#ifndef SHARED_MEMORY_COMMANDS_H #define SHARED_MEMORY_COMMANDS_H //this is a very experimental draft of commands. We will iterate on this API (commands, arguments etc) #include "SharedMemoryPublic.h" #ifdef __GNUC__ #include typedef int32_t smInt32_t; typedef int64_t smInt64_t; typedef uint32_t smUint32_t; typedef uint64_t smUint64_t; #elif defined(_MSC_VER) typedef __int32 smInt32_t; typedef __int64 smInt64_t; typedef unsigned __int32 smUint32_t; typedef unsigned __int64 smUint64_t; #else typedef int smInt32_t; typedef long long int smInt64_t; typedef unsigned int smUint32_t; typedef unsigned long long int smUint64_t; #endif #define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (512*1024) #define SHARED_MEMORY_SERVER_TEST_C #define MAX_DEGREE_OF_FREEDOM 128 #define MAX_NUM_SENSORS 256 #define MAX_URDF_FILENAME_LENGTH 1024 #define MAX_SDF_FILENAME_LENGTH 1024 #define MAX_FILENAME_LENGTH MAX_URDF_FILENAME_LENGTH #define MAX_NUM_LINKS MAX_DEGREE_OF_FREEDOM #define MAX_SDF_BODIES 512 struct TmpFloat3 { float m_x; float m_y; float m_z; }; #ifdef _WIN32 __inline #else inline #endif TmpFloat3 CreateTmpFloat3(float x, float y, float z) { TmpFloat3 tmp; tmp.m_x = x; tmp.m_y = y; tmp.m_z = z; return tmp; } enum EnumSdfArgsUpdateFlags { SDF_ARGS_FILE_NAME=1, }; struct SdfArgs { char m_sdfFileName[MAX_URDF_FILENAME_LENGTH]; int m_useMultiBody; double m_globalScaling; }; struct FileArgs { char m_fileName[MAX_URDF_FILENAME_LENGTH]; }; enum EnumUrdfArgsUpdateFlags { URDF_ARGS_FILE_NAME=1, URDF_ARGS_INITIAL_POSITION=2, URDF_ARGS_INITIAL_ORIENTATION=4, URDF_ARGS_USE_MULTIBODY=8, URDF_ARGS_USE_FIXED_BASE=16, URDF_ARGS_HAS_CUSTOM_URDF_FLAGS = 32, URDF_ARGS_USE_GLOBAL_SCALING =64, }; struct UrdfArgs { char m_urdfFileName[MAX_URDF_FILENAME_LENGTH]; double m_initialPosition[3]; double m_initialOrientation[4]; int m_useMultiBody; int m_useFixedBase; int m_urdfFlags; double m_globalScaling; }; struct MjcfArgs { char m_mjcfFileName[MAX_URDF_FILENAME_LENGTH]; int m_useMultiBody; int m_flags; }; struct b3SearchPathfArgs { char m_path[MAX_FILENAME_LENGTH]; }; enum CustomCommandEnum { CMD_CUSTOM_COMMAND_LOAD_PLUGIN=1, CMD_CUSTOM_COMMAND_UNLOAD_PLUGIN=2, CMD_CUSTOM_COMMAND_EXECUTE_PLUGIN_COMMAND=4, CMD_CUSTOM_COMMAND_LOAD_PLUGIN_POSTFIX=8, }; struct b3CustomCommand { int m_pluginUniqueId; b3PluginArguments m_arguments; char m_pluginPath[MAX_FILENAME_LENGTH]; char m_postFix[MAX_FILENAME_LENGTH]; }; struct b3CustomCommandResultArgs { int m_pluginUniqueId; int m_executeCommandResult; }; struct BulletDataStreamArgs { char m_bulletFileName[MAX_FILENAME_LENGTH]; int m_bodyUniqueId; char m_bodyName[MAX_FILENAME_LENGTH]; }; enum EnumChangeDynamicsInfoFlags { CHANGE_DYNAMICS_INFO_SET_MASS=1, CHANGE_DYNAMICS_INFO_SET_COM=2, CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION=4, CHANGE_DYNAMICS_INFO_SET_SPINNING_FRICTION=8, CHANGE_DYNAMICS_INFO_SET_ROLLING_FRICTION=16, CHANGE_DYNAMICS_INFO_SET_RESTITUTION=32, CHANGE_DYNAMICS_INFO_SET_LINEAR_DAMPING=64, CHANGE_DYNAMICS_INFO_SET_ANGULAR_DAMPING=128, CHANGE_DYNAMICS_INFO_SET_CONTACT_STIFFNESS_AND_DAMPING=256, CHANGE_DYNAMICS_INFO_SET_FRICTION_ANCHOR = 512, }; struct ChangeDynamicsInfoArgs { int m_bodyUniqueId; int m_linkIndex; double m_mass; double m_COM[3]; 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; }; struct GetDynamicsInfoArgs { int m_bodyUniqueId; int m_linkIndex; }; struct SetJointFeedbackArgs { int m_bodyUniqueId; int m_linkId; int m_isEnabled; }; enum EnumInitPoseFlags { INIT_POSE_HAS_INITIAL_POSITION=1, INIT_POSE_HAS_INITIAL_ORIENTATION=2, INIT_POSE_HAS_JOINT_STATE=4, INIT_POSE_HAS_BASE_LINEAR_VELOCITY = 8, INIT_POSE_HAS_BASE_ANGULAR_VELOCITY = 16, INIT_POSE_HAS_JOINT_VELOCITY=32, }; ///InitPoseArgs is mainly to initialize (teleport) the robot in a particular position ///No motors or controls are needed to initialize the pose. It is similar to ///moving a robot to a starting place, while it is switched off. It is only called ///at the start of a robot control session. All velocities and control forces are cleared to zero. struct InitPoseArgs { int m_bodyUniqueId; int m_hasInitialStateQ[MAX_DEGREE_OF_FREEDOM]; double m_initialStateQ[MAX_DEGREE_OF_FREEDOM]; int m_hasInitialStateQdot[MAX_DEGREE_OF_FREEDOM]; double m_initialStateQdot[MAX_DEGREE_OF_FREEDOM]; }; struct RequestDebugLinesArgs { int m_debugMode; int m_startingLineIndex; }; struct RequestPixelDataArgs { float m_viewMatrix[16]; float m_projectionMatrix[16]; int m_startPixelIndex; int m_pixelWidth; int m_pixelHeight; float m_lightDirection[3]; float m_lightColor[3]; float m_lightDistance; float m_lightAmbientCoeff; float m_lightDiffuseCoeff; float m_lightSpecularCoeff; int m_hasShadow; }; enum EnumRequestPixelDataUpdateFlags { REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES=1, REQUEST_PIXEL_ARGS_SET_PIXEL_WIDTH_HEIGHT=2, REQUEST_PIXEL_ARGS_SET_LIGHT_DIRECTION=4, REQUEST_PIXEL_ARGS_SET_LIGHT_COLOR=8, REQUEST_PIXEL_ARGS_SET_LIGHT_DISTANCE=16, REQUEST_PIXEL_ARGS_SET_SHADOW=32, REQUEST_PIXEL_ARGS_SET_AMBIENT_COEFF=64, REQUEST_PIXEL_ARGS_SET_DIFFUSE_COEFF=128, REQUEST_PIXEL_ARGS_SET_SPECULAR_COEFF=256, //don't exceed (1<<15), because this enum is shared with EnumRenderer in SharedMemoryPublic.h }; enum EnumRequestContactDataUpdateFlags { CMD_REQUEST_CONTACT_POINT_HAS_QUERY_MODE=1, CMD_REQUEST_CONTACT_POINT_HAS_CLOSEST_DISTANCE_THRESHOLD=2, CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER = 4, CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER = 8, }; struct RequestRaycastIntersections { int m_numRays; double m_rayFromPositions[MAX_RAY_INTERSECTION_BATCH_SIZE][3]; double m_rayToPositions[MAX_RAY_INTERSECTION_BATCH_SIZE][3]; }; struct SendRaycastHits { int m_numRaycastHits; b3RayHitInfo m_rayHits[MAX_RAY_INTERSECTION_BATCH_SIZE]; }; struct RequestContactDataArgs { int m_startingContactPointIndex; int m_objectAIndexFilter; int m_objectBIndexFilter; int m_linkIndexAIndexFilter; int m_linkIndexBIndexFilter; double m_closestDistanceThreshold; int m_mode; }; struct RequestOverlappingObjectsArgs { int m_startingOverlappingObjectIndex; double m_aabbQueryMin[3]; double m_aabbQueryMax[3]; }; struct RequestVisualShapeDataArgs { int m_bodyUniqueId; int m_startingVisualShapeIndex; }; enum EnumUpdateVisualShapeData { CMD_UPDATE_VISUAL_SHAPE_TEXTURE=1, CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR=2, CMD_UPDATE_VISUAL_SHAPE_SPECULAR_COLOR=4, }; struct UpdateVisualShapeDataArgs { int m_bodyUniqueId; int m_jointIndex; int m_shapeIndex; int m_textureUniqueId; double m_rgbaColor[4]; double m_specularColor[3]; }; struct LoadTextureArgs { char m_textureFileName[MAX_FILENAME_LENGTH]; }; struct b3LoadTextureResultArgs { int m_textureUniqueId; }; struct SendVisualShapeDataArgs { int m_bodyUniqueId; int m_startingVisualShapeIndex; int m_numVisualShapesCopied; int m_numRemainingVisualShapes; }; struct SendDebugLinesArgs { int m_startingLineIndex; int m_numDebugLines; int m_numRemainingDebugLines; }; struct SendPixelDataArgs { int m_imageWidth; int m_imageHeight; int m_startingPixelIndex; int m_numPixelsCopied; int m_numRemainingPixels; }; struct PickBodyArgs { double m_rayFromWorld[3]; double m_rayToWorld[3]; }; ///Controlling a robot involves sending the desired state to its joint motor controllers. ///The control mode determines the state variables used for motor control. struct SendDesiredStateArgs { int m_bodyUniqueId; int m_controlMode; //PD parameters in case m_controlMode == CONTROL_MODE_POSITION_VELOCITY_PD double m_Kp[MAX_DEGREE_OF_FREEDOM];//indexed by degree of freedom, 6 for base, and then the dofs for each link double m_Kd[MAX_DEGREE_OF_FREEDOM];//indexed by degree of freedom, 6 for base, and then the dofs for each link int m_hasDesiredStateFlags[MAX_DEGREE_OF_FREEDOM]; //desired state is only written by the client, read-only access by server is expected //m_desiredStateQ is indexed by position variables, //starting with 3 base position variables, 4 base orientation variables (quaternion), then link position variables double m_desiredStateQ[MAX_DEGREE_OF_FREEDOM]; //m_desiredStateQdot is index by velocity degrees of freedom, 3 linear and 3 angular variables for the base and then link velocity variables double m_desiredStateQdot[MAX_DEGREE_OF_FREEDOM]; //m_desiredStateForceTorque is either the actual applied force/torque (in CONTROL_MODE_TORQUE) or //or the maximum applied force/torque for the PD/motor/constraint to reach the desired velocity in CONTROL_MODE_VELOCITY and CONTROL_MODE_POSITION_VELOCITY_PD mode //indexed by degree of freedom, 6 dof base, and then dofs for each link double m_desiredStateForceTorque[MAX_DEGREE_OF_FREEDOM]; }; enum EnumSimDesiredStateUpdateFlags { SIM_DESIRED_STATE_HAS_Q=1, SIM_DESIRED_STATE_HAS_QDOT=2, SIM_DESIRED_STATE_HAS_KD=4, SIM_DESIRED_STATE_HAS_KP=8, SIM_DESIRED_STATE_HAS_MAX_FORCE=16, }; enum EnumSimParamUpdateFlags { SIM_PARAM_UPDATE_DELTA_TIME=1, SIM_PARAM_UPDATE_GRAVITY=2, SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS=4, SIM_PARAM_UPDATE_NUM_SIMULATION_SUB_STEPS=8, SIM_PARAM_UPDATE_REAL_TIME_SIMULATION = 16, SIM_PARAM_UPDATE_DEFAULT_CONTACT_ERP=32, SIM_PARAM_UPDATE_INTERNAL_SIMULATION_FLAGS=64, SIM_PARAM_UPDATE_USE_SPLIT_IMPULSE=128, SIM_PARAM_UPDATE_SPLIT_IMPULSE_PENETRATION_THRESHOLD = 256, SIM_PARAM_UPDATE_COLLISION_FILTER_MODE=512, SIM_PARAM_UPDATE_CONTACT_BREAKING_THRESHOLD = 1024, SIM_PARAM_MAX_CMD_PER_1MS = 2048, SIM_PARAM_ENABLE_FILE_CACHING = 4096, SIM_PARAM_UPDATE_RESTITUTION_VELOCITY_THRESHOLD = 8192, SIM_PARAM_UPDATE_DEFAULT_NON_CONTACT_ERP=16384, SIM_PARAM_UPDATE_DEFAULT_FRICTION_ERP = 32768, }; enum EnumLoadBunnyUpdateFlags { LOAD_BUNNY_UPDATE_SCALE=1, LOAD_BUNNY_UPDATE_MASS=2, LOAD_BUNNY_UPDATE_COLLISION_MARGIN=4 }; enum EnumSimParamInternalSimFlags { SIM_PARAM_INTERNAL_CREATE_ROBOT_ASSETS=1, }; ///Controlling a robot involves sending the desired state to its joint motor controllers. ///The control mode determines the state variables used for motor control. struct LoadBunnyArgs { double m_scale; double m_mass; double m_collisionMargin; }; struct RequestActualStateArgs { int m_bodyUniqueId; }; struct SendActualStateArgs { int m_bodyUniqueId; int m_numLinks; int m_numDegreeOfFreedomQ; int m_numDegreeOfFreedomU; double m_rootLocalInertialFrame[7]; //actual state is only written by the server, read-only access by client is expected double m_actualStateQ[MAX_DEGREE_OF_FREEDOM]; double m_actualStateQdot[MAX_DEGREE_OF_FREEDOM]; //measured 6DOF force/torque sensors: force[x,y,z] and torque[x,y,z] double m_jointReactionForces[6*MAX_DEGREE_OF_FREEDOM]; double m_jointMotorForce[MAX_DEGREE_OF_FREEDOM]; double m_linkState[7*MAX_NUM_LINKS]; double m_linkWorldVelocities[6*MAX_NUM_LINKS];//linear velocity and angular velocity in world space (x/y/z each). double m_linkLocalInertialFrames[7*MAX_NUM_LINKS]; }; struct b3SendCollisionInfoArgs { int m_numLinks; double m_rootWorldAABBMin[3]; double m_rootWorldAABBMax[3]; double m_linkWorldAABBsMin[3*MAX_NUM_LINKS]; double m_linkWorldAABBsMax[3*MAX_NUM_LINKS]; }; struct b3RequestCollisionInfoArgs { int m_bodyUniqueId; }; enum EnumSensorTypes { SENSOR_FORCE_TORQUE=1, SENSOR_IMU=2, }; struct CreateSensorArgs { int m_bodyUniqueId; int m_numJointSensorChanges; int m_sensorType[MAX_DEGREE_OF_FREEDOM]; ///todo: clean up the duplication, make sure no-one else is using those members directly (use C-API header instead) int m_jointIndex[MAX_DEGREE_OF_FREEDOM]; int m_enableJointForceSensor[MAX_DEGREE_OF_FREEDOM]; int m_linkIndex[MAX_DEGREE_OF_FREEDOM]; int m_enableSensor[MAX_DEGREE_OF_FREEDOM]; }; typedef struct SharedMemoryCommand SharedMemoryCommand_t; enum EnumBoxShapeFlags { BOX_SHAPE_HAS_INITIAL_POSITION=1, BOX_SHAPE_HAS_INITIAL_ORIENTATION=2, BOX_SHAPE_HAS_HALF_EXTENTS=4, BOX_SHAPE_HAS_MASS=8, BOX_SHAPE_HAS_COLLISION_SHAPE_TYPE=16, BOX_SHAPE_HAS_COLOR=32, }; ///This command will be replaced to allow arbitrary collision shape types struct CreateBoxShapeArgs { double m_halfExtentsX; double m_halfExtentsY; double m_halfExtentsZ; double m_mass; int m_collisionShapeType;//see SharedMemoryPublic.h double m_initialPosition[3]; double m_initialOrientation[4]; double m_colorRGBA[4]; }; struct b3ObjectArgs { int m_numBodies; int m_bodyUniqueIds[MAX_SDF_BODIES]; int m_numUserConstraints; int m_userConstraintUniqueIds[MAX_SDF_BODIES]; }; struct b3Profile { char m_name[MAX_FILENAME_LENGTH]; int m_durationInMicroSeconds; }; struct SdfLoadedArgs { int m_numBodies; int m_bodyUniqueIds[MAX_SDF_BODIES]; int m_numUserConstraints; int m_userConstraintUniqueIds[MAX_SDF_BODIES]; ///@todo(erwincoumans) load cameras, lights etc //int m_numCameras; //int m_numLights; }; struct SdfRequestInfoArgs { int m_bodyUniqueId; }; ///flags for b3ApplyExternalTorque and b3ApplyExternalForce enum EnumExternalForcePrivateFlags { // EF_LINK_FRAME=1, // EF_WORLD_FRAME=2, EF_TORQUE=4, EF_FORCE=8, }; struct ExternalForceArgs { int m_numForcesAndTorques; int m_bodyUniqueIds[MAX_SDF_BODIES]; int m_linkIds[MAX_SDF_BODIES]; double m_forcesAndTorques[3*MAX_SDF_BODIES]; double m_positions[3*MAX_SDF_BODIES]; int m_forceFlags[MAX_SDF_BODIES]; }; enum EnumSdfRequestInfoFlags { SDF_REQUEST_INFO_BODY=1, //SDF_REQUEST_INFO_CAMERA=2, }; struct CalculateInverseDynamicsArgs { int m_bodyUniqueId; double m_jointPositionsQ[MAX_DEGREE_OF_FREEDOM]; double m_jointVelocitiesQdot[MAX_DEGREE_OF_FREEDOM]; double m_jointAccelerations[MAX_DEGREE_OF_FREEDOM]; }; struct CalculateInverseDynamicsResultArgs { int m_bodyUniqueId; int m_dofCount; double m_jointForces[MAX_DEGREE_OF_FREEDOM]; }; struct CalculateJacobianArgs { int m_bodyUniqueId; int m_linkIndex; double m_localPosition[3]; double m_jointPositionsQ[MAX_DEGREE_OF_FREEDOM]; double m_jointVelocitiesQdot[MAX_DEGREE_OF_FREEDOM]; double m_jointAccelerations[MAX_DEGREE_OF_FREEDOM]; }; struct CalculateJacobianResultArgs { int m_dofCount; double m_linearJacobian[3*MAX_DEGREE_OF_FREEDOM]; double m_angularJacobian[3*MAX_DEGREE_OF_FREEDOM]; }; struct CalculateMassMatrixArgs { int m_bodyUniqueId; double m_jointPositionsQ[MAX_DEGREE_OF_FREEDOM]; }; struct CalculateMassMatrixResultArgs { int m_dofCount; }; enum EnumCalculateInverseKinematicsFlags { IK_HAS_TARGET_POSITION=1, IK_HAS_TARGET_ORIENTATION=2, IK_HAS_NULL_SPACE_VELOCITY=4, IK_HAS_JOINT_DAMPING=8, //IK_HAS_CURRENT_JOINT_POSITIONS=16,//not used yet }; struct CalculateInverseKinematicsArgs { int m_bodyUniqueId; // double m_jointPositionsQ[MAX_DEGREE_OF_FREEDOM]; double m_targetPosition[3]; double m_targetOrientation[4];//orientation represented as quaternion, x,y,z,w int m_endEffectorLinkIndex; double m_lowerLimit[MAX_DEGREE_OF_FREEDOM]; double m_upperLimit[MAX_DEGREE_OF_FREEDOM]; double m_jointRange[MAX_DEGREE_OF_FREEDOM]; double m_restPose[MAX_DEGREE_OF_FREEDOM]; double m_jointDamping[MAX_DEGREE_OF_FREEDOM]; }; struct CalculateInverseKinematicsResultArgs { int m_bodyUniqueId; int m_dofCount; double m_jointPositions[MAX_DEGREE_OF_FREEDOM]; }; enum EnumUserConstraintFlags { USER_CONSTRAINT_ADD_CONSTRAINT=1, USER_CONSTRAINT_REMOVE_CONSTRAINT=2, USER_CONSTRAINT_CHANGE_CONSTRAINT=4, USER_CONSTRAINT_CHANGE_PIVOT_IN_B=8, USER_CONSTRAINT_CHANGE_FRAME_ORN_IN_B=16, USER_CONSTRAINT_CHANGE_MAX_FORCE=32, USER_CONSTRAINT_REQUEST_INFO=64, USER_CONSTRAINT_CHANGE_GEAR_RATIO=128, USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK=256, USER_CONSTRAINT_CHANGE_RELATIVE_POSITION_TARGET=512, USER_CONSTRAINT_CHANGE_ERP=1024, USER_CONSTRAINT_REQUEST_STATE=2048, }; enum EnumBodyChangeFlags { BODY_DELETE_FLAG=1, }; enum EnumUserDebugDrawFlags { USER_DEBUG_HAS_LINE=1, USER_DEBUG_HAS_TEXT=2, USER_DEBUG_REMOVE_ONE_ITEM=4, USER_DEBUG_REMOVE_ALL=8, USER_DEBUG_SET_CUSTOM_OBJECT_COLOR = 16, USER_DEBUG_REMOVE_CUSTOM_OBJECT_COLOR = 32, USER_DEBUG_ADD_PARAMETER=64, USER_DEBUG_READ_PARAMETER=128, USER_DEBUG_HAS_OPTION_FLAGS=256, USER_DEBUG_HAS_TEXT_ORIENTATION = 512, USER_DEBUG_HAS_PARENT_OBJECT=1024, }; struct UserDebugDrawArgs { double m_debugLineFromXYZ[3]; double m_debugLineToXYZ[3]; double m_debugLineColorRGB[3]; double m_lineWidth; double m_lifeTime; int m_itemUniqueId; char m_text[MAX_FILENAME_LENGTH]; double m_textPositionXYZ[3]; double m_textOrientation[4]; int m_parentObjectUniqueId; int m_parentLinkIndex; double m_textColorRGB[3]; double m_textSize; int m_optionFlags; double m_rangeMin; double m_rangeMax; double m_startValue; double m_objectDebugColorRGB[3]; int m_objectUniqueId; int m_linkIndex; }; struct UserDebugDrawResultArgs { int m_debugItemUniqueId; double m_parameterValue; }; struct SendVREvents { int m_numVRControllerEvents; b3VRControllerEvent m_controllerEvents[MAX_VR_CONTROLLERS]; }; struct SendKeyboardEvents { int m_numKeyboardEvents; b3KeyboardEvent m_keyboardEvents[MAX_KEYBOARD_EVENTS]; }; struct SendMouseEvents { int m_numMouseEvents; b3MouseEvent m_mouseEvents[MAX_MOUSE_EVENTS]; }; enum eVRCameraEnums { VR_CAMERA_ROOT_POSITION=1, VR_CAMERA_ROOT_ORIENTATION=2, VR_CAMERA_ROOT_TRACKING_OBJECT=4, VR_CAMERA_FLAG = 8, }; enum eStateLoggingEnums { STATE_LOGGING_START_LOG=1, STATE_LOGGING_STOP_LOG=2, STATE_LOGGING_FILTER_OBJECT_UNIQUE_ID=4, STATE_LOGGING_MAX_LOG_DOF=8, STATE_LOGGING_FILTER_LINK_INDEX_A=16, STATE_LOGGING_FILTER_LINK_INDEX_B=32, STATE_LOGGING_FILTER_BODY_UNIQUE_ID_A=64, STATE_LOGGING_FILTER_BODY_UNIQUE_ID_B=128, STATE_LOGGING_FILTER_DEVICE_TYPE=256, STATE_LOGGING_LOG_FLAGS=512 }; struct VRCameraState { double m_rootPosition[3]; double m_rootOrientation[4]; int m_trackingObjectUniqueId; int m_trackingObjectFlag; }; struct StateLoggingRequest { char m_fileName[MAX_FILENAME_LENGTH]; int m_logType;//Minitaur, generic robot, VR states, contact points int m_numBodyUniqueIds;////only if STATE_LOGGING_FILTER_OBJECT_UNIQUE_ID flag is set int m_bodyUniqueIds[MAX_SDF_BODIES]; int m_loggingUniqueId; int m_maxLogDof; int m_linkIndexA; // only if STATE_LOGGING_FILTER_LINK_INDEX_A flag is set int m_linkIndexB; // only if STATE_LOGGING_FILTER_LINK_INDEX_B flag is set int m_bodyUniqueIdA; // only if STATE_LOGGING_FILTER_BODY_UNIQUE_ID_A flag is set int m_bodyUniqueIdB; // only if STATE_LOGGING_FILTER_BODY_UNIQUE_ID_B flag is set int m_deviceFilterType; //user to select (filter) which VR devices to log int m_logFlags; }; struct StateLoggingResultArgs { int m_loggingUniqueId; }; enum InternalOpenGLVisualizerUpdateFlags { COV_SET_CAMERA_VIEW_MATRIX=1, COV_SET_FLAGS=2, }; struct ConfigureOpenGLVisualizerRequest { double m_cameraDistance; double m_cameraPitch; double m_cameraYaw; double m_cameraTargetPosition[3]; int m_setFlag; int m_setEnabled; }; enum { URDF_GEOM_HAS_RADIUS = 1, }; struct b3CreateUserShapeData { int m_type;//see UrdfGeomTypes int m_hasChildTransform; double m_childPosition[3]; double m_childOrientation[4]; double m_sphereRadius; double m_boxHalfExtents[3]; double m_capsuleRadius; double m_capsuleHeight; int m_hasFromTo; double m_capsuleFrom[3]; double m_capsuleTo[3]; double m_planeNormal[3]; double m_planeConstant; int m_meshFileType; char m_meshFileName[VISUAL_SHAPE_MAX_PATH_LEN]; double m_meshScale[3]; int m_collisionFlags; int m_visualFlags; double m_rgbaColor[4]; double m_specularColor[3]; }; #define MAX_COMPOUND_COLLISION_SHAPES 16 struct b3CreateUserShapeArgs { int m_numUserShapes; b3CreateUserShapeData m_shapes[MAX_COMPOUND_COLLISION_SHAPES]; }; struct b3CreateUserShapeResultArgs { int m_userShapeUniqueId; }; #define MAX_CREATE_MULTI_BODY_LINKS 128 enum eCreateMultiBodyEnum { MULTI_BODY_HAS_BASE=1, MULT_BODY_USE_MAXIMAL_COORDINATES=2, }; struct b3CreateMultiBodyArgs { char m_bodyName[1024]; int m_baseLinkIndex; double m_linkPositions[3*MAX_CREATE_MULTI_BODY_LINKS]; double m_linkOrientations[4*MAX_CREATE_MULTI_BODY_LINKS]; int m_numLinks; double m_linkMasses[MAX_CREATE_MULTI_BODY_LINKS]; double m_linkInertias[MAX_CREATE_MULTI_BODY_LINKS*3]; double m_linkInertialFramePositions[MAX_CREATE_MULTI_BODY_LINKS*3]; double m_linkInertialFrameOrientations[MAX_CREATE_MULTI_BODY_LINKS*4]; int m_linkCollisionShapeUniqueIds[MAX_CREATE_MULTI_BODY_LINKS]; int m_linkVisualShapeUniqueIds[MAX_CREATE_MULTI_BODY_LINKS]; int m_linkParentIndices[MAX_CREATE_MULTI_BODY_LINKS]; int m_linkJointTypes[MAX_CREATE_MULTI_BODY_LINKS]; double m_linkJointAxis[3*MAX_CREATE_MULTI_BODY_LINKS]; #if 0 std::string m_name; std::string m_sourceFile; btTransform m_rootTransformInWorld; btHashMap m_materials; btHashMap m_links; btHashMap m_joints; #endif }; struct b3CreateMultiBodyResultArgs { int m_bodyUniqueId; }; struct b3ChangeTextureArgs { int m_textureUniqueId; int m_width; int m_height; }; struct SharedMemoryCommand { int m_type; smUint64_t m_timeStamp; int m_sequenceNumber; //m_updateFlags is a bit fields to tell which parameters need updating //for example m_updateFlags = SIM_PARAM_UPDATE_DELTA_TIME | SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS; int m_updateFlags; union { struct UrdfArgs m_urdfArguments; struct SdfArgs m_sdfArguments; struct MjcfArgs m_mjcfArguments; struct FileArgs m_fileArguments; struct SdfRequestInfoArgs m_sdfRequestInfoArgs; struct ChangeDynamicsInfoArgs m_changeDynamicsInfoArgs; struct GetDynamicsInfoArgs m_getDynamicsInfoArgs; struct InitPoseArgs m_initPoseArgs; struct b3PhysicsSimulationParameters m_physSimParamArgs; struct BulletDataStreamArgs m_dataStreamArguments; struct SendDesiredStateArgs m_sendDesiredStateCommandArgument; struct RequestActualStateArgs m_requestActualStateInformationCommandArgument; struct CreateSensorArgs m_createSensorArguments; struct CreateBoxShapeArgs m_createBoxShapeArguments; struct RequestDebugLinesArgs m_requestDebugLinesArguments; struct RequestPixelDataArgs m_requestPixelDataArguments; struct PickBodyArgs m_pickBodyArguments; struct ExternalForceArgs m_externalForceArguments; struct CalculateInverseDynamicsArgs m_calculateInverseDynamicsArguments; struct CalculateJacobianArgs m_calculateJacobianArguments; struct CalculateMassMatrixArgs m_calculateMassMatrixArguments; struct b3UserConstraint m_userConstraintArguments; struct RequestContactDataArgs m_requestContactPointArguments; struct RequestOverlappingObjectsArgs m_requestOverlappingObjectsArgs; struct RequestVisualShapeDataArgs m_requestVisualShapeDataArguments; struct UpdateVisualShapeDataArgs m_updateVisualShapeDataArguments; struct LoadTextureArgs m_loadTextureArguments; struct CalculateInverseKinematicsArgs m_calculateInverseKinematicsArguments; struct UserDebugDrawArgs m_userDebugDrawArgs; struct RequestRaycastIntersections m_requestRaycastIntersections; struct LoadBunnyArgs m_loadBunnyArguments; struct VRCameraState m_vrCameraStateArguments; struct StateLoggingRequest m_stateLoggingArguments; struct ConfigureOpenGLVisualizerRequest m_configureOpenGLVisualizerArguments; struct b3ObjectArgs m_removeObjectArgs; struct b3Profile m_profile; struct b3CreateUserShapeArgs m_createUserShapeArgs; struct b3CreateMultiBodyArgs m_createMultiBodyArgs; struct b3RequestCollisionInfoArgs m_requestCollisionInfoArgs; struct b3ChangeTextureArgs m_changeTextureArgs; struct b3SearchPathfArgs m_searchPathArgs; struct b3CustomCommand m_customCommandArgs; }; }; struct RigidBodyCreateArgs { int m_bodyUniqueId; }; struct SendContactDataArgs { int m_startingContactPointIndex; int m_numContactPointsCopied; int m_numRemainingContactPoints; }; struct SendOverlappingObjectsArgs { int m_startingOverlappingObjectIndex; int m_numOverlappingObjectsCopied; int m_numRemainingOverlappingObjects; }; struct SharedMemoryStatus { int m_type; smUint64_t m_timeStamp; int m_sequenceNumber; //m_streamBytes is only for internal purposes int m_numDataStreamBytes; char* m_dataStream; //m_updateFlags is a bit fields to tell which parameters were updated, //m_updateFlags is ignored for most status messages int m_updateFlags; union { struct BulletDataStreamArgs m_dataStreamArguments; struct SdfLoadedArgs m_sdfLoadedArgs; struct SendActualStateArgs m_sendActualStateArgs; struct SendDebugLinesArgs m_sendDebugLinesArgs; struct SendPixelDataArgs m_sendPixelDataArguments; struct RigidBodyCreateArgs m_rigidBodyCreateArgs; struct CalculateInverseDynamicsResultArgs m_inverseDynamicsResultArgs; struct CalculateJacobianResultArgs m_jacobianResultArgs; struct CalculateMassMatrixResultArgs m_massMatrixResultArgs; struct SendContactDataArgs m_sendContactPointArgs; struct SendOverlappingObjectsArgs m_sendOverlappingObjectsArgs; struct CalculateInverseKinematicsResultArgs m_inverseKinematicsResultArgs; struct SendVisualShapeDataArgs m_sendVisualShapeArgs; struct UserDebugDrawResultArgs m_userDebugDrawArgs; struct b3UserConstraint m_userConstraintResultArgs; struct b3UserConstraintState m_userConstraintStateResultArgs; struct SendVREvents m_sendVREvents; struct SendKeyboardEvents m_sendKeyboardEvents; struct SendRaycastHits m_raycastHits; struct StateLoggingResultArgs m_stateLoggingResultArgs; struct b3OpenGLVisualizerCameraInfo m_visualizerCameraResultArgs; struct b3ObjectArgs m_removeObjectArgs; struct b3DynamicsInfo m_dynamicsInfo; struct b3CreateUserShapeResultArgs m_createUserShapeResultArgs; struct b3CreateMultiBodyResultArgs m_createMultiBodyResultArgs; struct b3SendCollisionInfoArgs m_sendCollisionInfoArgs; struct SendMouseEvents m_sendMouseEvents; struct b3LoadTextureResultArgs m_loadTextureResultArguments; struct b3CustomCommandResultArgs m_customCommandResultArgs; struct b3PhysicsSimulationParameters m_simulationParameterResultArgs; }; }; typedef struct SharedMemoryStatus SharedMemoryStatus_t; #endif //SHARED_MEMORY_COMMANDS_H