#ifndef SHARED_MEMORY_PUBLIC_H #define SHARED_MEMORY_PUBLIC_H #define SHARED_MEMORY_KEY 12347 ///increase the SHARED_MEMORY_MAGIC_NUMBER whenever incompatible changes are made in the structures ///my convention is year/month/day/rev //Please don't replace an existing magic number: //instead, only ADD a new one at the top, comment-out previous one #define SHARED_MEMORY_MAGIC_NUMBER 2018090300 //#define SHARED_MEMORY_MAGIC_NUMBER 201809010 //#define SHARED_MEMORY_MAGIC_NUMBER 201807040 //#define SHARED_MEMORY_MAGIC_NUMBER 201806150 //#define SHARED_MEMORY_MAGIC_NUMBER 201806020 //#define SHARED_MEMORY_MAGIC_NUMBER 201801170 //#define SHARED_MEMORY_MAGIC_NUMBER 201801080 //#define SHARED_MEMORY_MAGIC_NUMBER 201801010 //#define SHARED_MEMORY_MAGIC_NUMBER 201710180 //#define SHARED_MEMORY_MAGIC_NUMBER 201710050 //#define SHARED_MEMORY_MAGIC_NUMBER 201708270 //#define SHARED_MEMORY_MAGIC_NUMBER 201707140 //#define SHARED_MEMORY_MAGIC_NUMBER 201706015 //#define SHARED_MEMORY_MAGIC_NUMBER 201706001 //#define SHARED_MEMORY_MAGIC_NUMBER 201703024 enum EnumSharedMemoryClientCommand { CMD_INVALID = 0, CMD_LOAD_SDF, CMD_LOAD_URDF, CMD_LOAD_BULLET, CMD_SAVE_BULLET, CMD_LOAD_MJCF, CMD_LOAD_SOFT_BODY, CMD_SEND_BULLET_DATA_STREAM, CMD_CREATE_BOX_COLLISION_SHAPE, CMD_CREATE_RIGID_BODY, CMD_DELETE_RIGID_BODY, CMD_CREATE_SENSOR, ///enable or disable joint feedback for force/torque sensors CMD_INIT_POSE, CMD_SEND_PHYSICS_SIMULATION_PARAMETERS, CMD_SEND_DESIRED_STATE, //todo: reconsider naming, for example SET_JOINT_CONTROL_VARIABLE? CMD_REQUEST_ACTUAL_STATE, CMD_REQUEST_DEBUG_LINES, CMD_REQUEST_BODY_INFO, CMD_REQUEST_INTERNAL_DATA, CMD_STEP_FORWARD_SIMULATION, CMD_RESET_SIMULATION, CMD_PICK_BODY, CMD_MOVE_PICKED_BODY, CMD_REMOVE_PICKING_CONSTRAINT_BODY, CMD_REQUEST_CAMERA_IMAGE_DATA, CMD_APPLY_EXTERNAL_FORCE, CMD_CALCULATE_INVERSE_DYNAMICS, CMD_CALCULATE_INVERSE_KINEMATICS, CMD_CALCULATE_JACOBIAN, CMD_CALCULATE_MASS_MATRIX, CMD_USER_CONSTRAINT, CMD_REQUEST_CONTACT_POINT_INFORMATION, CMD_REQUEST_RAY_CAST_INTERSECTIONS, CMD_REQUEST_AABB_OVERLAP, CMD_SAVE_WORLD, CMD_REQUEST_VISUAL_SHAPE_INFO, CMD_UPDATE_VISUAL_SHAPE, CMD_LOAD_TEXTURE, CMD_SET_SHADOW, CMD_USER_DEBUG_DRAW, CMD_REQUEST_VR_EVENTS_DATA, CMD_SET_VR_CAMERA_STATE, CMD_SYNC_BODY_INFO, CMD_STATE_LOGGING, CMD_CONFIGURE_OPENGL_VISUALIZER, CMD_REQUEST_KEYBOARD_EVENTS_DATA, CMD_REQUEST_OPENGL_VISUALIZER_CAMERA, CMD_REMOVE_BODY, CMD_CHANGE_DYNAMICS_INFO, CMD_GET_DYNAMICS_INFO, CMD_PROFILE_TIMING, CMD_CREATE_COLLISION_SHAPE, CMD_CREATE_VISUAL_SHAPE, CMD_CREATE_MULTI_BODY, CMD_REQUEST_COLLISION_INFO, CMD_REQUEST_MOUSE_EVENTS_DATA, CMD_CHANGE_TEXTURE, CMD_SET_ADDITIONAL_SEARCH_PATH, CMD_CUSTOM_COMMAND, CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS, CMD_SAVE_STATE, CMD_RESTORE_STATE, CMD_REQUEST_COLLISION_SHAPE_INFO, CMD_SYNC_USER_DATA, CMD_REQUEST_USER_DATA, CMD_ADD_USER_DATA, CMD_REMOVE_USER_DATA, CMD_COLLISION_FILTER, //don't go beyond this command! CMD_MAX_CLIENT_COMMANDS, }; enum EnumSharedMemoryServerStatus { CMD_SHARED_MEMORY_NOT_INITIALIZED = 0, CMD_WAITING_FOR_CLIENT_COMMAND, //CMD_CLIENT_COMMAND_COMPLETED is a generic 'completed' status that doesn't need special handling on the client CMD_CLIENT_COMMAND_COMPLETED, //the server will skip unknown command and report a status 'CMD_UNKNOWN_COMMAND_FLUSHED' CMD_UNKNOWN_COMMAND_FLUSHED, CMD_SDF_LOADING_COMPLETED, CMD_SDF_LOADING_FAILED, CMD_URDF_LOADING_COMPLETED, CMD_URDF_LOADING_FAILED, CMD_BULLET_LOADING_COMPLETED, CMD_BULLET_LOADING_FAILED, CMD_BULLET_SAVING_COMPLETED, CMD_BULLET_SAVING_FAILED, CMD_MJCF_LOADING_COMPLETED, CMD_MJCF_LOADING_FAILED, CMD_REQUEST_INTERNAL_DATA_COMPLETED, CMD_REQUEST_INTERNAL_DATA_FAILED, CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED, CMD_BULLET_DATA_STREAM_RECEIVED_FAILED, CMD_BOX_COLLISION_SHAPE_CREATION_COMPLETED, CMD_RIGID_BODY_CREATION_COMPLETED, CMD_SET_JOINT_FEEDBACK_COMPLETED, CMD_ACTUAL_STATE_UPDATE_COMPLETED, CMD_ACTUAL_STATE_UPDATE_FAILED, CMD_DEBUG_LINES_COMPLETED, CMD_DEBUG_LINES_OVERFLOW_FAILED, CMD_DESIRED_STATE_RECEIVED_COMPLETED, CMD_STEP_FORWARD_SIMULATION_COMPLETED, CMD_RESET_SIMULATION_COMPLETED, CMD_CAMERA_IMAGE_COMPLETED, CMD_CAMERA_IMAGE_FAILED, CMD_BODY_INFO_COMPLETED, CMD_BODY_INFO_FAILED, CMD_INVALID_STATUS, CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED, CMD_CALCULATED_INVERSE_DYNAMICS_FAILED, CMD_CALCULATED_JACOBIAN_COMPLETED, CMD_CALCULATED_JACOBIAN_FAILED, CMD_CALCULATED_MASS_MATRIX_COMPLETED, CMD_CALCULATED_MASS_MATRIX_FAILED, CMD_CONTACT_POINT_INFORMATION_COMPLETED, CMD_CONTACT_POINT_INFORMATION_FAILED, CMD_REQUEST_AABB_OVERLAP_COMPLETED, CMD_REQUEST_AABB_OVERLAP_FAILED, CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED, CMD_CALCULATE_INVERSE_KINEMATICS_FAILED, CMD_SAVE_WORLD_COMPLETED, CMD_SAVE_WORLD_FAILED, CMD_VISUAL_SHAPE_INFO_COMPLETED, CMD_VISUAL_SHAPE_INFO_FAILED, CMD_VISUAL_SHAPE_UPDATE_COMPLETED, CMD_VISUAL_SHAPE_UPDATE_FAILED, CMD_LOAD_TEXTURE_COMPLETED, CMD_LOAD_TEXTURE_FAILED, CMD_USER_DEBUG_DRAW_COMPLETED, CMD_USER_DEBUG_DRAW_PARAMETER_COMPLETED, CMD_USER_DEBUG_DRAW_FAILED, CMD_USER_CONSTRAINT_COMPLETED, CMD_USER_CONSTRAINT_INFO_COMPLETED, CMD_USER_CONSTRAINT_REQUEST_STATE_COMPLETED, CMD_REMOVE_USER_CONSTRAINT_COMPLETED, CMD_CHANGE_USER_CONSTRAINT_COMPLETED, CMD_REMOVE_USER_CONSTRAINT_FAILED, CMD_CHANGE_USER_CONSTRAINT_FAILED, CMD_USER_CONSTRAINT_FAILED, CMD_REQUEST_VR_EVENTS_DATA_COMPLETED, CMD_REQUEST_RAY_CAST_INTERSECTIONS_COMPLETED, CMD_SYNC_BODY_INFO_COMPLETED, CMD_SYNC_BODY_INFO_FAILED, CMD_STATE_LOGGING_COMPLETED, CMD_STATE_LOGGING_START_COMPLETED, CMD_STATE_LOGGING_FAILED, CMD_REQUEST_KEYBOARD_EVENTS_DATA_COMPLETED, CMD_REQUEST_KEYBOARD_EVENTS_DATA_FAILED, CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_FAILED, CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_COMPLETED, CMD_REMOVE_BODY_COMPLETED, CMD_REMOVE_BODY_FAILED, CMD_GET_DYNAMICS_INFO_COMPLETED, CMD_GET_DYNAMICS_INFO_FAILED, CMD_CREATE_COLLISION_SHAPE_FAILED, CMD_CREATE_COLLISION_SHAPE_COMPLETED, CMD_CREATE_VISUAL_SHAPE_FAILED, CMD_CREATE_VISUAL_SHAPE_COMPLETED, CMD_CREATE_MULTI_BODY_FAILED, CMD_CREATE_MULTI_BODY_COMPLETED, CMD_REQUEST_COLLISION_INFO_COMPLETED, CMD_REQUEST_COLLISION_INFO_FAILED, CMD_REQUEST_MOUSE_EVENTS_DATA_COMPLETED, CMD_CHANGE_TEXTURE_COMMAND_FAILED, CMD_CUSTOM_COMMAND_COMPLETED, CMD_CUSTOM_COMMAND_FAILED, CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS_COMPLETED, CMD_SAVE_STATE_FAILED, CMD_SAVE_STATE_COMPLETED, CMD_RESTORE_STATE_FAILED, CMD_RESTORE_STATE_COMPLETED, CMD_COLLISION_SHAPE_INFO_COMPLETED, CMD_COLLISION_SHAPE_INFO_FAILED, CMD_LOAD_SOFT_BODY_FAILED, CMD_LOAD_SOFT_BODY_COMPLETED, CMD_SYNC_USER_DATA_COMPLETED, CMD_SYNC_USER_DATA_FAILED, CMD_REQUEST_USER_DATA_COMPLETED, CMD_REQUEST_USER_DATA_FAILED, CMD_ADD_USER_DATA_COMPLETED, CMD_ADD_USER_DATA_FAILED, CMD_REMOVE_USER_DATA_COMPLETED, CMD_REMOVE_USER_DATA_FAILED, //don't go beyond 'CMD_MAX_SERVER_COMMANDS! CMD_MAX_SERVER_COMMANDS }; enum JointInfoFlags { JOINT_HAS_MOTORIZED_POWER = 1, }; enum { COLLISION_SHAPE_TYPE_BOX = 1, COLLISION_SHAPE_TYPE_CYLINDER_X, COLLISION_SHAPE_TYPE_CYLINDER_Y, COLLISION_SHAPE_TYPE_CYLINDER_Z, COLLISION_SHAPE_TYPE_CAPSULE_X, COLLISION_SHAPE_TYPE_CAPSULE_Y, COLLISION_SHAPE_TYPE_CAPSULE_Z, COLLISION_SHAPE_TYPE_SPHERE }; // copied from btMultiBodyLink.h enum JointType { eRevoluteType = 0, ePrismaticType = 1, eSphericalType = 2, ePlanarType = 3, eFixedType = 4, ePoint2PointType = 5, eGearType = 6 }; enum b3JointInfoFlags { eJointChangeMaxForce = 1, eJointChangeChildFramePosition = 2, eJointChangeChildFrameOrientation = 4, }; struct b3JointInfo { char m_linkName[1024]; char m_jointName[1024]; int m_jointType; int m_qIndex; int m_uIndex; int m_jointIndex; int m_flags; double m_jointDamping; double m_jointFriction; double m_jointLowerLimit; double m_jointUpperLimit; double m_jointMaxForce; double m_jointMaxVelocity; double m_parentFrame[7]; // position and orientation (quaternion) double m_childFrame[7]; // ^^^ double m_jointAxis[3]; // joint axis in parent local frame int m_parentIndex; }; enum UserDataValueType { // Data represents generic byte array. USER_DATA_VALUE_TYPE_BYTES = 0, // Data represents C-string USER_DATA_VALUE_TYPE_STRING = 1, }; struct b3UserDataValue { int m_type; int m_length; char* m_data1; }; struct b3UserConstraint { int m_parentBodyIndex; int m_parentJointIndex; int m_childBodyIndex; int m_childJointIndex; double m_parentFrame[7]; double m_childFrame[7]; double m_jointAxis[3]; int m_jointType; double m_maxAppliedForce; int m_userConstraintUniqueId; double m_gearRatio; int m_gearAuxLink; double m_relativePositionTarget; double m_erp; }; struct b3BodyInfo { char m_baseName[1024]; char m_bodyName[1024]; // for btRigidBody, it does not have a base, but can still have a body name from urdf }; enum DynamicsActivationState { eActivationStateEnableSleeping = 1, eActivationStateDisableSleeping = 2, eActivationStateWakeUp = 4, eActivationStateSleep = 8, }; struct b3DynamicsInfo { double m_mass; double m_localInertialDiagonal[3]; double m_localInertialFrame[7]; double m_lateralFrictionCoeff; double m_rollingFrictionCoeff; double m_spinningFrictionCoeff; double m_restitution; double m_contactStiffness; double m_contactDamping; int m_activationState; double m_angularDamping; double m_linearDamping; double m_ccdSweptSphereRadius; double m_contactProcessingThreshold; int m_frictionAnchor; }; // copied from btMultiBodyLink.h enum SensorType { eSensorForceTorqueType = 1, }; struct b3JointSensorState { double m_jointPosition; double m_jointVelocity; double m_jointForceTorque[6]; /* note to roboticists: this is NOT the motor torque/force, but the spatial reaction force vector at joint */ double m_jointMotorTorque; }; struct b3DebugLines { int m_numDebugLines; const float* m_linesFrom; //float x,y,z times 'm_numDebugLines'. const float* m_linesTo; //float x,y,z times 'm_numDebugLines'. const float* m_linesColor; //float red,green,blue times 'm_numDebugLines'. }; struct b3OverlappingObject { int m_objectUniqueId; int m_linkIndex; }; struct b3AABBOverlapData { int m_numOverlappingObjects; struct b3OverlappingObject* m_overlappingObjects; }; struct b3CameraImageData { int m_pixelWidth; int m_pixelHeight; const unsigned char* m_rgbColorData; //3*m_pixelWidth*m_pixelHeight bytes const float* m_depthValues; //m_pixelWidth*m_pixelHeight floats const int* m_segmentationMaskValues; //m_pixelWidth*m_pixelHeight ints }; struct b3OpenGLVisualizerCameraInfo { int m_width; int m_height; float m_viewMatrix[16]; float m_projectionMatrix[16]; float m_camUp[3]; float m_camForward[3]; float m_horizontal[3]; float m_vertical[3]; float m_yaw; float m_pitch; float m_dist; float m_target[3]; }; struct b3UserConstraintState { double m_appliedConstraintForces[6]; int m_numDofs; }; enum b3VREventType { VR_CONTROLLER_MOVE_EVENT = 1, VR_CONTROLLER_BUTTON_EVENT = 2, VR_HMD_MOVE_EVENT = 4, VR_GENERIC_TRACKER_MOVE_EVENT = 8, }; #define MAX_VR_ANALOG_AXIS 5 #define MAX_VR_BUTTONS 64 #define MAX_VR_CONTROLLERS 8 #define MAX_KEYBOARD_EVENTS 256 #define MAX_MOUSE_EVENTS 256 #define MAX_SDF_BODIES 512 enum b3VRButtonInfo { eButtonIsDown = 1, eButtonTriggered = 2, eButtonReleased = 4, }; enum eVRDeviceTypeEnums { VR_DEVICE_CONTROLLER = 1, VR_DEVICE_HMD = 2, VR_DEVICE_GENERIC_TRACKER = 4, }; enum EVRCameraFlags { VR_CAMERA_TRACK_OBJECT_ORIENTATION = 1, }; struct b3VRControllerEvent { int m_controllerId; //valid for VR_CONTROLLER_MOVE_EVENT and VR_CONTROLLER_BUTTON_EVENT int m_deviceType; int m_numMoveEvents; int m_numButtonEvents; float m_pos[4]; //valid for VR_CONTROLLER_MOVE_EVENT and VR_CONTROLLER_BUTTON_EVENT float m_orn[4]; //valid for VR_CONTROLLER_MOVE_EVENT and VR_CONTROLLER_BUTTON_EVENT float m_analogAxis; //valid if VR_CONTROLLER_MOVE_EVENT float m_auxAnalogAxis[MAX_VR_ANALOG_AXIS * 2]; //store x,y per axis, only valid if VR_CONTROLLER_MOVE_EVENT int m_buttons[MAX_VR_BUTTONS]; //valid if VR_CONTROLLER_BUTTON_EVENT, see b3VRButtonInfo }; struct b3VREventsData { int m_numControllerEvents; struct b3VRControllerEvent* m_controllerEvents; }; struct b3KeyboardEvent { int m_keyCode; //ascii int m_keyState; // see b3VRButtonInfo }; struct b3KeyboardEventsData { int m_numKeyboardEvents; struct b3KeyboardEvent* m_keyboardEvents; }; enum eMouseEventTypeEnums { MOUSE_MOVE_EVENT = 1, MOUSE_BUTTON_EVENT = 2, }; struct b3MouseEvent { int m_eventType; float m_mousePosX; float m_mousePosY; int m_buttonIndex; int m_buttonState; }; struct b3MouseEventsData { int m_numMouseEvents; struct b3MouseEvent* m_mouseEvents; }; enum b3NotificationType { SIMULATION_RESET = 0, BODY_ADDED = 1, BODY_REMOVED = 2, USER_DATA_ADDED = 3, USER_DATA_REMOVED = 4, LINK_DYNAMICS_CHANGED = 5, VISUAL_SHAPE_CHANGED = 6, TRANSFORM_CHANGED = 7, SIMULATION_STEPPED = 8, }; struct b3BodyNotificationArgs { int m_bodyUniqueId; }; struct b3UserDataNotificationArgs { int m_userDataId; }; struct b3LinkNotificationArgs { int m_bodyUniqueId; int m_linkIndex; }; struct b3VisualShapeNotificationArgs { int m_bodyUniqueId; int m_linkIndex; int m_visualShapeIndex; }; struct b3TransformChangeNotificationArgs { int m_bodyUniqueId; int m_linkIndex; double m_worldPosition[3]; double m_worldRotation[4]; double m_localScaling[3]; }; struct b3Notification { int m_notificationType; union { struct b3BodyNotificationArgs m_bodyArgs; struct b3UserDataNotificationArgs m_userDataArgs; struct b3LinkNotificationArgs m_linkArgs; struct b3VisualShapeNotificationArgs m_visualShapeArgs; struct b3TransformChangeNotificationArgs m_transformChangeArgs; }; }; struct b3ContactPointData { //todo: expose some contact flags, such as telling which fields below are valid int m_contactFlags; int m_bodyUniqueIdA; int m_bodyUniqueIdB; int m_linkIndexA; int m_linkIndexB; double m_positionOnAInWS[3]; //contact point location on object A, in world space coordinates double m_positionOnBInWS[3]; //contact point location on object A, in world space coordinates double m_contactNormalOnBInWS[3]; //the separating contact normal, pointing from object B towards object A double m_contactDistance; //negative number is penetration, positive is distance. double m_normalForce; //todo: expose the friction forces as well // double m_linearFrictionDirection0[3]; // double m_linearFrictionForce0; // double m_linearFrictionDirection1[3]; // double m_linearFrictionForce1; // double m_angularFrictionDirection[3]; // double m_angularFrictionForce; }; enum { CONTACT_QUERY_MODE_REPORT_EXISTING_CONTACT_POINTS = 0, CONTACT_QUERY_MODE_COMPUTE_CLOSEST_POINTS = 1, }; enum b3StateLoggingType { STATE_LOGGING_MINITAUR = 0, STATE_LOGGING_GENERIC_ROBOT = 1, STATE_LOGGING_VR_CONTROLLERS = 2, STATE_LOGGING_VIDEO_MP4 = 3, STATE_LOGGING_COMMANDS = 4, STATE_LOGGING_CONTACT_POINTS = 5, STATE_LOGGING_PROFILE_TIMINGS = 6, STATE_LOGGING_ALL_COMMANDS = 7, STATE_REPLAY_ALL_COMMANDS = 8, STATE_LOGGING_CUSTOM_TIMER = 9, }; struct b3ContactInformation { int m_numContactPoints; struct b3ContactPointData* m_contactPointData; }; struct b3RayData { double m_rayFromPosition[3]; double m_rayToPosition[3]; }; struct b3RayHitInfo { double m_hitFraction; int m_hitObjectUniqueId; int m_hitObjectLinkIndex; double m_hitPositionWorld[3]; double m_hitNormalWorld[3]; }; struct b3RaycastInformation { int m_numRayHits; struct b3RayHitInfo* m_rayHits; }; typedef union { struct b3RayData a; struct b3RayHitInfo b; } RAY_DATA_UNION; #define MAX_RAY_INTERSECTION_BATCH_SIZE 256 #ifdef __APPLE__ #define MAX_RAY_INTERSECTION_BATCH_SIZE_STREAMING (4 * 1024) #else #define MAX_RAY_INTERSECTION_BATCH_SIZE_STREAMING (16 * 1024) #endif #define MAX_RAY_HITS MAX_RAY_INTERSECTION_BATCH_SIZE #define VISUAL_SHAPE_MAX_PATH_LEN 1024 enum b3VisualShapeDataFlags { eVISUAL_SHAPE_DATA_TEXTURE_UNIQUE_IDS = 1, }; struct b3VisualShapeData { int m_objectUniqueId; int m_linkIndex; int m_visualGeometryType; //box primitive, sphere primitive, triangle mesh double m_dimensions[3]; //meaning depends on m_visualGeometryType char m_meshAssetFileName[VISUAL_SHAPE_MAX_PATH_LEN]; double m_localVisualFrame[7]; //pos[3], orn[4] //todo: add more data if necessary (material color etc, although material can be in asset file .obj file) double m_rgbaColor[4]; int m_tinyRendererTextureId; int m_textureUniqueId; int m_openglTextureId; }; struct b3VisualShapeInformation { int m_numVisualShapes; struct b3VisualShapeData* m_visualShapeData; }; struct b3CollisionShapeData { int m_objectUniqueId; int m_linkIndex; int m_collisionGeometryType; //GEOM_BOX, GEOM_SPHERE etc double m_dimensions[3]; //meaning depends on m_visualGeometryType GEOM_BOX: extents, GEOM_SPHERE: radius, GEOM_CAPSULE+GEOM_CYLINDER:length, radius, GEOM_MESH: mesh scale double m_localCollisionFrame[7]; //pos[3], orn[4] char m_meshAssetFileName[VISUAL_SHAPE_MAX_PATH_LEN]; }; struct b3CollisionShapeInformation { int m_numCollisionShapes; struct b3CollisionShapeData* m_collisionShapeData; }; enum eLinkStateFlags { ACTUAL_STATE_COMPUTE_LINKVELOCITY = 1, ACTUAL_STATE_COMPUTE_FORWARD_KINEMATICS = 2, }; ///b3LinkState provides extra information such as the Cartesian world coordinates ///center of mass (COM) of the link, relative to the world reference frame. ///Orientation is a quaternion x,y,z,w ///Note: to compute the URDF link frame (which equals the joint frame at joint position 0) ///use URDF link frame = link COM frame * inertiaFrame.inverse() struct b3LinkState { //m_worldPosition and m_worldOrientation of the Center Of Mass (COM) double m_worldPosition[3]; double m_worldOrientation[4]; double m_localInertialPosition[3]; double m_localInertialOrientation[4]; ///world position and orientation of the (URDF) link frame double m_worldLinkFramePosition[3]; double m_worldLinkFrameOrientation[4]; double m_worldLinearVelocity[3]; //only valid when ACTUAL_STATE_COMPUTE_LINKVELOCITY is set (b3RequestActualStateCommandComputeLinkVelocity) double m_worldAngularVelocity[3]; //only valid when ACTUAL_STATE_COMPUTE_LINKVELOCITY is set (b3RequestActualStateCommandComputeLinkVelocity) double m_worldAABBMin[3]; //world space bounding minium and maximum box corners. double m_worldAABBMax[3]; }; //todo: discuss and decide about control mode and combinations enum { // POSITION_CONTROL=0, CONTROL_MODE_VELOCITY = 0, CONTROL_MODE_TORQUE, CONTROL_MODE_POSITION_VELOCITY_PD, CONTROL_MODE_PD, // The standard PD control implemented as soft constraint. }; ///flags for b3ApplyExternalTorque and b3ApplyExternalForce enum EnumExternalForceFlags { EF_LINK_FRAME = 1, EF_WORLD_FRAME = 2, }; ///flags to pick the renderer for synthetic camera enum EnumRenderer { ER_TINY_RENDERER = (1 << 16), ER_BULLET_HARDWARE_OPENGL = (1 << 17), //ER_FIRE_RAYS=(1<<18), }; enum EnumRendererAuxFlags { ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX = 1, ER_USE_PROJECTIVE_TEXTURE = 2, ER_SEGMENTATION_MASK = 4, }; ///flags to pick the IK solver and other options enum EnumCalculateInverseKinematicsFlags { IK_DLS = 0, IK_SDLS = 1, //TODO: can add other IK solvers IK_HAS_TARGET_POSITION = 16, IK_HAS_TARGET_ORIENTATION = 32, IK_HAS_NULL_SPACE_VELOCITY = 64, IK_HAS_JOINT_DAMPING = 128, IK_HAS_CURRENT_JOINT_POSITIONS = 256, IK_HAS_MAX_ITERATIONS = 512, IK_HAS_RESIDUAL_THRESHOLD = 1024, }; enum b3ConfigureDebugVisualizerEnum { COV_ENABLE_GUI = 1, COV_ENABLE_SHADOWS, COV_ENABLE_WIREFRAME, COV_ENABLE_VR_TELEPORTING, COV_ENABLE_VR_PICKING, COV_ENABLE_VR_RENDER_CONTROLLERS, COV_ENABLE_RENDERING, COV_ENABLE_SYNC_RENDERING_INTERNAL, COV_ENABLE_KEYBOARD_SHORTCUTS, COV_ENABLE_MOUSE_PICKING, COV_ENABLE_Y_AXIS_UP, COV_ENABLE_TINY_RENDERER, COV_ENABLE_RGB_BUFFER_PREVIEW, COV_ENABLE_DEPTH_BUFFER_PREVIEW, COV_ENABLE_SEGMENTATION_MARK_PREVIEW, COV_ENABLE_PLANAR_REFLECTION, COV_ENABLE_SINGLE_STEP_RENDERING, }; enum b3AddUserDebugItemEnum { DEB_DEBUG_TEXT_ALWAYS_FACE_CAMERA = 1, DEB_DEBUG_TEXT_USE_TRUE_TYPE_FONTS = 2, DEB_DEBUG_TEXT_HAS_TRACKING_OBJECT = 4, }; enum eCONNECT_METHOD { eCONNECT_GUI = 1, eCONNECT_DIRECT = 2, eCONNECT_SHARED_MEMORY = 3, eCONNECT_UDP = 4, eCONNECT_TCP = 5, eCONNECT_EXISTING_EXAMPLE_BROWSER = 6, eCONNECT_GUI_SERVER = 7, eCONNECT_GUI_MAIN_THREAD = 8, eCONNECT_SHARED_MEMORY_SERVER = 9, eCONNECT_DART = 10, eCONNECT_MUJOCO = 11, eCONNECT_GRPC = 12, }; enum eURDF_Flags { URDF_USE_INERTIA_FROM_FILE = 2, //sync with URDF2Bullet.h 'ConvertURDFFlags' URDF_USE_SELF_COLLISION = 8, //see CUF_USE_SELF_COLLISION URDF_USE_SELF_COLLISION_EXCLUDE_PARENT = 16, URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS = 32, URDF_RESERVED = 64, URDF_USE_IMPLICIT_CYLINDER = 128, URDF_GLOBAL_VELOCITIES_MB = 256, MJCF_COLORS_FROM_FILE = 512, URDF_ENABLE_CACHED_GRAPHICS_SHAPES = 1024, URDF_ENABLE_SLEEPING = 2048, URDF_INITIALIZE_SAT_FEATURES = 4096, URDF_USE_SELF_COLLISION_INCLUDE_PARENT = 8192, URDF_PARSE_SENSORS = 16384, }; enum eUrdfGeomTypes //sync with UrdfParser UrdfGeomTypes { GEOM_SPHERE = 2, GEOM_BOX, GEOM_CYLINDER, GEOM_MESH, GEOM_PLANE, GEOM_CAPSULE, //non-standard URDF? GEOM_UNKNOWN, }; enum eUrdfCollisionFlags { GEOM_FORCE_CONCAVE_TRIMESH = 1, GEOM_CONCAVE_INTERNAL_EDGE = 2, }; enum eUrdfVisualFlags { GEOM_VISUAL_HAS_RGBA_COLOR = 1, GEOM_VISUAL_HAS_SPECULAR_COLOR = 2, }; enum eStateLoggingFlags { STATE_LOG_JOINT_MOTOR_TORQUES = 1, STATE_LOG_JOINT_USER_TORQUES = 2, STATE_LOG_JOINT_TORQUES = STATE_LOG_JOINT_MOTOR_TORQUES + STATE_LOG_JOINT_USER_TORQUES, }; enum eJointFeedbackModes { JOINT_FEEDBACK_IN_WORLD_SPACE = 1, JOINT_FEEDBACK_IN_JOINT_FRAME = 2, }; #define B3_MAX_PLUGIN_ARG_SIZE 128 #define B3_MAX_PLUGIN_ARG_TEXT_LEN 1024 struct b3PluginArguments { char m_text[B3_MAX_PLUGIN_ARG_TEXT_LEN]; int m_numInts; int m_ints[B3_MAX_PLUGIN_ARG_SIZE]; int m_numFloats; double m_floats[B3_MAX_PLUGIN_ARG_SIZE]; }; struct b3PhysicsSimulationParameters { double m_deltaTime; double m_gravityAcceleration[3]; int m_numSimulationSubSteps; int m_numSolverIterations; int m_useRealTimeSimulation; int m_useSplitImpulse; double m_splitImpulsePenetrationThreshold; double m_contactBreakingThreshold; int m_internalSimFlags; double m_defaultContactERP; int m_collisionFilterMode; int m_enableFileCaching; double m_restitutionVelocityThreshold; double m_defaultNonContactERP; double m_frictionERP; double m_defaultGlobalCFM; double m_frictionCFM; int m_enableConeFriction; int m_deterministicOverlappingPairs; double m_allowedCcdPenetration; int m_jointFeedbackMode; double m_solverResidualThreshold; double m_contactSlop; int m_enableSAT; int m_constraintSolverType; int m_minimumSolverIslandSize; }; enum eConstraintSolverTypes { eConstraintSolverLCP_SI = 1, eConstraintSolverLCP_PGS, eConstraintSolverLCP_DANTZIG, eConstraintSolverLCP_LEMKE, eConstraintSolverLCP_NNCG, eConstraintSolverLCP_BLOCK_PGS, }; #endif //SHARED_MEMORY_PUBLIC_H