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https://github.com/bulletphysics/bullet3
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296 lines
8.2 KiB
C
296 lines
8.2 KiB
C
#ifndef SHARED_MEMORY_PUBLIC_H
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#define SHARED_MEMORY_PUBLIC_H
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#define SHARED_MEMORY_KEY 12347
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enum EnumSharedMemoryClientCommand
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{
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CMD_LOAD_SDF,
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CMD_LOAD_URDF,
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CMD_LOAD_BULLET,
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CMD_SAVE_BULLET,
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CMD_LOAD_MJCF,
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CMD_LOAD_BUNNY,
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CMD_SEND_BULLET_DATA_STREAM,
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CMD_CREATE_BOX_COLLISION_SHAPE,
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CMD_CREATE_RIGID_BODY,
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CMD_DELETE_RIGID_BODY,
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CMD_CREATE_SENSOR,///enable or disable joint feedback for force/torque sensors
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CMD_INIT_POSE,
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CMD_SEND_PHYSICS_SIMULATION_PARAMETERS,
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CMD_SEND_DESIRED_STATE,//todo: reconsider naming, for example SET_JOINT_CONTROL_VARIABLE?
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CMD_REQUEST_ACTUAL_STATE,
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CMD_REQUEST_DEBUG_LINES,
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CMD_REQUEST_BODY_INFO,
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CMD_REQUEST_INTERNAL_DATA,
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CMD_STEP_FORWARD_SIMULATION,
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CMD_RESET_SIMULATION,
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CMD_PICK_BODY,
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CMD_MOVE_PICKED_BODY,
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CMD_REMOVE_PICKING_CONSTRAINT_BODY,
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CMD_REQUEST_CAMERA_IMAGE_DATA,
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CMD_APPLY_EXTERNAL_FORCE,
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CMD_CALCULATE_INVERSE_DYNAMICS,
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CMD_CALCULATE_INVERSE_KINEMATICS,
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CMD_CALCULATE_JACOBIAN,
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CMD_USER_CONSTRAINT,
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CMD_REQUEST_CONTACT_POINT_INFORMATION,
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CMD_REQUEST_AABB_OVERLAP,
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CMD_SAVE_WORLD,
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CMD_REQUEST_VISUAL_SHAPE_INFO,
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CMD_UPDATE_LIGHT,
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CMD_UPDATE_VISUAL_SHAPE,
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CMD_LOAD_TEXTURE,
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CMD_USER_DEBUG_DRAW,
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//don't go beyond this command!
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CMD_MAX_CLIENT_COMMANDS,
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};
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enum EnumSharedMemoryServerStatus
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{
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CMD_SHARED_MEMORY_NOT_INITIALIZED=0,
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CMD_WAITING_FOR_CLIENT_COMMAND,
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//CMD_CLIENT_COMMAND_COMPLETED is a generic 'completed' status that doesn't need special handling on the client
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CMD_CLIENT_COMMAND_COMPLETED,
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//the server will skip unknown command and report a status 'CMD_UNKNOWN_COMMAND_FLUSHED'
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CMD_UNKNOWN_COMMAND_FLUSHED,
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CMD_SDF_LOADING_COMPLETED,
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CMD_SDF_LOADING_FAILED,
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CMD_URDF_LOADING_COMPLETED,
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CMD_URDF_LOADING_FAILED,
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CMD_BULLET_LOADING_COMPLETED,
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CMD_BULLET_LOADING_FAILED,
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CMD_BULLET_SAVING_COMPLETED,
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CMD_BULLET_SAVING_FAILED,
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CMD_MJCF_LOADING_COMPLETED,
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CMD_MJCF_LOADING_FAILED,
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CMD_REQUEST_INTERNAL_DATA_COMPLETED,
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CMD_REQUEST_INTERNAL_DATA_FAILED,
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CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED,
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CMD_BULLET_DATA_STREAM_RECEIVED_FAILED,
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CMD_BOX_COLLISION_SHAPE_CREATION_COMPLETED,
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CMD_RIGID_BODY_CREATION_COMPLETED,
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CMD_SET_JOINT_FEEDBACK_COMPLETED,
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CMD_ACTUAL_STATE_UPDATE_COMPLETED,
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CMD_ACTUAL_STATE_UPDATE_FAILED,
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CMD_DEBUG_LINES_COMPLETED,
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CMD_DEBUG_LINES_OVERFLOW_FAILED,
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CMD_DESIRED_STATE_RECEIVED_COMPLETED,
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CMD_STEP_FORWARD_SIMULATION_COMPLETED,
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CMD_RESET_SIMULATION_COMPLETED,
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CMD_CAMERA_IMAGE_COMPLETED,
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CMD_CAMERA_IMAGE_FAILED,
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CMD_BODY_INFO_COMPLETED,
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CMD_BODY_INFO_FAILED,
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CMD_INVALID_STATUS,
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CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED,
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CMD_CALCULATED_INVERSE_DYNAMICS_FAILED,
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CMD_CALCULATED_JACOBIAN_COMPLETED,
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CMD_CALCULATED_JACOBIAN_FAILED,
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CMD_CONTACT_POINT_INFORMATION_COMPLETED,
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CMD_CONTACT_POINT_INFORMATION_FAILED,
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CMD_REQUEST_AABB_OVERLAP_COMPLETED,
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CMD_REQUEST_AABB_OVERLAP_FAILED,
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CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED,
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CMD_CALCULATE_INVERSE_KINEMATICS_FAILED,
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CMD_SAVE_WORLD_COMPLETED,
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CMD_SAVE_WORLD_FAILED,
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CMD_VISUAL_SHAPE_INFO_COMPLETED,
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CMD_VISUAL_SHAPE_INFO_FAILED,
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CMD_VISUAL_SHAPE_UPDATE_COMPLETED,
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CMD_VISUAL_SHAPE_UPDATE_FAILED,
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CMD_LOAD_TEXTURE_COMPLETED,
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CMD_LOAD_TEXTURE_FAILED,
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CMD_USER_DEBUG_DRAW_COMPLETED,
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CMD_USER_DEBUG_DRAW_FAILED,
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CMD_USER_CONSTRAINT_COMPLETED,
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CMD_USER_CONSTRAINT_FAILED,
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//don't go beyond 'CMD_MAX_SERVER_COMMANDS!
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CMD_MAX_SERVER_COMMANDS
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};
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enum JointInfoFlags
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{
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JOINT_HAS_MOTORIZED_POWER=1,
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};
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enum
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{
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COLLISION_SHAPE_TYPE_BOX=1,
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COLLISION_SHAPE_TYPE_CYLINDER_X,
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COLLISION_SHAPE_TYPE_CYLINDER_Y,
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COLLISION_SHAPE_TYPE_CYLINDER_Z,
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COLLISION_SHAPE_TYPE_CAPSULE_X,
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COLLISION_SHAPE_TYPE_CAPSULE_Y,
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COLLISION_SHAPE_TYPE_CAPSULE_Z,
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COLLISION_SHAPE_TYPE_SPHERE
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};
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// copied from btMultiBodyLink.h
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enum JointType {
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eRevoluteType = 0,
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ePrismaticType = 1,
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eFixedType = 2,
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ePoint2PointType = 3,
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};
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struct b3JointInfo
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{
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char* m_linkName;
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char* m_jointName;
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int m_jointType;
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int m_qIndex;
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int m_uIndex;
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int m_jointIndex;
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int m_flags;
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double m_jointDamping;
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double m_jointFriction;
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double m_parentFrame[7]; // position and orientation (quaternion)
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double m_childFrame[7]; // ^^^
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double m_jointAxis[3]; // joint axis in parent local frame
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};
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struct b3BodyInfo
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{
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const char* m_baseName;
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};
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struct b3JointSensorState
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{
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double m_jointPosition;
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double m_jointVelocity;
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double m_jointForceTorque[6]; /* note to roboticists: this is NOT the motor torque/force, but the spatial reaction force vector at joint */
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double m_jointMotorTorque;
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};
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struct b3DebugLines
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{
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int m_numDebugLines;
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const float* m_linesFrom;//float x,y,z times 'm_numDebugLines'.
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const float* m_linesTo;//float x,y,z times 'm_numDebugLines'.
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const float* m_linesColor;//float red,green,blue times 'm_numDebugLines'.
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};
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struct b3OverlappingObject
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{
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int m_objectUniqueId;
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int m_linkIndex;
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};
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struct b3AABBOverlapData
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{
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int m_numOverlappingObjects;
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struct b3OverlappingObject* m_overlappingObjects;
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};
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struct b3CameraImageData
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{
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int m_pixelWidth;
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int m_pixelHeight;
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const unsigned char* m_rgbColorData;//3*m_pixelWidth*m_pixelHeight bytes
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const float* m_depthValues;//m_pixelWidth*m_pixelHeight floats
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const int* m_segmentationMaskValues;//m_pixelWidth*m_pixelHeight ints
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};
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struct b3ContactPointData
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{
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//todo: expose some contact flags, such as telling which fields below are valid
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int m_contactFlags;
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int m_bodyUniqueIdA;
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int m_bodyUniqueIdB;
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int m_linkIndexA;
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int m_linkIndexB;
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double m_positionOnAInWS[3];//contact point location on object A, in world space coordinates
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double m_positionOnBInWS[3];//contact point location on object A, in world space coordinates
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double m_contactNormalOnBInWS[3];//the separating contact normal, pointing from object B towards object A
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double m_contactDistance;//negative number is penetration, positive is distance.
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double m_normalForce;
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//todo: expose the friction forces as well
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// double m_linearFrictionDirection0[3];
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// double m_linearFrictionForce0;
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// double m_linearFrictionDirection1[3];
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// double m_linearFrictionForce1;
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// double m_angularFrictionDirection[3];
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// double m_angularFrictionForce;
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};
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enum
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{
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CONTACT_QUERY_MODE_REPORT_EXISTING_CONTACT_POINTS = 0,
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CONTACT_QUERY_MODE_COMPUTE_CLOSEST_POINTS = 1,
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};
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struct b3ContactInformation
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{
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int m_numContactPoints;
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struct b3ContactPointData* m_contactPointData;
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};
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#define VISUAL_SHAPE_MAX_PATH_LEN 128
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struct b3VisualShapeData
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{
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int m_objectUniqueId;
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int m_linkIndex;
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int m_visualGeometryType;//box primitive, sphere primitive, triangle mesh
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double m_dimensions[3];//meaning depends on m_visualGeometryType
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char m_meshAssetFileName[VISUAL_SHAPE_MAX_PATH_LEN];
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double m_localInertiaFrame[7];//pos[3], orn[4]
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//todo: add more data if necessary (material color etc, although material can be in asset file .obj file)
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double m_rgbaColor[4];
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};
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struct b3VisualShapeInformation
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{
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int m_numVisualShapes;
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struct b3VisualShapeData* m_visualShapeData;
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};
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///b3LinkState provides extra information such as the Cartesian world coordinates
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///center of mass (COM) of the link, relative to the world reference frame.
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///Orientation is a quaternion x,y,z,w
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///Note: to compute the URDF link frame (which equals the joint frame at joint position 0)
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///use URDF link frame = link COM frame * inertiaFrame.inverse()
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struct b3LinkState
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{
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double m_worldPosition[3];
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double m_worldOrientation[4];
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double m_localInertialPosition[3];
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double m_localInertialOrientation[4];
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};
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//todo: discuss and decide about control mode and combinations
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enum {
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// POSITION_CONTROL=0,
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CONTROL_MODE_VELOCITY=0,
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CONTROL_MODE_TORQUE,
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CONTROL_MODE_POSITION_VELOCITY_PD,
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};
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///flags for b3ApplyExternalTorque and b3ApplyExternalForce
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enum EnumExternalForceFlags
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{
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EF_LINK_FRAME=1,
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EF_WORLD_FRAME=2,
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};
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///flags to pick the renderer for synthetic camera
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enum EnumRenderer
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{
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ER_TINY_RENDERER=(1<<16),
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ER_BULLET_HARDWARE_OPENGL=(1<<17),
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//ER_FIRE_RAYS=(1<<18),
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};
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#endif//SHARED_MEMORY_PUBLIC_H
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