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https://github.com/bulletphysics/bullet3
synced 2024-12-15 14:10:11 +00:00
Merge pull request #1710 from erwincoumans/master
Move from b3Vector3 to btVector3 to support double precision in examp…
This commit is contained in:
erwincoumans
GitHub
commit
fc9a2f88ef
@ -23,11 +23,11 @@ int main(int argc, char* argv[])
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int r2d2Uid = sim->loadURDF("r2d2.urdf");
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printf("r2d2 #joints = %d\n", sim->getNumJoints(r2d2Uid));
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b3Vector3 basePosition = b3MakeVector3(0,0,1);
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b3Quaternion baseOrientation = b3Quaternion(0,0,0,1);
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btVector3 basePosition = btVector3(0,0,1);
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btQuaternion baseOrientation = btQuaternion(0,0,0,1);
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sim->resetBasePositionAndOrientation(r2d2Uid, basePosition, baseOrientation);
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sim->setGravity(b3MakeVector3(0,0,-10));
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sim->setGravity(btVector3(0,0,-10));
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while (sim->isConnected())
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{
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@ -85,8 +85,8 @@ static const char* minitaurURDF="quadruped/minitaur_rainbow_dash_v1.urdf";
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"motor_back_leftL_bracket_joint",
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};
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static b3Vector3 KNEE_CONSTRAINT_POINT_LONG = b3MakeVector3(0, 0.0045, 0.088);
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static b3Vector3 KNEE_CONSTRAINT_POINT_SHORT= b3MakeVector3(0, 0.0045, 0.100);
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static btVector3 KNEE_CONSTRAINT_POINT_LONG = btVector3(0, 0.0045, 0.088);
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static btVector3 KNEE_CONSTRAINT_POINT_SHORT= btVector3(0, 0.0045, 0.100);
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#elif defined(MINITAUR_RAINBOWDASH_V0)
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static const char* minitaurURDF="quadruped/minitaur_rainbow_dash.urdf";
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@ -119,8 +119,8 @@ static const char* minitaurURDF="quadruped/minitaur_rainbow_dash_v1.urdf";
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"motor_front_rightR_joint",//14
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"knee_front_rightR_joint",//15
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};
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static b3Vector3 KNEE_CONSTRAINT_POINT_LONG = b3MakeVector3(0, 0.0045, 0.088);
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static b3Vector3 KNEE_CONSTRAINT_POINT_SHORT= b3MakeVector3(0, 0.0045, 0.100);
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static btVector3 KNEE_CONSTRAINT_POINT_LONG = btVector3(0, 0.0045, 0.088);
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static btVector3 KNEE_CONSTRAINT_POINT_SHORT= btVector3(0, 0.0045, 0.100);
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#elif defined(MINITAUR_V0)
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static const char* minitaurURDF="quadruped/minitaur.urdf";
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@ -153,8 +153,8 @@ static const char* minitaurURDF="quadruped/minitaur_rainbow_dash_v1.urdf";
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"motor_front_rightR_joint",
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"knee_front_rightR_link",
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};
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static b3Vector3 KNEE_CONSTRAINT_POINT_LONG = b3MakeVector3(0, 0.005, 0.2);
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static b3Vector3 KNEE_CONSTRAINT_POINT_SHORT= b3MakeVector3(0, 0.01, 0.2);
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static btVector3 KNEE_CONSTRAINT_POINT_LONG = btVector3(0, 0.005, 0.2);
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static btVector3 KNEE_CONSTRAINT_POINT_SHORT= btVector3(0, 0.01, 0.2);
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#endif
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@ -255,7 +255,7 @@ void MinitaurSetup::resetPose(class b3RobotSimulatorClientAPI_NoGUI* sim)
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}
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int MinitaurSetup::setupMinitaur(class b3RobotSimulatorClientAPI_NoGUI* sim, const b3Vector3& startPos, const b3Quaternion& startOrn)
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int MinitaurSetup::setupMinitaur(class b3RobotSimulatorClientAPI_NoGUI* sim, const btVector3& startPos, const btQuaternion& startOrn)
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{
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b3RobotSimulatorLoadUrdfFileArgs args;
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@ -1,8 +1,8 @@
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#ifndef MINITAUR_SIMULATION_SETUP_H
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#define MINITAUR_SIMULATION_SETUP_H
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#include "Bullet3Common/b3Vector3.h"
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#include "Bullet3Common/b3Quaternion.h"
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btQuaternion.h"
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class MinitaurSetup
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{
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struct MinitaurSetupInternalData* m_data;
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@ -12,7 +12,7 @@ public:
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MinitaurSetup();
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virtual ~MinitaurSetup();
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int setupMinitaur(class b3RobotSimulatorClientAPI_NoGUI* sim, const class b3Vector3& startPos=b3MakeVector3(0,0,0), const class b3Quaternion& startOrn = b3Quaternion(0,0,0,1));
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int setupMinitaur(class b3RobotSimulatorClientAPI_NoGUI* sim, const class btVector3& startPos=btVector3(0,0,0), const class btQuaternion& startOrn = btQuaternion(0,0,0,1));
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void setDesiredMotorAngle(class b3RobotSimulatorClientAPI_NoGUI* sim, const char* motorName, double desiredAngle, double maxTorque=3,double kp=0.1, double kd=0.9);
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@ -37,15 +37,15 @@ int main(int argc, char* argv[])
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sim->setTimeOut(10);
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//syncBodies is only needed when connecting to an existing physics server that has already some bodies
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sim->syncBodies();
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b3Scalar fixedTimeStep = 1./240.;
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btScalar fixedTimeStep = 1./240.;
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sim->setTimeStep(fixedTimeStep);
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b3Quaternion q = sim->getQuaternionFromEuler(b3MakeVector3(0.1,0.2,0.3));
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b3Vector3 rpy;
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btQuaternion q = sim->getQuaternionFromEuler(btVector3(0.1,0.2,0.3));
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btVector3 rpy;
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rpy = sim->getEulerFromQuaternion(q);
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sim->setGravity(b3MakeVector3(0,0,-9.8));
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sim->setGravity(btVector3(0,0,-9.8));
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//int blockId = sim->loadURDF("cube.urdf");
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//b3BodyInfo bodyInfo;
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@ -54,7 +54,7 @@ int main(int argc, char* argv[])
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sim->loadURDF("plane.urdf");
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MinitaurSetup minitaur;
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int minitaurUid = minitaur.setupMinitaur(sim, b3MakeVector3(0,0,.3));
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int minitaurUid = minitaur.setupMinitaur(sim, btVector3(0,0,.3));
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//b3RobotSimulatorLoadUrdfFileArgs args;
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@ -139,8 +139,8 @@ int main(int argc, char* argv[])
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static double yaw=0;
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double distance = 1;
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yaw+=0.1;
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b3Vector3 basePos;
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b3Quaternion baseOrn;
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btVector3 basePos;
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btQuaternion baseOrn;
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sim->getBasePositionAndOrientation(minitaurUid,basePos,baseOrn);
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sim->resetDebugVisualizerCamera(distance,-20, yaw,basePos);
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}
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@ -17,7 +17,7 @@
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#include "../SharedMemory/SharedMemoryPublic.h"
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#include "Bullet3Common/b3Logging.h"
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static void scalarToDouble3(b3Scalar a[3], double b[3])
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static void scalarToDouble3(btScalar a[3], double b[3])
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{
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for (int i = 0; i < 3; i++)
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{
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@ -25,7 +25,7 @@ static void scalarToDouble3(b3Scalar a[3], double b[3])
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}
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}
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static void scalarToDouble4(b3Scalar a[4], double b[4])
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static void scalarToDouble4(btScalar a[4], double b[4])
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{
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for (int i = 0; i < 4; i++)
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{
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@ -206,38 +206,38 @@ void b3RobotSimulatorClientAPI_NoGUI::stepSimulation()
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{
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statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, b3InitStepSimulationCommand(m_data->m_physicsClientHandle));
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statusType = b3GetStatusType(statusHandle);
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//b3Assert(statusType == CMD_STEP_FORWARD_SIMULATION_COMPLETED);
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//btAssert(statusType == CMD_STEP_FORWARD_SIMULATION_COMPLETED);
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}
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}
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void b3RobotSimulatorClientAPI_NoGUI::setGravity(const b3Vector3& gravityAcceleration)
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void b3RobotSimulatorClientAPI_NoGUI::setGravity(const btVector3& gravityAcceleration)
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{
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if (!isConnected())
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{
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b3Warning("Not connected");
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return;
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}
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b3Assert(b3CanSubmitCommand(m_data->m_physicsClientHandle));
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btAssert(b3CanSubmitCommand(m_data->m_physicsClientHandle));
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b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClientHandle);
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b3SharedMemoryStatusHandle statusHandle;
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b3PhysicsParamSetGravity(command, gravityAcceleration[0], gravityAcceleration[1], gravityAcceleration[2]);
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statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
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// b3Assert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
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// btAssert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
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}
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b3Quaternion b3RobotSimulatorClientAPI_NoGUI::getQuaternionFromEuler(const b3Vector3& rollPitchYaw)
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btQuaternion b3RobotSimulatorClientAPI_NoGUI::getQuaternionFromEuler(const btVector3& rollPitchYaw)
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{
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b3Quaternion q;
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btQuaternion q;
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q.setEulerZYX(rollPitchYaw[2],rollPitchYaw[1],rollPitchYaw[0]);
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return q;
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}
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b3Vector3 b3RobotSimulatorClientAPI_NoGUI::getEulerFromQuaternion(const b3Quaternion& quat)
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btVector3 b3RobotSimulatorClientAPI_NoGUI::getEulerFromQuaternion(const btQuaternion& quat)
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{
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b3Scalar roll,pitch,yaw;
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btScalar roll,pitch,yaw;
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quat.getEulerZYX(yaw,pitch,roll);
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b3Vector3 rpy2 = b3MakeVector3(roll,pitch,yaw);
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btVector3 rpy2 = btVector3(roll,pitch,yaw);
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return rpy2;
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}
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@ -271,7 +271,7 @@ int b3RobotSimulatorClientAPI_NoGUI::loadURDF(const std::string& fileName, const
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statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
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statusType = b3GetStatusType(statusHandle);
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b3Assert(statusType == CMD_URDF_LOADING_COMPLETED);
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btAssert(statusType == CMD_URDF_LOADING_COMPLETED);
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if (statusType == CMD_URDF_LOADING_COMPLETED)
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{
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robotUniqueId = b3GetStatusBodyIndex(statusHandle);
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@ -356,7 +356,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::loadSDF(const std::string& fileName, b3Rob
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b3LoadSdfCommandSetUseMultiBody(command, args.m_useMultiBody);
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statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
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statusType = b3GetStatusType(statusHandle);
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b3Assert(statusType == CMD_SDF_LOADING_COMPLETED);
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btAssert(statusType == CMD_SDF_LOADING_COMPLETED);
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if (statusType == CMD_SDF_LOADING_COMPLETED)
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{
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int numBodies = b3GetStatusBodyIndices(statusHandle, 0, 0);
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@ -384,7 +384,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getBodyInfo(int bodyUniqueId, struct b3Bod
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return (result != 0);
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}
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bool b3RobotSimulatorClientAPI_NoGUI::getBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation) const
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bool b3RobotSimulatorClientAPI_NoGUI::getBasePositionAndOrientation(int bodyUniqueId, btVector3& basePosition, btQuaternion& baseOrientation) const
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{
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if (!isConnected())
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{
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@ -422,7 +422,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getBasePositionAndOrientation(int bodyUniq
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return true;
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}
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bool b3RobotSimulatorClientAPI_NoGUI::resetBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation)
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bool b3RobotSimulatorClientAPI_NoGUI::resetBasePositionAndOrientation(int bodyUniqueId, btVector3& basePosition, btQuaternion& baseOrientation)
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{
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if (!isConnected())
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{
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@ -444,7 +444,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::resetBasePositionAndOrientation(int bodyUn
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return true;
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}
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bool b3RobotSimulatorClientAPI_NoGUI::getBaseVelocity(int bodyUniqueId, b3Vector3& baseLinearVelocity, b3Vector3& baseAngularVelocity) const
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bool b3RobotSimulatorClientAPI_NoGUI::getBaseVelocity(int bodyUniqueId, btVector3& baseLinearVelocity, btVector3& baseAngularVelocity) const
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{
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if (!isConnected())
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{
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@ -478,7 +478,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getBaseVelocity(int bodyUniqueId, b3Vector
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return true;
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}
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bool b3RobotSimulatorClientAPI_NoGUI::resetBaseVelocity(int bodyUniqueId, const b3Vector3& linearVelocity, const b3Vector3& angularVelocity) const
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bool b3RobotSimulatorClientAPI_NoGUI::resetBaseVelocity(int bodyUniqueId, const btVector3& linearVelocity, const btVector3& angularVelocity) const
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{
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if (!isConnected())
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{
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@ -491,11 +491,11 @@ bool b3RobotSimulatorClientAPI_NoGUI::resetBaseVelocity(int bodyUniqueId, const
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commandHandle = b3CreatePoseCommandInit(m_data->m_physicsClientHandle, bodyUniqueId);
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b3Vector3DoubleData linVelDouble;
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btVector3DoubleData linVelDouble;
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linearVelocity.serializeDouble(linVelDouble);
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b3CreatePoseCommandSetBaseLinearVelocity(commandHandle, linVelDouble.m_floats);
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b3Vector3DoubleData angVelDouble;
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btVector3DoubleData angVelDouble;
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angularVelocity.serializeDouble(angVelDouble);
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b3CreatePoseCommandSetBaseAngularVelocity(commandHandle, angVelDouble.m_floats);
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@ -534,7 +534,7 @@ void b3RobotSimulatorClientAPI_NoGUI::setRealTimeSimulation(bool enableRealTimeS
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statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
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b3Assert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
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btAssert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
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}
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int b3RobotSimulatorClientAPI_NoGUI::getNumJoints(int bodyUniqueId) const
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@ -565,7 +565,7 @@ int b3RobotSimulatorClientAPI_NoGUI::createConstraint(int parentBodyIndex, int p
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return -1;
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}
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b3SharedMemoryStatusHandle statusHandle;
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b3Assert(b3CanSubmitCommand(m_data->m_physicsClientHandle));
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btAssert(b3CanSubmitCommand(m_data->m_physicsClientHandle));
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if (b3CanSubmitCommand(m_data->m_physicsClientHandle))
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{
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statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, b3InitCreateUserConstraintCommand(m_data->m_physicsClientHandle, parentBodyIndex, parentJointIndex, childBodyIndex, childJointIndex, jointInfo));
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@ -792,7 +792,7 @@ void b3RobotSimulatorClientAPI_NoGUI::setNumSolverIterations(int numIterations)
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b3SharedMemoryStatusHandle statusHandle;
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b3PhysicsParamSetNumSolverIterations(command, numIterations);
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statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
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b3Assert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
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btAssert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
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}
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void b3RobotSimulatorClientAPI_NoGUI::setContactBreakingThreshold(double threshold)
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@ -806,7 +806,7 @@ void b3RobotSimulatorClientAPI_NoGUI::setContactBreakingThreshold(double thresho
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b3SharedMemoryStatusHandle statusHandle;
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b3PhysicsParamSetContactBreakingThreshold(command,threshold);
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statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
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b3Assert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
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btAssert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
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}
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@ -836,7 +836,7 @@ void b3RobotSimulatorClientAPI_NoGUI::setNumSimulationSubSteps(int numSubSteps)
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b3SharedMemoryStatusHandle statusHandle;
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b3PhysicsParamSetNumSubSteps(command, numSubSteps);
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statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
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b3Assert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
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btAssert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
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}
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bool b3RobotSimulatorClientAPI_NoGUI::calculateInverseKinematics(const struct b3RobotSimulatorInverseKinematicArgs& args, struct b3RobotSimulatorInverseKinematicsResults& results)
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@ -846,8 +846,8 @@ bool b3RobotSimulatorClientAPI_NoGUI::calculateInverseKinematics(const struct b3
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b3Warning("Not connected");
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return false;
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}
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b3Assert(args.m_endEffectorLinkIndex >= 0);
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b3Assert(args.m_bodyUniqueId >= 0);
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btAssert(args.m_endEffectorLinkIndex >= 0);
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btAssert(args.m_bodyUniqueId >= 0);
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b3SharedMemoryCommandHandle command = b3CalculateInverseKinematicsCommandInit(m_data->m_physicsClientHandle, args.m_bodyUniqueId);
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if ((args.m_flags & B3_HAS_IK_TARGET_ORIENTATION) && (args.m_flags & B3_HAS_NULL_SPACE_VELOCITY))
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@ -989,7 +989,7 @@ void b3RobotSimulatorClientAPI_NoGUI::getKeyboardEvents(b3KeyboardEventsData* ke
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b3GetKeyboardEventsData(m_data->m_physicsClientHandle, keyboardEventsData);
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}
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int b3RobotSimulatorClientAPI_NoGUI::startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const b3AlignedObjectArray<int>& objectUniqueIds, int maxLogDof)
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int b3RobotSimulatorClientAPI_NoGUI::startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const btAlignedObjectArray<int>& objectUniqueIds, int maxLogDof)
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{
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if (!isConnected())
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{
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@ -1039,7 +1039,7 @@ void b3RobotSimulatorClientAPI_NoGUI::stopStateLogging(int stateLoggerUniqueId)
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statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
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}
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void b3RobotSimulatorClientAPI_NoGUI::resetDebugVisualizerCamera(double cameraDistance, double cameraPitch, double cameraYaw, const b3Vector3& targetPos)
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void b3RobotSimulatorClientAPI_NoGUI::resetDebugVisualizerCamera(double cameraDistance, double cameraPitch, double cameraYaw, const btVector3& targetPos)
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{
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if (!isConnected())
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{
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@ -1052,7 +1052,7 @@ void b3RobotSimulatorClientAPI_NoGUI::resetDebugVisualizerCamera(double cameraDi
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{
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if ((cameraDistance >= 0))
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{
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b3Vector3FloatData camTargetPos;
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btVector3FloatData camTargetPos;
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targetPos.serializeFloat(camTargetPos);
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b3ConfigureOpenGLVisualizerSetViewMatrix(commandHandle, cameraDistance, cameraPitch, cameraYaw, camTargetPos.m_floats);
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}
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@ -1428,12 +1428,12 @@ int b3RobotSimulatorClientAPI_NoGUI::addUserDebugText(char *text, double *posXYZ
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return -1;
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}
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|
||||
int b3RobotSimulatorClientAPI_NoGUI::addUserDebugText(char *text, b3Vector3 &posXYZ, struct b3RobotSimulatorAddUserDebugTextArgs & args)
|
||||
int b3RobotSimulatorClientAPI_NoGUI::addUserDebugText(char *text, btVector3 &posXYZ, struct b3RobotSimulatorAddUserDebugTextArgs & args)
|
||||
{
|
||||
double dposXYZ[3];
|
||||
dposXYZ[0] = posXYZ.x;
|
||||
dposXYZ[1] = posXYZ.y;
|
||||
dposXYZ[2] = posXYZ.z;
|
||||
dposXYZ[0] = posXYZ.x();
|
||||
dposXYZ[1] = posXYZ.y();
|
||||
dposXYZ[2] = posXYZ.z();
|
||||
|
||||
return addUserDebugText(text, &dposXYZ[0], args);
|
||||
}
|
||||
@ -1466,17 +1466,17 @@ int b3RobotSimulatorClientAPI_NoGUI::addUserDebugLine(double *fromXYZ, double *t
|
||||
return -1;
|
||||
}
|
||||
|
||||
int b3RobotSimulatorClientAPI_NoGUI::addUserDebugLine(b3Vector3 &fromXYZ, b3Vector3 &toXYZ, struct b3RobotSimulatorAddUserDebugLineArgs & args)
|
||||
int b3RobotSimulatorClientAPI_NoGUI::addUserDebugLine(btVector3 &fromXYZ, btVector3 &toXYZ, struct b3RobotSimulatorAddUserDebugLineArgs & args)
|
||||
{
|
||||
double dfromXYZ[3];
|
||||
double dtoXYZ[3];
|
||||
dfromXYZ[0] = fromXYZ.x;
|
||||
dfromXYZ[1] = fromXYZ.y;
|
||||
dfromXYZ[2] = fromXYZ.z;
|
||||
dfromXYZ[0] = fromXYZ.x();
|
||||
dfromXYZ[1] = fromXYZ.y();
|
||||
dfromXYZ[2] = fromXYZ.z();
|
||||
|
||||
dtoXYZ[0] = toXYZ.x;
|
||||
dtoXYZ[1] = toXYZ.y;
|
||||
dtoXYZ[2] = toXYZ.z;
|
||||
dtoXYZ[0] = toXYZ.x();
|
||||
dtoXYZ[1] = toXYZ.y();
|
||||
dtoXYZ[2] = toXYZ.z();
|
||||
return addUserDebugLine(&dfromXYZ[0], &dtoXYZ[0], args);
|
||||
}
|
||||
|
||||
@ -1647,18 +1647,18 @@ bool b3RobotSimulatorClientAPI_NoGUI::applyExternalForce(int objectUniqueId, int
|
||||
return true;
|
||||
}
|
||||
|
||||
bool b3RobotSimulatorClientAPI_NoGUI::applyExternalForce(int objectUniqueId, int linkIndex, b3Vector3 &force, b3Vector3 &position, int flags)
|
||||
bool b3RobotSimulatorClientAPI_NoGUI::applyExternalForce(int objectUniqueId, int linkIndex, btVector3 &force, btVector3 &position, int flags)
|
||||
{
|
||||
double dforce[3];
|
||||
double dposition[3];
|
||||
|
||||
dforce[0] = force.x;
|
||||
dforce[1] = force.y;
|
||||
dforce[2] = force.z;
|
||||
dforce[0] = force.x();
|
||||
dforce[1] = force.y();
|
||||
dforce[2] = force.z();
|
||||
|
||||
dposition[0] = position.x;
|
||||
dposition[1] = position.y;
|
||||
dposition[2] = position.z;
|
||||
dposition[0] = position.x();
|
||||
dposition[1] = position.y();
|
||||
dposition[2] = position.z();
|
||||
|
||||
return applyExternalForce(objectUniqueId, linkIndex, &dforce[0], &dposition[0], flags);
|
||||
}
|
||||
@ -1680,13 +1680,13 @@ bool b3RobotSimulatorClientAPI_NoGUI::applyExternalTorque(int objectUniqueId, in
|
||||
return true;
|
||||
}
|
||||
|
||||
bool b3RobotSimulatorClientAPI_NoGUI::applyExternalTorque(int objectUniqueId, int linkIndex, b3Vector3 &torque, int flags)
|
||||
bool b3RobotSimulatorClientAPI_NoGUI::applyExternalTorque(int objectUniqueId, int linkIndex, btVector3 &torque, int flags)
|
||||
{
|
||||
double dtorque[3];
|
||||
|
||||
dtorque[0] = torque.x;
|
||||
dtorque[1] = torque.y;
|
||||
dtorque[2] = torque.z;
|
||||
dtorque[0] = torque.x();
|
||||
dtorque[1] = torque.y();
|
||||
dtorque[2] = torque.z();
|
||||
|
||||
return applyExternalTorque(objectUniqueId, linkIndex, &dtorque[0], flags);
|
||||
}
|
||||
@ -1829,18 +1829,18 @@ bool b3RobotSimulatorClientAPI_NoGUI::getOverlappingObjects(double *aabbMin, dou
|
||||
}
|
||||
|
||||
|
||||
bool b3RobotSimulatorClientAPI_NoGUI::getOverlappingObjects(b3Vector3 &aabbMin, b3Vector3 &aabbMax, struct b3AABBOverlapData *overlapData)
|
||||
bool b3RobotSimulatorClientAPI_NoGUI::getOverlappingObjects(btVector3 &aabbMin, btVector3 &aabbMax, struct b3AABBOverlapData *overlapData)
|
||||
{
|
||||
double daabbMin[3];
|
||||
double daabbMax[3];
|
||||
|
||||
daabbMin[0] = aabbMin.x;
|
||||
daabbMin[1] = aabbMin.y;
|
||||
daabbMin[2] = aabbMin.z;
|
||||
daabbMin[0] = aabbMin.x();
|
||||
daabbMin[1] = aabbMin.y();
|
||||
daabbMin[2] = aabbMin.z();
|
||||
|
||||
daabbMax[0] = aabbMax.x;
|
||||
daabbMax[1] = aabbMax.y;
|
||||
daabbMax[2] = aabbMax.z;
|
||||
daabbMax[0] = aabbMax.x();
|
||||
daabbMax[1] = aabbMax.y();
|
||||
daabbMax[2] = aabbMax.z();
|
||||
|
||||
return getOverlappingObjects(&daabbMin[0], &daabbMax[0], overlapData);
|
||||
}
|
||||
@ -1886,20 +1886,20 @@ bool b3RobotSimulatorClientAPI_NoGUI::getAABB(int bodyUniqueId, int linkIndex, d
|
||||
return false;
|
||||
}
|
||||
|
||||
bool b3RobotSimulatorClientAPI_NoGUI::getAABB(int bodyUniqueId, int linkIndex, b3Vector3 &aabbMin, b3Vector3 &aabbMax)
|
||||
bool b3RobotSimulatorClientAPI_NoGUI::getAABB(int bodyUniqueId, int linkIndex, btVector3 &aabbMin, btVector3 &aabbMax)
|
||||
{
|
||||
double daabbMin[3];
|
||||
double daabbMax[3];
|
||||
|
||||
bool status = getAABB(bodyUniqueId, linkIndex, &daabbMin[0], &daabbMax[0]);
|
||||
|
||||
aabbMin.x = (float)daabbMin[0];
|
||||
aabbMin.y = (float)daabbMin[1];
|
||||
aabbMin.z = (float)daabbMin[2];
|
||||
aabbMin[0] = (float)daabbMin[0];
|
||||
aabbMin[1] = (float)daabbMin[1];
|
||||
aabbMin[2] = (float)daabbMin[2];
|
||||
|
||||
aabbMax.x = (float)daabbMax[0];
|
||||
aabbMax.y = (float)daabbMax[1];
|
||||
aabbMax.z = (float)daabbMax[2];
|
||||
aabbMax[0] = (float)daabbMax[0];
|
||||
aabbMax[1] = (float)daabbMax[1];
|
||||
aabbMax[2] = (float)daabbMax[2];
|
||||
|
||||
return status;
|
||||
}
|
||||
@ -1975,8 +1975,8 @@ int b3RobotSimulatorClientAPI_NoGUI::createMultiBody(struct b3RobotSimulatorCrea
|
||||
|
||||
double doubleBaseOrientation[4];
|
||||
double doubleBaseInertialFrameOrientation[4];
|
||||
scalarToDouble4(args.m_baseOrientation.m_floats, doubleBaseOrientation);
|
||||
scalarToDouble4(args.m_baseInertialFrameOrientation.m_floats, doubleBaseInertialFrameOrientation);
|
||||
scalarToDouble4(args.m_baseOrientation, doubleBaseOrientation);
|
||||
scalarToDouble4(args.m_baseInertialFrameOrientation, doubleBaseInertialFrameOrientation);
|
||||
|
||||
command = b3CreateMultiBodyCommandInit(sm);
|
||||
|
||||
@ -1987,13 +1987,13 @@ int b3RobotSimulatorClientAPI_NoGUI::createMultiBody(struct b3RobotSimulatorCrea
|
||||
double linkMass = args.m_linkMasses[i];
|
||||
int linkCollisionShapeIndex = args.m_linkCollisionShapeIndices[i];
|
||||
int linkVisualShapeIndex = args.m_linkVisualShapeIndices[i];
|
||||
b3Vector3 linkPosition = args.m_linkPositions[i];
|
||||
b3Quaternion linkOrientation = args.m_linkOrientations[i];
|
||||
b3Vector3 linkInertialFramePosition = args.m_linkInertialFramePositions[i];
|
||||
b3Quaternion linkInertialFrameOrientation = args.m_linkInertialFrameOrientations[i];
|
||||
btVector3 linkPosition = args.m_linkPositions[i];
|
||||
btQuaternion linkOrientation = args.m_linkOrientations[i];
|
||||
btVector3 linkInertialFramePosition = args.m_linkInertialFramePositions[i];
|
||||
btQuaternion linkInertialFrameOrientation = args.m_linkInertialFrameOrientations[i];
|
||||
int linkParentIndex = args.m_linkParentIndices[i];
|
||||
int linkJointType = args.m_linkJointTypes[i];
|
||||
b3Vector3 linkJointAxis = args.m_linkJointAxes[i];
|
||||
btVector3 linkJointAxis = args.m_linkJointAxes[i];
|
||||
|
||||
double doubleLinkPosition[3];
|
||||
double doubleLinkInertialFramePosition[3];
|
||||
@ -2004,8 +2004,8 @@ int b3RobotSimulatorClientAPI_NoGUI::createMultiBody(struct b3RobotSimulatorCrea
|
||||
|
||||
double doubleLinkOrientation[4];
|
||||
double doubleLinkInertialFrameOrientation[4];
|
||||
scalarToDouble4(linkOrientation.m_floats, doubleLinkOrientation);
|
||||
scalarToDouble4(linkInertialFrameOrientation.m_floats, doubleLinkInertialFrameOrientation);
|
||||
scalarToDouble4(linkOrientation, doubleLinkOrientation);
|
||||
scalarToDouble4(linkInertialFrameOrientation, doubleLinkInertialFrameOrientation);
|
||||
|
||||
b3CreateMultiBodyLink(command,
|
||||
linkMass,
|
||||
|
||||
@ -2,22 +2,22 @@
|
||||
#define B3_ROBOT_SIMULATOR_CLIENT_API_H
|
||||
|
||||
#include "SharedMemoryPublic.h"
|
||||
#include "Bullet3Common/b3Vector3.h"
|
||||
#include "Bullet3Common/b3Quaternion.h"
|
||||
#include "Bullet3Common/b3Transform.h"
|
||||
#include "Bullet3Common/b3AlignedObjectArray.h"
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "LinearMath/btQuaternion.h"
|
||||
#include "LinearMath/btTransform.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
#include <string>
|
||||
|
||||
struct b3RobotSimulatorLoadUrdfFileArgs
|
||||
{
|
||||
b3Vector3 m_startPosition;
|
||||
b3Quaternion m_startOrientation;
|
||||
btVector3 m_startPosition;
|
||||
btQuaternion m_startOrientation;
|
||||
bool m_forceOverrideFixedBase;
|
||||
bool m_useMultiBody;
|
||||
int m_flags;
|
||||
|
||||
b3RobotSimulatorLoadUrdfFileArgs(const b3Vector3& startPos, const b3Quaternion& startOrn)
|
||||
b3RobotSimulatorLoadUrdfFileArgs(const btVector3& startPos, const btQuaternion& startOrn)
|
||||
: m_startPosition(startPos),
|
||||
m_startOrientation(startOrn),
|
||||
m_forceOverrideFixedBase(false),
|
||||
@ -27,8 +27,8 @@ struct b3RobotSimulatorLoadUrdfFileArgs
|
||||
}
|
||||
|
||||
b3RobotSimulatorLoadUrdfFileArgs()
|
||||
: m_startPosition(b3MakeVector3(0, 0, 0)),
|
||||
m_startOrientation(b3Quaternion(0, 0, 0, 1)),
|
||||
: m_startPosition(btVector3(0, 0, 0)),
|
||||
m_startOrientation(btQuaternion(0, 0, 0, 1)),
|
||||
m_forceOverrideFixedBase(false),
|
||||
m_useMultiBody(true),
|
||||
m_flags(0)
|
||||
@ -50,7 +50,7 @@ struct b3RobotSimulatorLoadSdfFileArgs
|
||||
|
||||
struct b3RobotSimulatorLoadFileResults
|
||||
{
|
||||
b3AlignedObjectArray<int> m_uniqueObjectIds;
|
||||
btAlignedObjectArray<int> m_uniqueObjectIds;
|
||||
b3RobotSimulatorLoadFileResults()
|
||||
{
|
||||
}
|
||||
@ -96,11 +96,11 @@ struct b3RobotSimulatorInverseKinematicArgs
|
||||
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;
|
||||
btAlignedObjectArray<double> m_lowerLimits;
|
||||
btAlignedObjectArray<double> m_upperLimits;
|
||||
btAlignedObjectArray<double> m_jointRanges;
|
||||
btAlignedObjectArray<double> m_restPoses;
|
||||
btAlignedObjectArray<double> m_jointDamping;
|
||||
|
||||
b3RobotSimulatorInverseKinematicArgs()
|
||||
: m_bodyUniqueId(-1),
|
||||
@ -121,7 +121,7 @@ struct b3RobotSimulatorInverseKinematicArgs
|
||||
struct b3RobotSimulatorInverseKinematicsResults
|
||||
{
|
||||
int m_bodyUniqueId;
|
||||
b3AlignedObjectArray<double> m_calculatedJointPositions;
|
||||
btAlignedObjectArray<double> m_calculatedJointPositions;
|
||||
};
|
||||
|
||||
struct b3JointStates2
|
||||
@ -129,10 +129,10 @@ 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;
|
||||
btTransform m_rootLocalInertialFrame;
|
||||
btAlignedObjectArray<double> m_actualStateQ;
|
||||
btAlignedObjectArray<double> m_actualStateQdot;
|
||||
btAlignedObjectArray<double> m_jointReactionForces;
|
||||
};
|
||||
|
||||
|
||||
@ -322,11 +322,11 @@ struct b3RobotSimulatorCreateCollisionShapeArgs
|
||||
{
|
||||
int m_shapeType;
|
||||
double m_radius;
|
||||
b3Vector3 m_halfExtents;
|
||||
btVector3 m_halfExtents;
|
||||
double m_height;
|
||||
char* m_fileName;
|
||||
b3Vector3 m_meshScale;
|
||||
b3Vector3 m_planeNormal;
|
||||
btVector3 m_meshScale;
|
||||
btVector3 m_planeNormal;
|
||||
int m_flags;
|
||||
b3RobotSimulatorCreateCollisionShapeArgs()
|
||||
: m_shapeType(-1),
|
||||
@ -355,22 +355,22 @@ struct b3RobotSimulatorCreateMultiBodyArgs
|
||||
double m_baseMass;
|
||||
int m_baseCollisionShapeIndex;
|
||||
int m_baseVisualShapeIndex;
|
||||
b3Vector3 m_basePosition;
|
||||
b3Quaternion m_baseOrientation;
|
||||
b3Vector3 m_baseInertialFramePosition;
|
||||
b3Quaternion m_baseInertialFrameOrientation;
|
||||
btVector3 m_basePosition;
|
||||
btQuaternion m_baseOrientation;
|
||||
btVector3 m_baseInertialFramePosition;
|
||||
btQuaternion 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;
|
||||
btVector3 *m_linkPositions;
|
||||
btQuaternion *m_linkOrientations;
|
||||
btVector3 *m_linkInertialFramePositions;
|
||||
btQuaternion *m_linkInertialFrameOrientations;
|
||||
int *m_linkParentIndices;
|
||||
int *m_linkJointTypes;
|
||||
b3Vector3 *m_linkJointAxes;
|
||||
btVector3 *m_linkJointAxes;
|
||||
|
||||
int m_useMaximalCoordinates;
|
||||
|
||||
@ -422,8 +422,8 @@ public:
|
||||
|
||||
void resetSimulation();
|
||||
|
||||
b3Quaternion getQuaternionFromEuler(const b3Vector3& rollPitchYaw);
|
||||
b3Vector3 getEulerFromQuaternion(const b3Quaternion& quat);
|
||||
btQuaternion getQuaternionFromEuler(const btVector3& rollPitchYaw);
|
||||
btVector3 getEulerFromQuaternion(const btQuaternion& 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());
|
||||
@ -432,11 +432,11 @@ public:
|
||||
|
||||
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 getBasePositionAndOrientation(int bodyUniqueId, btVector3& basePosition, btQuaternion& baseOrientation) const;
|
||||
bool resetBasePositionAndOrientation(int bodyUniqueId, btVector3& basePosition, btQuaternion& baseOrientation);
|
||||
|
||||
bool getBaseVelocity(int bodyUniqueId, b3Vector3& baseLinearVelocity, b3Vector3& baseAngularVelocity) const;
|
||||
bool resetBaseVelocity(int bodyUniqueId, const b3Vector3& linearVelocity, const b3Vector3& angularVelocity) const;
|
||||
bool getBaseVelocity(int bodyUniqueId, btVector3& baseLinearVelocity, btVector3& baseAngularVelocity) const;
|
||||
bool resetBaseVelocity(int bodyUniqueId, const btVector3& linearVelocity, const btVector3& angularVelocity) const;
|
||||
|
||||
int getNumJoints(int bodyUniqueId) const;
|
||||
|
||||
@ -468,7 +468,7 @@ public:
|
||||
|
||||
void setInternalSimFlags(int flags);
|
||||
|
||||
void setGravity(const b3Vector3& gravityAcceleration);
|
||||
void setGravity(const btVector3& gravityAcceleration);
|
||||
|
||||
void setTimeStep(double timeStepInSeconds);
|
||||
void setNumSimulationSubSteps(int numSubSteps);
|
||||
@ -482,9 +482,9 @@ public:
|
||||
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);
|
||||
void resetDebugVisualizerCamera(double cameraDistance, double cameraPitch, double cameraYaw, const btVector3& targetPos);
|
||||
|
||||
int startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const b3AlignedObjectArray<int>& objectUniqueIds=b3AlignedObjectArray<int>(), int maxLogDof = -1);
|
||||
int startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const btAlignedObjectArray<int>& objectUniqueIds=btAlignedObjectArray<int>(), int maxLogDof = -1);
|
||||
void stopStateLogging(int stateLoggerUniqueId);
|
||||
|
||||
void getVREvents(b3VREventsData* vrEventsData, int deviceTypeFilter);
|
||||
@ -520,11 +520,11 @@ public:
|
||||
|
||||
int addUserDebugText(char *text, double *textPosition, struct b3RobotSimulatorAddUserDebugTextArgs &args);
|
||||
|
||||
int addUserDebugText(char *text, b3Vector3 &textPosition, struct b3RobotSimulatorAddUserDebugTextArgs &args);
|
||||
int addUserDebugText(char *text, btVector3 &textPosition, struct b3RobotSimulatorAddUserDebugTextArgs &args);
|
||||
|
||||
int addUserDebugLine(double *fromXYZ, double *toXYZ, struct b3RobotSimulatorAddUserDebugLineArgs &args);
|
||||
|
||||
int addUserDebugLine(b3Vector3 &fromXYZ, b3Vector3 &toXYZ, struct b3RobotSimulatorAddUserDebugLineArgs &args);
|
||||
int addUserDebugLine(btVector3 &fromXYZ, btVector3 &toXYZ, struct b3RobotSimulatorAddUserDebugLineArgs &args);
|
||||
|
||||
bool setJointMotorControlArray(int bodyUniqueId, struct b3RobotSimulatorJointMotorArrayArgs &args);
|
||||
|
||||
@ -532,11 +532,11 @@ public:
|
||||
|
||||
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 applyExternalForce(int objectUniqueId, int linkIndex, btVector3 &force, btVector3 &position, int flags);
|
||||
|
||||
bool applyExternalTorque(int objectUniqueId, int linkIndex, double *torque, int flags);
|
||||
|
||||
bool applyExternalTorque(int objectUniqueId, int linkIndex, b3Vector3 &torque, int flags);
|
||||
bool applyExternalTorque(int objectUniqueId, int linkIndex, btVector3 &torque, int flags);
|
||||
|
||||
bool enableJointForceTorqueSensor(int bodyUniqueId, int linkIndex, bool enable);
|
||||
|
||||
@ -548,11 +548,11 @@ public:
|
||||
|
||||
bool getOverlappingObjects(double *aabbMin, double *aabbMax, struct b3AABBOverlapData *overlapData);
|
||||
|
||||
bool getOverlappingObjects(b3Vector3 &aabbMin, b3Vector3 &aabbMax, struct b3AABBOverlapData *overlapData);
|
||||
bool getOverlappingObjects(btVector3 &aabbMin, btVector3 &aabbMax, struct b3AABBOverlapData *overlapData);
|
||||
|
||||
bool getAABB(int bodyUniqueId, int linkIndex, double *aabbMin, double *aabbMax);
|
||||
|
||||
bool getAABB(int bodyUniqueId, int linkIndex, b3Vector3 &aabbMin, b3Vector3 &aabbMax);
|
||||
bool getAABB(int bodyUniqueId, int linkIndex, btVector3 &aabbMin, btVector3 &aabbMax);
|
||||
|
||||
int createCollisionShape(int shapeType, struct b3RobotSimulatorCreateCollisionShapeArgs &args);
|
||||
|
||||
|
||||
@ -140,7 +140,7 @@ public:
|
||||
{
|
||||
m_robotSim.loadURDF("plane.urdf");
|
||||
}
|
||||
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
|
||||
m_robotSim.setGravity(btVector3(0,0,-10));
|
||||
m_robotSim.setNumSimulationSubSteps(4);
|
||||
}
|
||||
|
||||
@ -181,7 +181,7 @@ public:
|
||||
m_robotSim.loadURDF("plane.urdf");
|
||||
|
||||
}
|
||||
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
|
||||
m_robotSim.setGravity(btVector3(0,0,-10));
|
||||
m_robotSim.setNumSimulationSubSteps(4);
|
||||
}
|
||||
|
||||
@ -241,7 +241,7 @@ public:
|
||||
{
|
||||
m_robotSim.loadURDF("plane.urdf");
|
||||
}
|
||||
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
|
||||
m_robotSim.setGravity(btVector3(0,0,-10));
|
||||
|
||||
b3JointInfo revoluteJoint1;
|
||||
revoluteJoint1.m_parentFrame[0] = -0.055;
|
||||
@ -335,7 +335,7 @@ public:
|
||||
m_robotSim.loadURDF("plane.urdf", args);
|
||||
|
||||
}
|
||||
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
|
||||
m_robotSim.setGravity(btVector3(0,0,-10));
|
||||
m_robotSim.loadSoftBody("bunny.obj",0.1,0.1,0.02);
|
||||
|
||||
b3JointInfo revoluteJoint1;
|
||||
@ -411,7 +411,7 @@ public:
|
||||
args.m_useMultiBody = false;
|
||||
m_robotSim.loadURDF("plane.urdf", args);
|
||||
}
|
||||
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
|
||||
m_robotSim.setGravity(btVector3(0,0,-10));
|
||||
m_robotSim.loadSoftBody("bunny.obj",0.3,10.0,0.1);
|
||||
}
|
||||
}
|
||||
|
||||
@ -111,7 +111,7 @@ public:
|
||||
|
||||
{
|
||||
m_robotSim.loadURDF("plane.urdf");
|
||||
m_robotSim.setGravity(b3MakeVector3(0,0,0));
|
||||
m_robotSim.setGravity(btVector3(0,0,0));
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@ -94,7 +94,7 @@ public:
|
||||
m_robotSim.loadURDF("plane.urdf");
|
||||
}
|
||||
|
||||
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
|
||||
m_robotSim.setGravity(btVector3(0,0,-10));
|
||||
|
||||
}
|
||||
|
||||
@ -119,7 +119,7 @@ public:
|
||||
m_robotSim.loadURDF("plane.urdf",args);
|
||||
}
|
||||
|
||||
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
|
||||
m_robotSim.setGravity(btVector3(0,0,-10));
|
||||
}
|
||||
|
||||
if ((m_options & eROBOTIC_LEARN_ROLLING_FRICTION)!=0)
|
||||
@ -146,7 +146,7 @@ public:
|
||||
m_robotSim.loadURDF("plane.urdf", args);
|
||||
}
|
||||
|
||||
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
|
||||
m_robotSim.setGravity(btVector3(0,0,-10));
|
||||
}
|
||||
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user