../examples/SharedMemory/PhysicsClientTCP_C_API.h
../../examples/ThirdPartyLibs/clsocket/src/SimpleSocket.cpp
../../examples/ThirdPartyLibs/clsocket/src/ActiveSocket.cpp
../../examples/ThirdPartyLibs/clsocket/src/PassiveSocket.cpp
)
ENDIF()
#some code to support OpenGL and Glew cross platform
IF (WIN32)
@ -168,6 +65,8 @@ ADD_EXECUTABLE(App_RobotSimulator ${RobotSimulator_SRCS})
SET_TARGET_PROPERTIES(App_RobotSimulator PROPERTIES VERSION ${BULLET_VERSION})
SET_TARGET_PROPERTIES(App_RobotSimulator PROPERTIES DEBUG_POSTFIX "_d")
SET_TARGET_PROPERTIES(App_RobotSimulator PROPERTIES COMPILE_DEFINITIONS "B3_USE_ROBOTSIM_GUI")
IF(WIN32)
@ -176,8 +75,56 @@ IF(WIN32)
ENDIF(BUILD_ENET OR BUILD_CLSOCKET)
ENDIF(WIN32)
TARGET_LINK_LIBRARIES(App_RobotSimulator BulletRobotics BulletExampleBrowserLib BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen Bullet3Common)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/examples
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
)
SET(RobotSimulator_NoGUI_SRCS
RobotSimulatorMain.cpp
b3RobotSimulatorClientAPI_NoGUI.cpp
b3RobotSimulatorClientAPI_NoGUI.h
MinitaurSetup.cpp
MinitaurSetup.h
)
ADD_EXECUTABLE(App_RobotSimulator_NoGUI ${RobotSimulator_NoGUI_SRCS})
SET_TARGET_PROPERTIES(App_RobotSimulator_NoGUI PROPERTIES VERSION ${BULLET_VERSION})
SET_TARGET_PROPERTIES(App_RobotSimulator_NoGUI PROPERTIES DEBUG_POSTFIX "_d")
IF(WIN32)
IF(BUILD_ENET OR BUILD_CLSOCKET)
TARGET_LINK_LIBRARIES(App_RobotSimulator_NoGUI ws2_32 )
ENDIF(BUILD_ENET OR BUILD_CLSOCKET)
ELSE()
IF(APPLE)
ELSE(APPLE)
TARGET_LINK_LIBRARIES( App_RobotSimulator_NoGUI pthread ${DL} )
ENDIF(APPLE)
ENDIF(WIN32)
TARGET_LINK_LIBRARIES(App_RobotSimulator_NoGUI BulletRobotics BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath Bullet3Common)
TARGET_LINK_LIBRARIES(App_RobotSimulator BulletExampleBrowserLib BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK Bullet3Common)

8
examples/RobotSimulator/MinitaurSetup.cpp
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@ -1,5 +1,5 @@
#include "MinitaurSetup.h"
#include "b3RobotSimulatorClientAPI.h"
#include "b3RobotSimulatorClientAPI_NoGUI.h"
#include "Bullet3Common/b3HashMap.h"
@ -27,7 +27,7 @@ MinitaurSetup::~MinitaurSetup()
delete m_data;
}
void MinitaurSetup::setDesiredMotorAngle(class b3RobotSimulatorClientAPI* sim, const char* motorName, double desiredAngle, double maxTorque, double kp, double kd)
void MinitaurSetup::setDesiredMotorAngle(class b3RobotSimulatorClientAPI_NoGUI* sim, const char* motorName, double desiredAngle, double maxTorque, double kp, double kd)
{
b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_POSITION_VELOCITY_PD);
controlArgs.m_maxTorqueValue = maxTorque;
@ -158,7 +158,7 @@ static const char* minitaurURDF="quadruped/minitaur_rainbow_dash_v1.urdf";
#endif
void MinitaurSetup::resetPose(class b3RobotSimulatorClientAPI* sim)
void MinitaurSetup::resetPose(class b3RobotSimulatorClientAPI_NoGUI* sim)
{
//release all motors
int numJoints = sim->getNumJoints(m_data->m_quadrupedUniqueId);
@ -255,7 +255,7 @@ void MinitaurSetup::resetPose(class b3RobotSimulatorClientAPI* sim)
}
int MinitaurSetup::setupMinitaur(class b3RobotSimulatorClientAPI* sim, const b3Vector3& startPos, const b3Quaternion& startOrn)
int MinitaurSetup::setupMinitaur(class b3RobotSimulatorClientAPI_NoGUI* sim, const b3Vector3& startPos, const b3Quaternion& startOrn)
{
b3RobotSimulatorLoadUrdfFileArgs args;

6
examples/RobotSimulator/MinitaurSetup.h
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@ -6,15 +6,15 @@
class MinitaurSetup
{
struct MinitaurSetupInternalData* m_data;
void resetPose(class b3RobotSimulatorClientAPI* sim);
void resetPose(class b3RobotSimulatorClientAPI_NoGUI* sim);
public:
MinitaurSetup();
virtual ~MinitaurSetup();
int setupMinitaur(class b3RobotSimulatorClientAPI* sim, const class b3Vector3& startPos=b3MakeVector3(0,0,0), const class b3Quaternion& startOrn = b3Quaternion(0,0,0,1));
int setupMinitaur(class b3RobotSimulatorClientAPI_NoGUI* sim, const class b3Vector3& startPos=b3MakeVector3(0,0,0), const class b3Quaternion& startOrn = b3Quaternion(0,0,0,1));
void setDesiredMotorAngle(class b3RobotSimulatorClientAPI* sim, const char* motorName, double desiredAngle, double maxTorque=3,double kp=0.1, double kd=0.9);
void setDesiredMotorAngle(class b3RobotSimulatorClientAPI_NoGUI* sim, const char* motorName, double desiredAngle, double maxTorque=3,double kp=0.1, double kd=0.9);
};
#endif //MINITAUR_SIMULATION_SETUP_H

24
examples/RobotSimulator/RobotSimulatorMain.cpp
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@ -1,5 +1,11 @@
#include "b3RobotSimulatorClientAPI.h"
#ifdef B3_USE_ROBOTSIM_GUI
#include "b3RobotSimulatorClientAPI.h"
#else
#include "b3RobotSimulatorClientAPI_NoGUI.h"
#endif
#include "../Utils/b3Clock.h"
#include <string.h>
@ -7,11 +13,23 @@
#include <assert.h>
#define ASSERT_EQ(a,b) assert((a)==(b));
#include "MinitaurSetup.h"
int main(int argc, char* argv[])
{
#ifdef B3_USE_ROBOTSIM_GUI
b3RobotSimulatorClientAPI* sim = new b3RobotSimulatorClientAPI();
sim->connect(eCONNECT_GUI);
bool isConnected = sim->connect(eCONNECT_GUI);
#else
b3RobotSimulatorClientAPI_NoGUI* sim = new b3RobotSimulatorClientAPI_NoGUI();
bool isConnected = sim->connect(eCONNECT_DIRECT);
#endif
if (!isConnected)
{
printf("Cannot connect\n");
return -1;
}
//Can also use eCONNECT_DIRECT,eCONNECT_SHARED_MEMORY,eCONNECT_UDP,eCONNECT_TCP, for example:
//sim->connect(eCONNECT_UDP, "localhost", 1234);
sim->configureDebugVisualizer( COV_ENABLE_GUI, 0);

993
examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
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236
examples/RobotSimulator/b3RobotSimulatorClientAPI.h
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@ -1,246 +1,32 @@
#ifndef B3_ROBOT_SIMULATOR_CLIENT_API_H
#define B3_ROBOT_SIMULATOR_CLIENT_API_H
#ifndef B3_ROBOT_SIMULATOR_CLIENT_API_GUI_H
#define B3_ROBOT_SIMULATOR_CLIENT_API_GUI_H
#include "../SharedMemory/SharedMemoryPublic.h"
#include "Bullet3Common/b3Vector3.h"
#include "Bullet3Common/b3Quaternion.h"
#include "Bullet3Common/b3Transform.h"
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "b3RobotSimulatorClientAPI_NoGUI.h"
#include <string>
struct b3RobotSimulatorLoadUrdfFileArgs
{
b3Vector3 m_startPosition;
b3Quaternion m_startOrientation;
bool m_forceOverrideFixedBase;
bool m_useMultiBody;
int m_flags;
b3RobotSimulatorLoadUrdfFileArgs(const b3Vector3& startPos, const b3Quaternion& startOrn)
: m_startPosition(startPos),
m_startOrientation(startOrn),
m_forceOverrideFixedBase(false),
m_useMultiBody(true),
m_flags(0)
{
}
b3RobotSimulatorLoadUrdfFileArgs()
: m_startPosition(b3MakeVector3(0, 0, 0)),
m_startOrientation(b3Quaternion(0, 0, 0, 1)),
m_forceOverrideFixedBase(false),
m_useMultiBody(true),
m_flags(0)
{
}
};
struct b3RobotSimulatorLoadSdfFileArgs
{
bool m_forceOverrideFixedBase;
bool m_useMultiBody;
b3RobotSimulatorLoadSdfFileArgs()
: m_forceOverrideFixedBase(false),
m_useMultiBody(true)
{
}
};
struct b3RobotSimulatorLoadFileResults
{
b3AlignedObjectArray<int> m_uniqueObjectIds;
b3RobotSimulatorLoadFileResults()
{
}
};
struct b3RobotSimulatorJointMotorArgs
{
int m_controlMode;
double m_targetPosition;
double m_kp;
double m_targetVelocity;
double m_kd;
double m_maxTorqueValue;
b3RobotSimulatorJointMotorArgs(int controlMode)
: m_controlMode(controlMode),
m_targetPosition(0),
m_kp(0.1),
m_targetVelocity(0),
m_kd(0.9),
m_maxTorqueValue(1000)
{
}
};
enum b3RobotSimulatorInverseKinematicsFlags
{
B3_HAS_IK_TARGET_ORIENTATION = 1,
B3_HAS_NULL_SPACE_VELOCITY = 2,
B3_HAS_JOINT_DAMPING = 4,
};
struct b3RobotSimulatorInverseKinematicArgs
{
int m_bodyUniqueId;
// double* m_currentJointPositions;
// int m_numPositions;
double m_endEffectorTargetPosition[3];
double m_endEffectorTargetOrientation[4];
int m_endEffectorLinkIndex;
int m_flags;
int m_numDegreeOfFreedom;
b3AlignedObjectArray<double> m_lowerLimits;
b3AlignedObjectArray<double> m_upperLimits;
b3AlignedObjectArray<double> m_jointRanges;
b3AlignedObjectArray<double> m_restPoses;
b3AlignedObjectArray<double> m_jointDamping;
b3RobotSimulatorInverseKinematicArgs()
: m_bodyUniqueId(-1),
m_endEffectorLinkIndex(-1),
m_flags(0)
{
m_endEffectorTargetPosition[0] = 0;
m_endEffectorTargetPosition[1] = 0;
m_endEffectorTargetPosition[2] = 0;
m_endEffectorTargetOrientation[0] = 0;
m_endEffectorTargetOrientation[1] = 0;
m_endEffectorTargetOrientation[2] = 0;
m_endEffectorTargetOrientation[3] = 1;
}
};
struct b3RobotSimulatorInverseKinematicsResults
{
int m_bodyUniqueId;
b3AlignedObjectArray<double> m_calculatedJointPositions;
};
struct b3JointStates2
{
int m_bodyUniqueId;
int m_numDegreeOfFreedomQ;
int m_numDegreeOfFreedomU;
b3Transform m_rootLocalInertialFrame;
b3AlignedObjectArray<double> m_actualStateQ;
b3AlignedObjectArray<double> m_actualStateQdot;
b3AlignedObjectArray<double> m_jointReactionForces;
};
///The b3RobotSimulatorClientAPI is pretty much the C++ version of pybullet
///The b3RobotSimulatorClientAPI_GUI is pretty much the C++ version of pybullet
///as documented in the pybullet Quickstart Guide
///https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA
class b3RobotSimulatorClientAPI
class b3RobotSimulatorClientAPI : public b3RobotSimulatorClientAPI_NoGUI
{
struct b3RobotSimulatorClientAPI_InternalData* m_data;
public:
b3RobotSimulatorClientAPI();
virtual ~b3RobotSimulatorClientAPI();
bool connect(int mode, const std::string& hostName = "localhost", int portOrKey = -1);
void disconnect();
bool isConnected() const;
void setTimeOut(double timeOutInSec);
void syncBodies();
void resetSimulation();
b3Quaternion getQuaternionFromEuler(const b3Vector3& rollPitchYaw);
b3Vector3 getEulerFromQuaternion(const b3Quaternion& quat);
int loadURDF(const std::string& fileName, const struct b3RobotSimulatorLoadUrdfFileArgs& args = b3RobotSimulatorLoadUrdfFileArgs());
bool loadSDF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results, const struct b3RobotSimulatorLoadSdfFileArgs& args = b3RobotSimulatorLoadSdfFileArgs());
bool loadMJCF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results);
bool loadBullet(const std::string& fileName, b3RobotSimulatorLoadFileResults& results);
bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo* bodyInfo);
bool getBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation) const;
bool resetBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation);
bool getBaseVelocity(int bodyUniqueId, b3Vector3& baseLinearVelocity, b3Vector3& baseAngularVelocity) const;
bool resetBaseVelocity(int bodyUniqueId, const b3Vector3& linearVelocity, const b3Vector3& angularVelocity) const;
int getNumJoints(int bodyUniqueId) const;
bool getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo* jointInfo);
int createConstraint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo);
int changeConstraint(int constraintId, b3JointInfo* jointInfo);
void removeConstraint(int constraintId);
bool getJointState(int bodyUniqueId, int jointIndex, struct b3JointSensorState* state);
bool getJointStates(int bodyUniqueId, b3JointStates2& state);
bool resetJointState(int bodyUniqueId, int jointIndex, double targetValue);
void setJointMotorControl(int bodyUniqueId, int jointIndex, const struct b3RobotSimulatorJointMotorArgs& args);
void stepSimulation();
bool canSubmitCommand() const;
void setRealTimeSimulation(bool enableRealTimeSimulation);
void setInternalSimFlags(int flags);
void setGravity(const b3Vector3& gravityAcceleration);
void setTimeStep(double timeStepInSeconds);
void setNumSimulationSubSteps(int numSubSteps);
void setNumSolverIterations(int numIterations);
void setContactBreakingThreshold(double threshold);
bool calculateInverseKinematics(const struct b3RobotSimulatorInverseKinematicArgs& args, struct b3RobotSimulatorInverseKinematicsResults& results);
bool getBodyJacobian(int bodyUniqueId, int linkIndex, const double* localPosition, const double* jointPositions, const double* jointVelocities, const double* jointAccelerations, double* linearJacobian, double* angularJacobian);
bool getLinkState(int bodyUniqueId, int linkIndex, b3LinkState* linkState);
void configureDebugVisualizer(enum b3ConfigureDebugVisualizerEnum flag, int enable);
void resetDebugVisualizerCamera(double cameraDistance, double cameraPitch, double cameraYaw, const b3Vector3& targetPos);
int startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const b3AlignedObjectArray<int>& objectUniqueIds=b3AlignedObjectArray<int>(), int maxLogDof = -1);
void stopStateLogging(int stateLoggerUniqueId);
void getVREvents(b3VREventsData* vrEventsData, int deviceTypeFilter);
void getKeyboardEvents(b3KeyboardEventsData* keyboardEventsData);
void submitProfileTiming(const std::string& profileName, int durationInMicroSeconds=1);
//////////////// INTERNAL
void loadSoftBody(const std::string& fileName, double scale, double mass, double collisionMargin);
//setGuiHelper is only used when embedded in existing example browser
void setGuiHelper(struct GUIHelperInterface* guiHelper);
//renderScene is only used when embedded in existing example browser
virtual bool connect(int mode, const std::string& hostName = "localhost", int portOrKey = -1);
virtual void renderScene();
//debugDraw is only used when embedded in existing example browser
virtual void debugDraw(int debugDrawMode);
virtual bool mouseMoveCallback(float x,float y);
virtual bool mouseButtonCallback(int button, int state, float x, float y);
////////////////INTERNAL
};
#endif //B3_ROBOT_SIMULATOR_CLIENT_API_H

18
examples/RobotSimulator/b3RobotSimulatorClientAPI_InternalData.h Normal file
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@ -0,0 +1,18 @@
#ifndef B3_ROBOT_SIMULATOR_CLIENT_API_INTERNAL_DATA_H
#define B3_ROBOT_SIMULATOR_CLIENT_API_INTERNAL_DATA_H
#include "../SharedMemory/PhysicsClientC_API.h"
struct b3RobotSimulatorClientAPI_InternalData
{
b3PhysicsClientHandle m_physicsClientHandle;
struct GUIHelperInterface* m_guiHelper;
b3RobotSimulatorClientAPI_InternalData()
: m_physicsClientHandle(0),
m_guiHelper(0)
{
}
};
#endif //B3_ROBOT_SIMULATOR_CLIENT_API_INTERNAL_DATA_H

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examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.cpp Normal file
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572
examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.h Normal file
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@ -0,0 +1,572 @@
#ifndef B3_ROBOT_SIMULATOR_CLIENT_API_H
#define B3_ROBOT_SIMULATOR_CLIENT_API_H
#include "../SharedMemory/SharedMemoryPublic.h"
#include "Bullet3Common/b3Vector3.h"
#include "Bullet3Common/b3Quaternion.h"
#include "Bullet3Common/b3Transform.h"
#include "Bullet3Common/b3AlignedObjectArray.h"
#include <string>
struct b3RobotSimulatorLoadUrdfFileArgs
{
b3Vector3 m_startPosition;
b3Quaternion m_startOrientation;
bool m_forceOverrideFixedBase;
bool m_useMultiBody;
int m_flags;
b3RobotSimulatorLoadUrdfFileArgs(const b3Vector3& startPos, const b3Quaternion& startOrn)
: m_startPosition(startPos),
m_startOrientation(startOrn),
m_forceOverrideFixedBase(false),
m_useMultiBody(true),
m_flags(0)
{
}
b3RobotSimulatorLoadUrdfFileArgs()
: m_startPosition(b3MakeVector3(0, 0, 0)),
m_startOrientation(b3Quaternion(0, 0, 0, 1)),
m_forceOverrideFixedBase(false),
m_useMultiBody(true),
m_flags(0)
{
}
};
struct b3RobotSimulatorLoadSdfFileArgs
{
bool m_forceOverrideFixedBase;
bool m_useMultiBody;
b3RobotSimulatorLoadSdfFileArgs()
: m_forceOverrideFixedBase(false),
m_useMultiBody(true)
{
}
};
struct b3RobotSimulatorLoadFileResults
{
b3AlignedObjectArray<int> m_uniqueObjectIds;
b3RobotSimulatorLoadFileResults()
{
}
};
struct b3RobotSimulatorJointMotorArgs
{
int m_controlMode;
double m_targetPosition;
double m_kp;
double m_targetVelocity;
double m_kd;
double m_maxTorqueValue;
b3RobotSimulatorJointMotorArgs(int controlMode)
: m_controlMode(controlMode),
m_targetPosition(0),
m_kp(0.1),
m_targetVelocity(0),
m_kd(0.9),
m_maxTorqueValue(1000)
{
}
};
enum b3RobotSimulatorInverseKinematicsFlags
{
B3_HAS_IK_TARGET_ORIENTATION = 1,
B3_HAS_NULL_SPACE_VELOCITY = 2,
B3_HAS_JOINT_DAMPING = 4,
};
struct b3RobotSimulatorInverseKinematicArgs
{
int m_bodyUniqueId;
// double* m_currentJointPositions;
// int m_numPositions;
double m_endEffectorTargetPosition[3];
double m_endEffectorTargetOrientation[4];
int m_endEffectorLinkIndex;
int m_flags;
int m_numDegreeOfFreedom;
b3AlignedObjectArray<double> m_lowerLimits;
b3AlignedObjectArray<double> m_upperLimits;
b3AlignedObjectArray<double> m_jointRanges;
b3AlignedObjectArray<double> m_restPoses;
b3AlignedObjectArray<double> m_jointDamping;
b3RobotSimulatorInverseKinematicArgs()
: m_bodyUniqueId(-1),
m_endEffectorLinkIndex(-1),
m_flags(0)
{
m_endEffectorTargetPosition[0] = 0;
m_endEffectorTargetPosition[1] = 0;
m_endEffectorTargetPosition[2] = 0;
m_endEffectorTargetOrientation[0] = 0;
m_endEffectorTargetOrientation[1] = 0;
m_endEffectorTargetOrientation[2] = 0;
m_endEffectorTargetOrientation[3] = 1;
}
};
struct b3RobotSimulatorInverseKinematicsResults
{
int m_bodyUniqueId;
b3AlignedObjectArray<double> m_calculatedJointPositions;
};
struct b3JointStates2
{
int m_bodyUniqueId;
int m_numDegreeOfFreedomQ;
int m_numDegreeOfFreedomU;
b3Transform m_rootLocalInertialFrame;
b3AlignedObjectArray<double> m_actualStateQ;
b3AlignedObjectArray<double> m_actualStateQdot;
b3AlignedObjectArray<double> m_jointReactionForces;
};
struct b3RobotSimulatorJointMotorArrayArgs
{
int m_controlMode;
int m_numControlledDofs;
int *m_jointIndices;
double *m_targetPositions;
double *m_kps;
double *m_targetVelocities;
double *m_kds;
double *m_forces;
b3RobotSimulatorJointMotorArrayArgs(int controlMode, int numControlledDofs)
: m_controlMode(controlMode), m_numControlledDofs(numControlledDofs)
{
}
};
struct b3RobotSimulatorGetCameraImageArgs
{
int m_width;
int m_height;
float *m_viewMatrix;
float *m_projectionMatrix;
float *m_lightDirection;
float *m_lightColor;
float m_lightDistance;
int m_hasShadow;
float m_lightAmbientCoeff;
float m_lightDiffuseCoeff;
float m_lightSpecularCoeff;
int m_renderer;
b3RobotSimulatorGetCameraImageArgs(int width, int height)
: m_width(width),
m_height(height),
m_viewMatrix(NULL),
m_projectionMatrix(NULL),
m_lightDirection(NULL),
m_lightColor(NULL),
m_lightDistance(-1),
m_hasShadow(-1),
m_lightAmbientCoeff(-1),
m_lightDiffuseCoeff(-1),
m_lightSpecularCoeff(-1),
m_renderer(-1)
{
}
};
struct b3RobotSimulatorSetPhysicsEngineParameters
{
double m_fixedTimeStep;
int m_numSolverIterations;
int m_useSplitImpulse;
double m_splitImpulsePenetrationThreshold;
int m_numSubSteps;
int m_collisionFilterMode;
double m_contactBreakingThreshold;
int m_maxNumCmdPer1ms;
int m_enableFileCaching;
double m_restitutionVelocityThreshold;
double m_erp;
double m_contactERP;
double m_frictionERP;
b3RobotSimulatorSetPhysicsEngineParameters()
: m_fixedTimeStep(-1),
m_numSolverIterations(-1),
m_useSplitImpulse(-1),
m_splitImpulsePenetrationThreshold(-1),
m_numSubSteps(-1),
m_collisionFilterMode(-1),
m_contactBreakingThreshold(-1),
m_maxNumCmdPer1ms(-1),
m_enableFileCaching(-1),
m_restitutionVelocityThreshold(-1),
m_erp(-1),
m_contactERP(-1),
m_frictionERP(-1)
{}
};
struct b3RobotSimulatorChangeDynamicsArgs
{
double m_mass;
double m_lateralFriction;
double m_spinningFriction;
double m_rollingFriction;
double m_restitution;
double m_linearDamping;
double m_angularDamping;
double m_contactStiffness;
double m_contactDamping;
int m_frictionAnchor;
b3RobotSimulatorChangeDynamicsArgs()
: m_mass(-1),
m_lateralFriction(-1),
m_spinningFriction(-1),
m_rollingFriction(-1),
m_restitution(-1),
m_linearDamping(-1),
m_angularDamping(-1),
m_contactStiffness(-1),
m_contactDamping(-1),
m_frictionAnchor(-1)
{}
};
struct b3RobotSimulatorAddUserDebugLineArgs
{
double m_colorRGB[3];
double m_lineWidth;
double m_lifeTime;
int m_parentObjectUniqueId;
int m_parentLinkIndex;
b3RobotSimulatorAddUserDebugLineArgs()
:
m_lineWidth(1),
m_lifeTime(0),
m_parentObjectUniqueId(-1),
m_parentLinkIndex(-1)
{
m_colorRGB[0] = 1;
m_colorRGB[1] = 1;
m_colorRGB[2] = 1;
}
};
enum b3AddUserDebugTextFlags {
DEBUG_TEXT_HAS_ORIENTATION = 1
};
struct b3RobotSimulatorAddUserDebugTextArgs
{
double m_colorRGB[3];
double m_size;
double m_lifeTime;
double m_textOrientation[4];
int m_parentObjectUniqueId;
int m_parentLinkIndex;
int m_flags;
b3RobotSimulatorAddUserDebugTextArgs()
: m_size(1),
m_lifeTime(0),
m_parentObjectUniqueId(-1),
m_parentLinkIndex(-1),
m_flags(0)
{
m_colorRGB[0] = 1;
m_colorRGB[1] = 1;
m_colorRGB[2] = 1;
m_textOrientation[0] = 0;
m_textOrientation[1] = 0;
m_textOrientation[2] = 0;
m_textOrientation[3] = 1;
}
};
struct b3RobotSimulatorGetContactPointsArgs
{
int m_bodyUniqueIdA;
int m_bodyUniqueIdB;
int m_linkIndexA;
int m_linkIndexB;
b3RobotSimulatorGetContactPointsArgs()
: m_bodyUniqueIdA(-1),
m_bodyUniqueIdB(-1),
m_linkIndexA(-2),
m_linkIndexB(-2)
{}
};
struct b3RobotSimulatorCreateCollisionShapeArgs
{
int m_shapeType;
double m_radius;
b3Vector3 m_halfExtents;
double m_height;
char* m_fileName;
b3Vector3 m_meshScale;
b3Vector3 m_planeNormal;
int m_flags;
b3RobotSimulatorCreateCollisionShapeArgs()
: m_shapeType(-1),
m_radius(0.5),
m_height(1),
m_fileName(NULL),
m_flags(0)
{
m_halfExtents.m_floats[0] = 1;
m_halfExtents.m_floats[1] = 1;
m_halfExtents.m_floats[2] = 1;
m_meshScale.m_floats[0] = 1;
m_meshScale.m_floats[1] = 1;
m_meshScale.m_floats[2] = 1;
m_planeNormal.m_floats[0] = 0;
m_planeNormal.m_floats[1] = 0;
m_planeNormal.m_floats[2] = 1;
}
};
struct b3RobotSimulatorCreateMultiBodyArgs
{
double m_baseMass;
int m_baseCollisionShapeIndex;
int m_baseVisualShapeIndex;
b3Vector3 m_basePosition;
b3Quaternion m_baseOrientation;
b3Vector3 m_baseInertialFramePosition;
b3Quaternion m_baseInertialFrameOrientation;
int m_numLinks;
double *m_linkMasses;
int *m_linkCollisionShapeIndices;
int *m_linkVisualShapeIndices;
b3Vector3 *m_linkPositions;
b3Quaternion *m_linkOrientations;
b3Vector3 *m_linkInertialFramePositions;
b3Quaternion *m_linkInertialFrameOrientations;
int *m_linkParentIndices;
int *m_linkJointTypes;
b3Vector3 *m_linkJointAxes;
int m_useMaximalCoordinates;
b3RobotSimulatorCreateMultiBodyArgs()
: m_numLinks(0), m_baseMass(0), m_baseCollisionShapeIndex(-1), m_baseVisualShapeIndex(-1), m_useMaximalCoordinates(0),
m_linkMasses(NULL),
m_linkCollisionShapeIndices(NULL),
m_linkVisualShapeIndices(NULL),
m_linkPositions(NULL),
m_linkOrientations(NULL),
m_linkInertialFramePositions(NULL),
m_linkInertialFrameOrientations(NULL),
m_linkParentIndices(NULL),
m_linkJointTypes(NULL),
m_linkJointAxes(NULL)
{
m_basePosition.setValue(0,0,0);
m_baseOrientation.setValue(0,0,0,1);
m_baseInertialFramePosition.setValue(0,0,0);
m_baseInertialFrameOrientation.setValue(0,0,0,1);
}
};
///The b3RobotSimulatorClientAPI is pretty much the C++ version of pybullet
///as documented in the pybullet Quickstart Guide
///https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA
class b3RobotSimulatorClientAPI_NoGUI
{
protected:
struct b3RobotSimulatorClientAPI_InternalData* m_data;
public:
b3RobotSimulatorClientAPI_NoGUI();
virtual ~b3RobotSimulatorClientAPI_NoGUI();
bool connect(int mode, const std::string& hostName = "localhost", int portOrKey = -1);
void disconnect();
bool isConnected() const;
void setTimeOut(double timeOutInSec);
void syncBodies();
void resetSimulation();
b3Quaternion getQuaternionFromEuler(const b3Vector3& rollPitchYaw);
b3Vector3 getEulerFromQuaternion(const b3Quaternion& quat);
int loadURDF(const std::string& fileName, const struct b3RobotSimulatorLoadUrdfFileArgs& args = b3RobotSimulatorLoadUrdfFileArgs());
bool loadSDF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results, const struct b3RobotSimulatorLoadSdfFileArgs& args = b3RobotSimulatorLoadSdfFileArgs());
bool loadMJCF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results);
bool loadBullet(const std::string& fileName, b3RobotSimulatorLoadFileResults& results);
bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo* bodyInfo);
bool getBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation) const;
bool resetBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation);
bool getBaseVelocity(int bodyUniqueId, b3Vector3& baseLinearVelocity, b3Vector3& baseAngularVelocity) const;
bool resetBaseVelocity(int bodyUniqueId, const b3Vector3& linearVelocity, const b3Vector3& angularVelocity) const;
int getNumJoints(int bodyUniqueId) const;
bool getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo* jointInfo);
int createConstraint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo);
int changeConstraint(int constraintId, b3JointInfo* jointInfo);
void removeConstraint(int constraintId);
bool getJointState(int bodyUniqueId, int jointIndex, struct b3JointSensorState* state);
bool getJointStates(int bodyUniqueId, b3JointStates2& state);
bool resetJointState(int bodyUniqueId, int jointIndex, double targetValue);
void setJointMotorControl(int bodyUniqueId, int jointIndex, const struct b3RobotSimulatorJointMotorArgs& args);
bool setJointMotorControlArray(int bodyUniqueId, int controlMode, int numControlledDofs,
int *jointIndices, double *targetVelocities, double *targetPositions,
double *forces, double *kps, double *kds);
void stepSimulation();
bool canSubmitCommand() const;
void setRealTimeSimulation(bool enableRealTimeSimulation);
void setInternalSimFlags(int flags);
void setGravity(const b3Vector3& gravityAcceleration);
void setTimeStep(double timeStepInSeconds);
void setNumSimulationSubSteps(int numSubSteps);
void setNumSolverIterations(int numIterations);
void setContactBreakingThreshold(double threshold);
bool calculateInverseKinematics(const struct b3RobotSimulatorInverseKinematicArgs& args, struct b3RobotSimulatorInverseKinematicsResults& results);
bool getBodyJacobian(int bodyUniqueId, int linkIndex, const double* localPosition, const double* jointPositions, const double* jointVelocities, const double* jointAccelerations, double* linearJacobian, double* angularJacobian);
bool getLinkState(int bodyUniqueId, int linkIndex, b3LinkState* linkState);
void configureDebugVisualizer(enum b3ConfigureDebugVisualizerEnum flag, int enable);
void resetDebugVisualizerCamera(double cameraDistance, double cameraPitch, double cameraYaw, const b3Vector3& targetPos);
int startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const b3AlignedObjectArray<int>& objectUniqueIds=b3AlignedObjectArray<int>(), int maxLogDof = -1);
void stopStateLogging(int stateLoggerUniqueId);
void getVREvents(b3VREventsData* vrEventsData, int deviceTypeFilter);
void getKeyboardEvents(b3KeyboardEventsData* keyboardEventsData);
void submitProfileTiming(const std::string& profileName, int durationInMicroSeconds=1);
// JFC: added these 24 methods
void getMouseEvents(b3MouseEventsData* mouseEventsData);
bool getLinkState(int bodyUniqueId, int linkIndex, int computeLinkVelocity, int computeInverseKinematics, b3LinkState* linkState);
bool getCameraImage(int width, int height, struct b3RobotSimulatorGetCameraImageArgs args, b3CameraImageData &imageData);
bool calculateInverseDynamics(int bodyUniqueId, double *jointPositions, double *jointVelocities, double *jointAccelerations, double *jointForcesOutput);
int getNumBodies() const;
int getBodyUniqueId(int bodyId) const;
bool removeBody(int bodyUniqueId);
bool getDynamicsInfo(int bodyUniqueId, int linkIndex, b3DynamicsInfo *dynamicsInfo);
bool changeDynamics(int bodyUniqueId, int linkIndex, struct b3RobotSimulatorChangeDynamicsArgs &args);
int addUserDebugParameter(char *paramName, double rangeMin, double rangeMax, double startValue);
double readUserDebugParameter(int itemUniqueId);
bool removeUserDebugItem(int itemUniqueId);
int addUserDebugText(char *text, double *textPosition, struct b3RobotSimulatorAddUserDebugTextArgs &args);
int addUserDebugText(char *text, b3Vector3 &textPosition, struct b3RobotSimulatorAddUserDebugTextArgs &args);
int addUserDebugLine(double *fromXYZ, double *toXYZ, struct b3RobotSimulatorAddUserDebugLineArgs &args);
int addUserDebugLine(b3Vector3 &fromXYZ, b3Vector3 &toXYZ, struct b3RobotSimulatorAddUserDebugLineArgs &args);
bool setJointMotorControlArray(int bodyUniqueId, struct b3RobotSimulatorJointMotorArrayArgs &args);
bool setPhysicsEngineParameter(struct b3RobotSimulatorSetPhysicsEngineParameters &args);
bool applyExternalForce(int objectUniqueId, int linkIndex, double *force, double *position, int flags);
bool applyExternalForce(int objectUniqueId, int linkIndex, b3Vector3 &force, b3Vector3 &position, int flags);
bool applyExternalTorque(int objectUniqueId, int linkIndex, double *torque, int flags);
bool applyExternalTorque(int objectUniqueId, int linkIndex, b3Vector3 &torque, int flags);
bool enableJointForceTorqueSensor(int bodyUniqueId, int linkIndex, bool enable);
bool getDebugVisualizerCamera(struct b3OpenGLVisualizerCameraInfo *cameraInfo);
bool getContactPoints(struct b3RobotSimulatorGetContactPointsArgs &args, struct b3ContactInformation *contactInfo);
bool getClosestPoints(struct b3RobotSimulatorGetContactPointsArgs &args, double distance, struct b3ContactInformation *contactInfo);
bool getOverlappingObjects(double *aabbMin, double *aabbMax, struct b3AABBOverlapData *overlapData);
bool getOverlappingObjects(b3Vector3 &aabbMin, b3Vector3 &aabbMax, struct b3AABBOverlapData *overlapData);
bool getAABB(int bodyUniqueId, int linkIndex, double *aabbMin, double *aabbMax);
bool getAABB(int bodyUniqueId, int linkIndex, b3Vector3 &aabbMin, b3Vector3 &aabbMax);
int createCollisionShape(int shapeType, struct b3RobotSimulatorCreateCollisionShapeArgs &args);
int createMultiBody(struct b3RobotSimulatorCreateMultiBodyArgs &args);
int getNumConstraints() const;
int getConstraintUniqueId(int serialIndex);
void loadSoftBody(const std::string& fileName, double scale, double mass, double collisionMargin);
virtual void setGuiHelper(struct GUIHelperInterface* guiHelper);
virtual struct GUIHelperInterface* getGuiHelper();
};
#endif //B3_ROBOT_SIMULATOR_CLIENT_API_H

4
examples/RobotSimulator/premake4.lua
View File

@ -193,6 +193,8 @@ if not _OPTIONS["no-enet"] then
"RobotSimulatorMain.cpp",
"b3RobotSimulatorClientAPI.cpp",
"b3RobotSimulatorClientAPI.h",
"b3RobotSimulatorClientAPI_NoGUI.cpp",
"b3RobotSimulatorClientAPI_NoGUI.h",
"MinitaurSetup.cpp",
"MinitaurSetup.h",
myfiles
@ -283,6 +285,8 @@ project ("App_VRGloveHandSimulator")
"VRGloveSimulatorMain.cpp",
"b3RobotSimulatorClientAPI.cpp",
"b3RobotSimulatorClientAPI.h",
"b3RobotSimulatorClientAPI_NoGUI.cpp",
"b3RobotSimulatorClientAPI_NoGUI.h",
myfiles
}

1
examples/SharedMemory/PhysicsClientC_API.h
View File

@ -32,7 +32,6 @@ B3_DECLARE_HANDLE(b3SharedMemoryStatusHandle);
#include "PhysicsClientTCP_C_API.h"
#endif
#include "SharedMemoryInProcessPhysicsC_API.h"
#ifdef __cplusplus
extern "C" {

1
examples/TwoJoint/TwoJointMain.cpp
View File

@ -9,6 +9,7 @@
#include "SharedMemory/PhysicsClientC_API.h"
#include "Bullet3Common/b3Vector3.h"
#include "Bullet3Common/b3Quaternion.h"
#include "SharedMemory/SharedMemoryInProcessPhysicsC_API.h"
extern const int CONTROL_RATE;
const int CONTROL_RATE = 500;