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bullet3/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp

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#include "b3RobotSimulatorClientAPI_NoDirect.h"
#include "PhysicsClientC_API.h"
#include "b3RobotSimulatorClientAPI_InternalData.h"
#include "SharedMemoryPublic.h"
#include "Bullet3Common/b3Logging.h"
static void scalarToDouble3(btScalar a[3], double b[3])
{
for (int i = 0; i < 3; i++)
{
b[i] = a[i];
}
}
static void scalarToDouble4(btScalar a[4], double b[4])
{
for (int i = 0; i < 4; i++)
{
b[i] = a[i];
}
}
b3RobotSimulatorClientAPI_NoDirect::b3RobotSimulatorClientAPI_NoDirect()
{
m_data = new b3RobotSimulatorClientAPI_InternalData();
}
b3RobotSimulatorClientAPI_NoDirect::~b3RobotSimulatorClientAPI_NoDirect()
{
delete m_data;
}
bool b3RobotSimulatorClientAPI_NoDirect::isConnected() const
{
return (m_data->m_physicsClientHandle != 0);
}
void b3RobotSimulatorClientAPI_NoDirect::setTimeOut(double timeOutInSec)
{
if (!isConnected())
{
b3Warning("Not connected");
return;
}
b3SetTimeOut(m_data->m_physicsClientHandle,timeOutInSec);
}
void b3RobotSimulatorClientAPI_NoDirect::disconnect()
{
if (!isConnected())
{
b3Warning("Not connected");
return;
}
#ifndef BT_DISABLE_PHYSICS_DIRECT
b3DisconnectSharedMemory(m_data->m_physicsClientHandle);
m_data->m_physicsClientHandle = 0;
#endif
}
void b3RobotSimulatorClientAPI_NoDirect::syncBodies()
{
if (!isConnected())
{
b3Warning("Not connected");
return;
}
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
command = b3InitSyncBodyInfoCommand(m_data->m_physicsClientHandle);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
statusType = b3GetStatusType(statusHandle);
}
void b3RobotSimulatorClientAPI_NoDirect::resetSimulation()
{
if (!isConnected())
{
b3Warning("Not connected");
return;
}
b3SharedMemoryStatusHandle statusHandle;
statusHandle = b3SubmitClientCommandAndWaitStatus(
m_data->m_physicsClientHandle, b3InitResetSimulationCommand(m_data->m_physicsClientHandle));
}
bool b3RobotSimulatorClientAPI_NoDirect::canSubmitCommand() const
{
if (!isConnected())
{
return false;
}
return (b3CanSubmitCommand(m_data->m_physicsClientHandle) != 0);
}
void b3RobotSimulatorClientAPI_NoDirect::stepSimulation()
{
if (!isConnected())
{
b3Warning("Not connected");
return;
}
b3SharedMemoryStatusHandle statusHandle;
int statusType;
if (b3CanSubmitCommand(m_data->m_physicsClientHandle))
{
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, b3InitStepSimulationCommand(m_data->m_physicsClientHandle));
statusType = b3GetStatusType(statusHandle);
//btAssert(statusType == CMD_STEP_FORWARD_SIMULATION_COMPLETED);
}
}
void b3RobotSimulatorClientAPI_NoDirect::setGravity(const btVector3& gravityAcceleration)
{
if (!isConnected())
{
b3Warning("Not connected");
return;
}
btAssert(b3CanSubmitCommand(m_data->m_physicsClientHandle));
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClientHandle);
b3SharedMemoryStatusHandle statusHandle;
b3PhysicsParamSetGravity(command, gravityAcceleration[0], gravityAcceleration[1], gravityAcceleration[2]);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
// btAssert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
}
btQuaternion b3RobotSimulatorClientAPI_NoDirect::getQuaternionFromEuler(const btVector3& rollPitchYaw)
{
btQuaternion q;
q.setEulerZYX(rollPitchYaw[2],rollPitchYaw[1],rollPitchYaw[0]);
return q;
}
btVector3 b3RobotSimulatorClientAPI_NoDirect::getEulerFromQuaternion(const btQuaternion& quat)
{
btScalar roll,pitch,yaw;
quat.getEulerZYX(yaw,pitch,roll);
btVector3 rpy2 = btVector3(roll,pitch,yaw);
return rpy2;
}
int b3RobotSimulatorClientAPI_NoDirect::loadTexture(const std::string& fileName)
{
if (!isConnected())
{
b3Warning("Not connected");
return -1;
}
btAssert(b3CanSubmitCommand(m_data->m_physicsClientHandle));
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
{
commandHandle = b3InitLoadTexture(m_data->m_physicsClientHandle, fileName.c_str());
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_LOAD_TEXTURE_COMPLETED)
{
return b3GetStatusTextureUniqueId(statusHandle);
}
}
return -1;
}
bool b3RobotSimulatorClientAPI_NoDirect::changeVisualShape(const struct b3RobotSimulatorChangeVisualShapeArgs& args)
{
if (!isConnected())
{
b3Warning("Not connected");
return false;
}
int objectUniqueId = args.m_objectUniqueId;
int jointIndex = args.m_linkIndex;
int shapeIndex = args.m_shapeIndex;
int textureUniqueId = args.m_textureUniqueId;
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
commandHandle = b3InitUpdateVisualShape(m_data->m_physicsClientHandle, objectUniqueId, jointIndex, shapeIndex, textureUniqueId);
if (args.m_hasSpecularColor)
{
double specularColor[3] = {args.m_specularColor[0],args.m_specularColor[1],args.m_specularColor[2]};
b3UpdateVisualShapeSpecularColor(commandHandle,specularColor);
}
if (args.m_hasRgbaColor)
{
double rgbaColor[4] = {args.m_rgbaColor[0],args.m_rgbaColor[1],args.m_rgbaColor[2],args.m_rgbaColor[3]};
b3UpdateVisualShapeRGBAColor(commandHandle,rgbaColor);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
statusType = b3GetStatusType(statusHandle);
return (statusType == CMD_VISUAL_SHAPE_UPDATE_COMPLETED);
}
int b3RobotSimulatorClientAPI_NoDirect::loadURDF(const std::string& fileName, const struct b3RobotSimulatorLoadUrdfFileArgs& args)
{
int robotUniqueId = -1;
if (!isConnected())
{
b3Warning("Not connected");
return robotUniqueId;
}
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle command = b3LoadUrdfCommandInit(m_data->m_physicsClientHandle, fileName.c_str());
//setting the initial position, orientation and other arguments are optional
b3LoadUrdfCommandSetFlags(command,args.m_flags);
b3LoadUrdfCommandSetStartPosition(command, args.m_startPosition[0],
args.m_startPosition[1],
args.m_startPosition[2]);
b3LoadUrdfCommandSetStartOrientation(command, args.m_startOrientation[0], args.m_startOrientation[1], args.m_startOrientation[2], args.m_startOrientation[3]);
if (args.m_forceOverrideFixedBase)
{
b3LoadUrdfCommandSetUseFixedBase(command, true);
}
b3LoadUrdfCommandSetUseMultiBody(command, args.m_useMultiBody);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
statusType = b3GetStatusType(statusHandle);
btAssert(statusType == CMD_URDF_LOADING_COMPLETED);
if (statusType == CMD_URDF_LOADING_COMPLETED)
{
robotUniqueId = b3GetStatusBodyIndex(statusHandle);
}
return robotUniqueId;
}
bool b3RobotSimulatorClientAPI_NoDirect::loadMJCF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results)
{
if (!isConnected())
{
b3Warning("Not connected");
return false;
}
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle command;
command = b3LoadMJCFCommandInit(m_data->m_physicsClientHandle, fileName.c_str());
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_MJCF_LOADING_COMPLETED)
{
b3Warning("Couldn't load .mjcf file.");
return false;
}
int numBodies = b3GetStatusBodyIndices(statusHandle, 0, 0);
if (numBodies)
{
results.m_uniqueObjectIds.resize(numBodies);
int numBodies;
numBodies = b3GetStatusBodyIndices(statusHandle, &results.m_uniqueObjectIds[0], results.m_uniqueObjectIds.size());
}
return true;
}
bool b3RobotSimulatorClientAPI_NoDirect::savePythonWorld(const std::string& fileName)
{
if (!isConnected())
{
b3Warning("Not connected");
return false;
}
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle command;
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (fileName.length()==0)
{
return false;
}
command = b3SaveWorldCommandInit(m_data->m_physicsClientHandle, fileName.c_str());
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_SAVE_WORLD_COMPLETED)
{
return false;
}
return true;
}
bool b3RobotSimulatorClientAPI_NoDirect::saveBullet(const std::string& fileName)
{
if (!isConnected())
{
b3Warning("Not connected");
return false;
}
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle command;
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (fileName.length()==0)
{
return false;
}
command = b3SaveBulletCommandInit(m_data->m_physicsClientHandle, fileName.c_str());
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_BULLET_SAVING_COMPLETED)
{
return false;
}
return true;
}
bool b3RobotSimulatorClientAPI_NoDirect::loadBullet(const std::string& fileName, b3RobotSimulatorLoadFileResults& results)
{
if (!isConnected())
{
b3Warning("Not connected");
return false;
}
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle command;
command = b3LoadBulletCommandInit(m_data->m_physicsClientHandle, fileName.c_str());
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_BULLET_LOADING_COMPLETED)
{
return false;
}
int numBodies = b3GetStatusBodyIndices(statusHandle, 0, 0);
if (numBodies)
{
results.m_uniqueObjectIds.resize(numBodies);
int numBodies;
numBodies = b3GetStatusBodyIndices(statusHandle, &results.m_uniqueObjectIds[0], results.m_uniqueObjectIds.size());
}
return true;
}
bool b3RobotSimulatorClientAPI_NoDirect::loadSDF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results, const struct b3RobotSimulatorLoadSdfFileArgs& args)
{
if (!isConnected())
{
b3Warning("Not connected");
return false;
}
bool statusOk = false;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle command = b3LoadSdfCommandInit(m_data->m_physicsClientHandle, fileName.c_str());
b3LoadSdfCommandSetUseMultiBody(command, args.m_useMultiBody);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
statusType = b3GetStatusType(statusHandle);
btAssert(statusType == CMD_SDF_LOADING_COMPLETED);
if (statusType == CMD_SDF_LOADING_COMPLETED)
{
int numBodies = b3GetStatusBodyIndices(statusHandle, 0, 0);
if (numBodies)
{
results.m_uniqueObjectIds.resize(numBodies);
int numBodies;
numBodies = b3GetStatusBodyIndices(statusHandle, &results.m_uniqueObjectIds[0], results.m_uniqueObjectIds.size());
}
statusOk = true;
}
return statusOk;
}
bool b3RobotSimulatorClientAPI_NoDirect::getBodyInfo(int bodyUniqueId, struct b3BodyInfo* bodyInfo)
{
if (!isConnected())
{
b3Warning("Not connected");
return false;
}
int result = b3GetBodyInfo(m_data->m_physicsClientHandle, bodyUniqueId, bodyInfo);
return (result != 0);
}
bool b3RobotSimulatorClientAPI_NoDirect::getBasePositionAndOrientation(int bodyUniqueId, btVector3& basePosition, btQuaternion& baseOrientation) const
{
if (!isConnected())
{
b3Warning("Not connected");
return false;
}
b3SharedMemoryCommandHandle cmd_handle =
b3RequestActualStateCommandInit(m_data->m_physicsClientHandle, bodyUniqueId);
b3SharedMemoryStatusHandle status_handle =
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, cmd_handle);
const int status_type = b3GetStatusType(status_handle);
const double* actualStateQ;
if (status_type != CMD_ACTUAL_STATE_UPDATE_COMPLETED)
{
return false;
}
b3GetStatusActualState(
status_handle, 0 /* body_unique_id */,
0 /* num_degree_of_freedom_q */, 0 /* num_degree_of_freedom_u */,
0 /*root_local_inertial_frame*/, &actualStateQ,
0 /* actual_state_q_dot */, 0 /* joint_reaction_forces */);
basePosition[0] = actualStateQ[0];
basePosition[1] = actualStateQ[1];
basePosition[2] = actualStateQ[2];
baseOrientation[0] = actualStateQ[3];
baseOrientation[1] = actualStateQ[4];
baseOrientation[2] = actualStateQ[5];
baseOrientation[3] = actualStateQ[6];
return true;
}
bool b3RobotSimulatorClientAPI_NoDirect::resetBasePositionAndOrientation(int bodyUniqueId, btVector3& basePosition, btQuaternion& baseOrientation)
{
if (!isConnected())
{
b3Warning("Not connected");
return false;
}
b3SharedMemoryCommandHandle commandHandle;
commandHandle = b3CreatePoseCommandInit(m_data->m_physicsClientHandle, bodyUniqueId);
b3CreatePoseCommandSetBasePosition(commandHandle, basePosition[0], basePosition[1], basePosition[2]);
b3CreatePoseCommandSetBaseOrientation(commandHandle, baseOrientation[0], baseOrientation[1],
baseOrientation[2], baseOrientation[3]);
b3SharedMemoryStatusHandle statusHandle;
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
return true;
}
bool b3RobotSimulatorClientAPI_NoDirect::getBaseVelocity(int bodyUniqueId, btVector3& baseLinearVelocity, btVector3& baseAngularVelocity) const
{
if (!isConnected())
{
b3Warning("Not connected");
return false;
}
b3SharedMemoryCommandHandle command = b3RequestActualStateCommandInit(m_data->m_physicsClientHandle, bodyUniqueId);
b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
const int status_type = b3GetStatusType(statusHandle);
const double* actualStateQdot;
if (status_type != CMD_ACTUAL_STATE_UPDATE_COMPLETED)
{
return false;
}
b3GetStatusActualState(statusHandle, 0 /* body_unique_id */,
0 /* num_degree_of_freedom_q */, 0 /* num_degree_of_freedom_u */,
0 /*root_local_inertial_frame*/, 0,
&actualStateQdot, 0 /* joint_reaction_forces */);
baseLinearVelocity[0] = actualStateQdot[0];
baseLinearVelocity[1] = actualStateQdot[1];
baseLinearVelocity[2] = actualStateQdot[2];
baseAngularVelocity[0] = actualStateQdot[3];
baseAngularVelocity[1] = actualStateQdot[4];
baseAngularVelocity[2] = actualStateQdot[5];
return true;
}
bool b3RobotSimulatorClientAPI_NoDirect::resetBaseVelocity(int bodyUniqueId, const btVector3& linearVelocity, const btVector3& angularVelocity) const
{
if (!isConnected())
{
b3Warning("Not connected");
return false;
}
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
commandHandle = b3CreatePoseCommandInit(m_data->m_physicsClientHandle, bodyUniqueId);
btVector3DoubleData linVelDouble;
linearVelocity.serializeDouble(linVelDouble);
b3CreatePoseCommandSetBaseLinearVelocity(commandHandle, linVelDouble.m_floats);
btVector3DoubleData angVelDouble;
angularVelocity.serializeDouble(angVelDouble);
b3CreatePoseCommandSetBaseAngularVelocity(commandHandle, angVelDouble.m_floats);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
return true;
}
void b3RobotSimulatorClientAPI_NoDirect::setInternalSimFlags(int flags)
{
if (!isConnected())
{
b3Warning("Not connected");
return;
}
{
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClientHandle);
b3SharedMemoryStatusHandle statusHandle;
b3PhysicsParamSetInternalSimFlags(command, flags);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
}
}
void b3RobotSimulatorClientAPI_NoDirect::setRealTimeSimulation(bool enableRealTimeSimulation)
{
if (!isConnected())
{
b3Warning("Not connected");
return;
}
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClientHandle);
b3SharedMemoryStatusHandle statusHandle;
b3PhysicsParamSetRealTimeSimulation(command, enableRealTimeSimulation);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
btAssert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
}
int b3RobotSimulatorClientAPI_NoDirect::getNumJoints(int bodyUniqueId) const
{
if (!isConnected())
{
b3Warning("Not connected");
return false;
}
return b3GetNumJoints(m_data->m_physicsClientHandle, bodyUniqueId);
}
bool b3RobotSimulatorClientAPI_NoDirect::getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo* jointInfo)
{
if (!isConnected())
{
b3Warning("Not connected");
return false;
}
return (b3GetJointInfo(m_data->m_physicsClientHandle, bodyUniqueId, jointIndex, jointInfo) != 0);
}
int b3RobotSimulatorClientAPI_NoDirect::createConstraint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo)
{
if (!isConnected())
{
b3Warning("Not connected");
return -1;
}
b3SharedMemoryStatusHandle statusHandle;
btAssert(b3CanSubmitCommand(m_data->m_physicsClientHandle));
if (b3CanSubmitCommand(m_data->m_physicsClientHandle))
{
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, b3InitCreateUserConstraintCommand(m_data->m_physicsClientHandle, parentBodyIndex, parentJointIndex, childBodyIndex, childJointIndex, jointInfo));
int statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_USER_CONSTRAINT_COMPLETED)
{
int userConstraintUid = b3GetStatusUserConstraintUniqueId(statusHandle);
return userConstraintUid;
}
}
return -1;
}
int b3RobotSimulatorClientAPI_NoDirect::changeConstraint(int constraintId, b3JointInfo* jointInfo)
{
if (!isConnected())
{
b3Warning("Not connected");
return -1;
}
b3SharedMemoryCommandHandle commandHandle = b3InitChangeUserConstraintCommand(m_data->m_physicsClientHandle, constraintId);
if (jointInfo->m_flags & eJointChangeMaxForce)
{
b3InitChangeUserConstraintSetMaxForce(commandHandle, jointInfo->m_jointMaxForce);
}
if (jointInfo->m_flags & eJointChangeChildFramePosition)
{
b3InitChangeUserConstraintSetPivotInB(commandHandle, &jointInfo->m_childFrame[0]);
}
if (jointInfo->m_flags & eJointChangeChildFrameOrientation)
{
b3InitChangeUserConstraintSetFrameInB(commandHandle, &jointInfo->m_childFrame[3]);
}
b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
int statusType = b3GetStatusType(statusHandle);
return statusType;
}
void b3RobotSimulatorClientAPI_NoDirect::removeConstraint(int constraintId)
{
if (!isConnected())
{
b3Warning("Not connected");
return;
}
b3SharedMemoryCommandHandle commandHandle = b3InitRemoveUserConstraintCommand(m_data->m_physicsClientHandle, constraintId);
b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
b3GetStatusType(statusHandle);
}
bool b3RobotSimulatorClientAPI_NoDirect::getConstraintInfo(int constraintUniqueId, struct b3UserConstraint& constraintInfo)
{
if (!isConnected())
{
b3Warning("Not connected");
return false;
}
if (b3GetUserConstraintInfo(m_data->m_physicsClientHandle, constraintUniqueId, &constraintInfo))
{
return true;
}
return false;
}
bool b3RobotSimulatorClientAPI_NoDirect::getJointState(int bodyUniqueId, int jointIndex, struct b3JointSensorState* state)
{
if (!isConnected())
{
b3Warning("Not connected");
return false;
}
b3SharedMemoryCommandHandle command = b3RequestActualStateCommandInit(m_data->m_physicsClientHandle, bodyUniqueId);
b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
int statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_ACTUAL_STATE_UPDATE_COMPLETED)
{
if (b3GetJointState(m_data->m_physicsClientHandle, statusHandle, jointIndex, state))
{
return true;
}
}
return false;
}
bool b3RobotSimulatorClientAPI_NoDirect::getJointStates(int bodyUniqueId, b3JointStates2& state)
{
if (!isConnected())
{
b3Warning("Not connected");
return false;
}
b3SharedMemoryCommandHandle command = b3RequestActualStateCommandInit(m_data->m_physicsClientHandle,bodyUniqueId);
b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
if (statusHandle)
{
// double rootInertialFrame[7];
const double* rootLocalInertialFrame;
const double* actualStateQ;
const double* actualStateQdot;
const double* jointReactionForces;
int stat = b3GetStatusActualState(statusHandle,
&state.m_bodyUniqueId,
&state.m_numDegreeOfFreedomQ,
&state.m_numDegreeOfFreedomU,
&rootLocalInertialFrame,
&actualStateQ,
&actualStateQdot,
&jointReactionForces);
if (stat)
{
state.m_actualStateQ.resize(state.m_numDegreeOfFreedomQ);
state.m_actualStateQdot.resize(state.m_numDegreeOfFreedomU);
for (int i=0;i<state.m_numDegreeOfFreedomQ;i++)
{
state.m_actualStateQ[i] = actualStateQ[i];
}
for (int i=0;i<state.m_numDegreeOfFreedomU;i++)
{
state.m_actualStateQdot[i] = actualStateQdot[i];
}
int numJoints = getNumJoints(bodyUniqueId);
state.m_jointReactionForces.resize(6*numJoints);
for (int i=0;i<numJoints*6;i++)
{
state.m_jointReactionForces[i] = jointReactionForces[i];
}
return true;
}
//rootInertialFrame,
// &state.m_actualStateQ[0],
// &state.m_actualStateQdot[0],
// &state.m_jointReactionForces[0]);
}
return false;
}
bool b3RobotSimulatorClientAPI_NoDirect::resetJointState(int bodyUniqueId, int jointIndex, double targetValue)
{
if (!isConnected())
{
b3Warning("Not connected");
return false;
}
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int numJoints;
numJoints = b3GetNumJoints(m_data->m_physicsClientHandle, bodyUniqueId);
if ((jointIndex >= numJoints) || (jointIndex < 0))
{
return false;
}
commandHandle = b3CreatePoseCommandInit(m_data->m_physicsClientHandle, bodyUniqueId);
b3CreatePoseCommandSetJointPosition(m_data->m_physicsClientHandle, commandHandle, jointIndex,
targetValue);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
return false;
}
void b3RobotSimulatorClientAPI_NoDirect::setJointMotorControl(int bodyUniqueId, int jointIndex, const b3RobotSimulatorJointMotorArgs& args)
{
if (!isConnected())
{
b3Warning("Not connected");
return;
}
b3SharedMemoryStatusHandle statusHandle;
switch (args.m_controlMode)
{
case CONTROL_MODE_VELOCITY:
{
b3SharedMemoryCommandHandle command = b3JointControlCommandInit2(m_data->m_physicsClientHandle, bodyUniqueId, CONTROL_MODE_VELOCITY);
b3JointInfo jointInfo;
b3GetJointInfo(m_data->m_physicsClientHandle, bodyUniqueId, jointIndex, &jointInfo);
int uIndex = jointInfo.m_uIndex;
b3JointControlSetKd(command, uIndex, args.m_kd);
b3JointControlSetDesiredVelocity(command, uIndex, args.m_targetVelocity);
b3JointControlSetMaximumForce(command, uIndex, args.m_maxTorqueValue);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
break;
}
case CONTROL_MODE_POSITION_VELOCITY_PD:
{
b3SharedMemoryCommandHandle command = b3JointControlCommandInit2(m_data->m_physicsClientHandle, bodyUniqueId, CONTROL_MODE_POSITION_VELOCITY_PD);
b3JointInfo jointInfo;
b3GetJointInfo(m_data->m_physicsClientHandle, bodyUniqueId, jointIndex, &jointInfo);
int uIndex = jointInfo.m_uIndex;
int qIndex = jointInfo.m_qIndex;
b3JointControlSetDesiredPosition(command, qIndex, args.m_targetPosition);
b3JointControlSetKp(command, uIndex, args.m_kp);
b3JointControlSetDesiredVelocity(command, uIndex, args.m_targetVelocity);
b3JointControlSetKd(command, uIndex, args.m_kd);
b3JointControlSetMaximumForce(command, uIndex, args.m_maxTorqueValue);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
break;
}
case CONTROL_MODE_TORQUE:
{
b3SharedMemoryCommandHandle command = b3JointControlCommandInit2(m_data->m_physicsClientHandle, bodyUniqueId, CONTROL_MODE_TORQUE);
b3JointInfo jointInfo;
b3GetJointInfo(m_data->m_physicsClientHandle, bodyUniqueId, jointIndex, &jointInfo);
int uIndex = jointInfo.m_uIndex;
b3JointControlSetDesiredForceTorque(command, uIndex, args.m_maxTorqueValue);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
break;
}
case CONTROL_MODE_PD:
{
b3SharedMemoryCommandHandle command = b3JointControlCommandInit2(m_data->m_physicsClientHandle, bodyUniqueId, CONTROL_MODE_PD);
b3JointInfo jointInfo;
b3GetJointInfo(m_data->m_physicsClientHandle, bodyUniqueId, jointIndex, &jointInfo);
int uIndex = jointInfo.m_uIndex;
int qIndex = jointInfo.m_qIndex;
b3JointControlSetDesiredPosition(command, qIndex, args.m_targetPosition);
b3JointControlSetKp(command, uIndex, args.m_kp);
b3JointControlSetDesiredVelocity(command, uIndex, args.m_targetVelocity);
b3JointControlSetKd(command, uIndex, args.m_kd);
b3JointControlSetMaximumForce(command, uIndex, args.m_maxTorqueValue);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
break;
}
default:
{
b3Error("Unknown control command in b3RobotSimulationClientAPI::setJointMotorControl");
}
}
}
void b3RobotSimulatorClientAPI_NoDirect::setNumSolverIterations(int numIterations)
{
if (!isConnected())
{
b3Warning("Not connected");
return;
}
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClientHandle);
b3SharedMemoryStatusHandle statusHandle;
b3PhysicsParamSetNumSolverIterations(command, numIterations);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
btAssert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
}
void b3RobotSimulatorClientAPI_NoDirect::setContactBreakingThreshold(double threshold)
{
if (!isConnected())
{
b3Warning("Not connected");
return;
}
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClientHandle);
b3SharedMemoryStatusHandle statusHandle;
b3PhysicsParamSetContactBreakingThreshold(command,threshold);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
btAssert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
}
void b3RobotSimulatorClientAPI_NoDirect::setTimeStep(double timeStepInSeconds)
{
if (!isConnected())
{
b3Warning("Not connected");
return;
}
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClientHandle);
b3SharedMemoryStatusHandle statusHandle;
int ret;
ret = b3PhysicsParamSetTimeStep(command, timeStepInSeconds);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
}
void b3RobotSimulatorClientAPI_NoDirect::setNumSimulationSubSteps(int numSubSteps)
{
if (!isConnected())
{
b3Warning("Not connected");
return;
}
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClientHandle);
b3SharedMemoryStatusHandle statusHandle;
b3PhysicsParamSetNumSubSteps(command, numSubSteps);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
btAssert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
}
bool b3RobotSimulatorClientAPI_NoDirect::calculateInverseKinematics(const struct b3RobotSimulatorInverseKinematicArgs& args, struct b3RobotSimulatorInverseKinematicsResults& results)
{
if (!isConnected())
{
b3Warning("Not connected");
return false;
}
btAssert(args.m_endEffectorLinkIndex >= 0);
btAssert(args.m_bodyUniqueId >= 0);
b3SharedMemoryCommandHandle command = b3CalculateInverseKinematicsCommandInit(m_data->m_physicsClientHandle, args.m_bodyUniqueId);
if ((args.m_flags & B3_HAS_IK_TARGET_ORIENTATION) && (args.m_flags & B3_HAS_NULL_SPACE_VELOCITY))
{
b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(command, args.m_numDegreeOfFreedom, args.m_endEffectorLinkIndex, args.m_endEffectorTargetPosition, args.m_endEffectorTargetOrientation, &args.m_lowerLimits[0], &args.m_upperLimits[0], &args.m_jointRanges[0], &args.m_restPoses[0]);
}
else if (args.m_flags & B3_HAS_IK_TARGET_ORIENTATION)
{
b3CalculateInverseKinematicsAddTargetPositionWithOrientation(command, args.m_endEffectorLinkIndex, args.m_endEffectorTargetPosition, args.m_endEffectorTargetOrientation);
}
else if (args.m_flags & B3_HAS_NULL_SPACE_VELOCITY)
{
b3CalculateInverseKinematicsPosWithNullSpaceVel(command, args.m_numDegreeOfFreedom, args.m_endEffectorLinkIndex, args.m_endEffectorTargetPosition, &args.m_lowerLimits[0], &args.m_upperLimits[0], &args.m_jointRanges[0], &args.m_restPoses[0]);
}
else
{
b3CalculateInverseKinematicsAddTargetPurePosition(command, args.m_endEffectorLinkIndex, args.m_endEffectorTargetPosition);
}
if (args.m_flags & B3_HAS_JOINT_DAMPING)
{
b3CalculateInverseKinematicsSetJointDamping(command, args.m_numDegreeOfFreedom, &args.m_jointDamping[0]);
}
b3SharedMemoryStatusHandle statusHandle;
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
int numPos = 0;
bool result = b3GetStatusInverseKinematicsJointPositions(statusHandle,
&results.m_bodyUniqueId,
&numPos,
0) != 0;
if (result && numPos)
{
results.m_calculatedJointPositions.resize(numPos);
result = b3GetStatusInverseKinematicsJointPositions(statusHandle,
&results.m_bodyUniqueId,
&numPos,
&results.m_calculatedJointPositions[0]) != 0;
}
return result;
}
bool b3RobotSimulatorClientAPI_NoDirect::getBodyJacobian(int bodyUniqueId, int linkIndex, const double* localPosition, const double* jointPositions, const double* jointVelocities, const double* jointAccelerations, double* linearJacobian, double* angularJacobian)
{
if (!isConnected())
{
b3Warning("Not connected");
return false;
}
b3SharedMemoryCommandHandle command = b3CalculateJacobianCommandInit(m_data->m_physicsClientHandle, bodyUniqueId, linkIndex, localPosition, jointPositions, jointVelocities, jointAccelerations);
b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
if (b3GetStatusType(statusHandle) == CMD_CALCULATED_JACOBIAN_COMPLETED)
{
int dofCount;
b3GetStatusJacobian(statusHandle, &dofCount, linearJacobian, angularJacobian);
return true;
}
return false;
}
bool b3RobotSimulatorClientAPI_NoDirect::getLinkState(int bodyUniqueId, int linkIndex, int computeLinkVelocity, int computeForwardKinematics, b3LinkState* linkState)
{
if (!isConnected()) {
b3Warning("Not connected");
return false;
}
b3SharedMemoryCommandHandle command = b3RequestActualStateCommandInit(m_data->m_physicsClientHandle, bodyUniqueId);
if (computeLinkVelocity) {
b3RequestActualStateCommandComputeLinkVelocity(command, computeLinkVelocity);
}
if (computeForwardKinematics) {
b3RequestActualStateCommandComputeForwardKinematics(command, computeForwardKinematics);
}
b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
if (b3GetStatusType(statusHandle) == CMD_ACTUAL_STATE_UPDATE_COMPLETED) {
b3GetLinkState(m_data->m_physicsClientHandle, statusHandle, linkIndex, linkState);
return true;
}
return false;
}
void b3RobotSimulatorClientAPI_NoDirect::configureDebugVisualizer(b3ConfigureDebugVisualizerEnum flag, int enable)
{
if (!isConnected())
{
b3Warning("Not connected");
return;
}
b3SharedMemoryCommandHandle commandHandle = b3InitConfigureOpenGLVisualizer(m_data->m_physicsClientHandle);
b3ConfigureOpenGLVisualizerSetVisualizationFlags(commandHandle, flag, enable);
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
}
void b3RobotSimulatorClientAPI_NoDirect::getVREvents(b3VREventsData* vrEventsData,int deviceTypeFilter)
{
vrEventsData->m_numControllerEvents = 0;
vrEventsData->m_controllerEvents = 0;
if (!isConnected())
{
b3Warning("Not connected");
return;
}
b3SharedMemoryCommandHandle commandHandle = b3RequestVREventsCommandInit(m_data->m_physicsClientHandle);
b3VREventsSetDeviceTypeFilter(commandHandle, deviceTypeFilter);
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
b3GetVREventsData(m_data->m_physicsClientHandle, vrEventsData);
}
void b3RobotSimulatorClientAPI_NoDirect::getKeyboardEvents(b3KeyboardEventsData* keyboardEventsData)
{
keyboardEventsData->m_numKeyboardEvents = 0;
keyboardEventsData->m_keyboardEvents = 0;
if (!isConnected())
{
b3Warning("Not connected");
return;
}
b3SharedMemoryCommandHandle commandHandle = b3RequestKeyboardEventsCommandInit(m_data->m_physicsClientHandle);
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
b3GetKeyboardEventsData(m_data->m_physicsClientHandle, keyboardEventsData);
}
int b3RobotSimulatorClientAPI_NoDirect::startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const btAlignedObjectArray<int>& objectUniqueIds, int maxLogDof)
{
if (!isConnected())
{
b3Warning("Not connected");
return -1;
}
int loggingUniqueId = -1;
b3SharedMemoryCommandHandle commandHandle;
commandHandle = b3StateLoggingCommandInit(m_data->m_physicsClientHandle);
b3StateLoggingStart(commandHandle, loggingType, fileName.c_str());
for (int i = 0; i < objectUniqueIds.size(); i++)
{
int objectUid = objectUniqueIds[i];
b3StateLoggingAddLoggingObjectUniqueId(commandHandle, objectUid);
}
if (maxLogDof > 0)
{
b3StateLoggingSetMaxLogDof(commandHandle, maxLogDof);
}
b3SharedMemoryStatusHandle statusHandle;
int statusType;
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_STATE_LOGGING_START_COMPLETED)
{
loggingUniqueId = b3GetStatusLoggingUniqueId(statusHandle);
}
return loggingUniqueId;
}
void b3RobotSimulatorClientAPI_NoDirect::stopStateLogging(int stateLoggerUniqueId)
{
if (!isConnected())
{
b3Warning("Not connected");
return;
}
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
commandHandle = b3StateLoggingCommandInit(m_data->m_physicsClientHandle);
b3StateLoggingStop(commandHandle, stateLoggerUniqueId);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
}
void b3RobotSimulatorClientAPI_NoDirect::resetDebugVisualizerCamera(double cameraDistance, double cameraPitch, double cameraYaw, const btVector3& targetPos)
{
if (!isConnected())
{
b3Warning("Not connected");
return;
}
b3SharedMemoryCommandHandle commandHandle = b3InitConfigureOpenGLVisualizer(m_data->m_physicsClientHandle);
if (commandHandle)
{
if ((cameraDistance >= 0))
{
btVector3FloatData camTargetPos;
targetPos.serializeFloat(camTargetPos);
b3ConfigureOpenGLVisualizerSetViewMatrix(commandHandle, cameraDistance, cameraPitch, cameraYaw, camTargetPos.m_floats);
}
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
}
}
void b3RobotSimulatorClientAPI_NoDirect::submitProfileTiming(const std::string& profileName, int durationInMicroSeconds)
{
if (!isConnected())
{
b3Warning("Not connected");
return;
}
b3SharedMemoryCommandHandle commandHandle = b3ProfileTimingCommandInit(m_data->m_physicsClientHandle, profileName.c_str());
if (durationInMicroSeconds>=0)
{
b3SetProfileTimingDuractionInMicroSeconds(commandHandle, durationInMicroSeconds);
}
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
}
void b3RobotSimulatorClientAPI_NoDirect::loadSoftBody(const std::string& fileName, double scale, double mass, double collisionMargin)
{
if (!isConnected())
{
b3Warning("Not connected");
return;
}
b3SharedMemoryCommandHandle command = b3LoadSoftBodyCommandInit(m_data->m_physicsClientHandle, fileName.c_str());
b3LoadSoftBodySetScale(command, scale);
b3LoadSoftBodySetMass(command, mass);
b3LoadSoftBodySetCollisionMargin(command, collisionMargin);
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
}
void b3RobotSimulatorClientAPI_NoDirect::getMouseEvents(b3MouseEventsData* mouseEventsData)
{
mouseEventsData->m_numMouseEvents = 0;
mouseEventsData->m_mouseEvents = 0;
if (!isConnected()) {
b3Warning("Not connected");
return;
}
b3SharedMemoryCommandHandle command = b3RequestMouseEventsCommandInit(m_data->m_physicsClientHandle);
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
b3GetMouseEventsData(m_data->m_physicsClientHandle, mouseEventsData);
}
bool b3RobotSimulatorClientAPI_NoDirect::getCameraImage(int width, int height, struct b3RobotSimulatorGetCameraImageArgs args, struct b3CameraImageData &imageData)
{
if (!isConnected()) {
b3Warning("Not connected");
return false;
}
b3SharedMemoryCommandHandle command;
command = b3InitRequestCameraImage(m_data->m_physicsClientHandle);
b3RequestCameraImageSetPixelResolution(command, width, height);
// Check and apply optional arguments
if (args.m_viewMatrix && args.m_projectionMatrix) {
b3RequestCameraImageSetCameraMatrices(command, args.m_viewMatrix, args.m_projectionMatrix);
}
if (args.m_lightDirection != NULL) {
b3RequestCameraImageSetLightDirection(command, args.m_lightDirection);
}
if (args.m_lightColor != NULL) {
b3RequestCameraImageSetLightColor(command, args.m_lightColor);
}
if (args.m_lightDistance>=0) {
b3RequestCameraImageSetLightDistance(command, args.m_lightDistance);
}
if (args.m_hasShadow>=0) {
b3RequestCameraImageSetShadow(command, args.m_hasShadow);
}
if (args.m_lightAmbientCoeff>=0) {
b3RequestCameraImageSetLightAmbientCoeff(command, args.m_lightAmbientCoeff);
}
if (args.m_lightDiffuseCoeff>=0) {
b3RequestCameraImageSetLightDiffuseCoeff(command, args.m_lightDiffuseCoeff);
}
if (args.m_lightSpecularCoeff>=0) {
b3RequestCameraImageSetLightSpecularCoeff(command, args.m_lightSpecularCoeff);
}
if (args.m_renderer>=0) {
b3RequestCameraImageSelectRenderer(command, args.m_renderer);
}
// Actually retrieve the image
if (b3CanSubmitCommand(m_data->m_physicsClientHandle)) {
b3SharedMemoryStatusHandle statusHandle;
int statusType;
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_CAMERA_IMAGE_COMPLETED) {
b3GetCameraImageData(m_data->m_physicsClientHandle, &imageData);
}
} else {
return false;
}
return true;
}
bool b3RobotSimulatorClientAPI_NoDirect::calculateInverseDynamics(int bodyUniqueId, double *jointPositions, double *jointVelocities,
double *jointAccelerations, double *jointForcesOutput)
{
if (!isConnected()) {
b3Warning("Not connected");
return false;
}
b3GetNumJoints(m_data->m_physicsClientHandle, bodyUniqueId);
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle commandHandle = b3CalculateInverseDynamicsCommandInit(m_data->m_physicsClientHandle, bodyUniqueId, jointPositions,
jointVelocities, jointAccelerations);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED) {
int bodyUniqueId;
int dofCount;
b3GetStatusInverseDynamicsJointForces(statusHandle, &bodyUniqueId, &dofCount, 0);
if (dofCount) {
b3GetStatusInverseDynamicsJointForces(statusHandle, 0, 0, jointForcesOutput);
return true;
}
}
return false;
}
int b3RobotSimulatorClientAPI_NoDirect::getNumBodies() const
{
if (!isConnected()) {
b3Warning("Not connected");
return false;
}
return b3GetNumBodies(m_data->m_physicsClientHandle);
}
int b3RobotSimulatorClientAPI_NoDirect::getBodyUniqueId(int bodyId) const
{
if (!isConnected()) {
b3Warning("Not connected");
return false;
}
return b3GetBodyUniqueId(m_data->m_physicsClientHandle, bodyId);
}
bool b3RobotSimulatorClientAPI_NoDirect::removeBody(int bodyUniqueId)
{
if (!isConnected()) {
b3Warning("Not connected");
return false;
}
b3SharedMemoryStatusHandle statusHandle;
int statusType;
if (b3CanSubmitCommand(m_data->m_physicsClientHandle)) {
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, b3InitRemoveBodyCommand(m_data->m_physicsClientHandle, bodyUniqueId));
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_REMOVE_BODY_COMPLETED) {
return true;
} else {
b3Warning("getDynamicsInfo did not complete");
return false;
}
}
b3Warning("removeBody could not submit command");
return false;
}
bool b3RobotSimulatorClientAPI_NoDirect::getDynamicsInfo(int bodyUniqueId, int linkIndex, b3DynamicsInfo *dynamicsInfo) {
if (!isConnected()) {
b3Warning("Not connected");
return false;
}
int status_type = 0;
b3SharedMemoryCommandHandle cmd_handle;
b3SharedMemoryStatusHandle status_handle;
// struct b3DynamicsInfo info;
if (bodyUniqueId < 0) {
b3Warning("getDynamicsInfo failed; invalid bodyUniqueId");
return false;
}
if (linkIndex < -1) {
b3Warning("getDynamicsInfo failed; invalid linkIndex");
return false;
}
if (b3CanSubmitCommand(m_data->m_physicsClientHandle)) {
cmd_handle = b3GetDynamicsInfoCommandInit(m_data->m_physicsClientHandle, bodyUniqueId, linkIndex);
status_handle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, cmd_handle);
status_type = b3GetStatusType(status_handle);
if (status_type == CMD_GET_DYNAMICS_INFO_COMPLETED) {
b3GetDynamicsInfo(status_handle, dynamicsInfo);
return true;
} else {
b3Warning("getDynamicsInfo did not complete");
return false;
}
}
b3Warning("getDynamicsInfo could not submit command");
return false;
}
bool b3RobotSimulatorClientAPI_NoDirect::changeDynamics(int bodyUniqueId, int linkIndex, struct b3RobotSimulatorChangeDynamicsArgs &args)
{
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) {
b3Warning("Not connected to physics server.");
return false;
}
b3SharedMemoryCommandHandle command = b3InitChangeDynamicsInfo(sm);
b3SharedMemoryStatusHandle statusHandle;
if (args.m_mass >= 0) {
b3ChangeDynamicsInfoSetMass(command, bodyUniqueId, linkIndex, args.m_mass);
}
if (args.m_lateralFriction >= 0) {
b3ChangeDynamicsInfoSetLateralFriction(command, bodyUniqueId, linkIndex, args.m_lateralFriction);
}
if (args.m_spinningFriction>=0) {
b3ChangeDynamicsInfoSetSpinningFriction(command, bodyUniqueId, linkIndex, args.m_spinningFriction);
}
if (args.m_rollingFriction>=0) {
b3ChangeDynamicsInfoSetRollingFriction(command, bodyUniqueId, linkIndex, args.m_rollingFriction);
}
if (args.m_linearDamping>=0) {
b3ChangeDynamicsInfoSetLinearDamping(command, bodyUniqueId, args.m_linearDamping);
}
if (args.m_angularDamping>=0) {
b3ChangeDynamicsInfoSetAngularDamping(command, bodyUniqueId, args.m_angularDamping);
}
if (args.m_restitution>=0) {
b3ChangeDynamicsInfoSetRestitution(command, bodyUniqueId, linkIndex, args.m_restitution);
}
if (args.m_contactStiffness>=0 && args.m_contactDamping >=0) {
b3ChangeDynamicsInfoSetContactStiffnessAndDamping(command, bodyUniqueId, linkIndex, args.m_contactStiffness, args.m_contactDamping);
}
if (args.m_frictionAnchor>=0) {
b3ChangeDynamicsInfoSetFrictionAnchor(command, bodyUniqueId,linkIndex, args.m_frictionAnchor);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
return true;
}
int b3RobotSimulatorClientAPI_NoDirect::addUserDebugParameter(char * paramName, double rangeMin, double rangeMax, double startValue) {
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) {
b3Warning("Not connected to physics server.");
return -1;
}
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
commandHandle = b3InitUserDebugAddParameter(sm, paramName, rangeMin, rangeMax, startValue);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_USER_DEBUG_DRAW_COMPLETED) {
int debugItemUniqueId = b3GetDebugItemUniqueId(statusHandle);
return debugItemUniqueId;
}
b3Warning("addUserDebugParameter failed.");
return -1;
}
double b3RobotSimulatorClientAPI_NoDirect::readUserDebugParameter(int itemUniqueId) {
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) {
b3Warning("Not connected to physics server.");
return 0;
}
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
commandHandle = b3InitUserDebugReadParameter(sm, itemUniqueId);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_USER_DEBUG_DRAW_PARAMETER_COMPLETED) {
double paramValue = 0.f;
int ok = b3GetStatusDebugParameterValue(statusHandle, &paramValue);
if (ok) {
return paramValue;
}
}
b3Warning("readUserDebugParameter failed.");
return 0;
}
bool b3RobotSimulatorClientAPI_NoDirect::removeUserDebugItem(int itemUniqueId) {
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) {
b3Warning("Not connected to physics server.");
return false;
}
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
commandHandle = b3InitUserDebugDrawRemove(sm, itemUniqueId);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
return true;
}
int b3RobotSimulatorClientAPI_NoDirect::addUserDebugText(char *text, double *textPosition, struct b3RobotSimulatorAddUserDebugTextArgs & args)
{
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) {
b3Warning("Not connected to physics server.");
return -1;
}
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
commandHandle = b3InitUserDebugDrawAddText3D(sm, text, textPosition, &args.m_colorRGB[0], args.m_size, args.m_lifeTime);
if (args.m_parentObjectUniqueId>=0) {
b3UserDebugItemSetParentObject(commandHandle, args.m_parentObjectUniqueId, args.m_parentLinkIndex);
}
if (args.m_flags & DEBUG_TEXT_HAS_ORIENTATION) {
b3UserDebugTextSetOrientation(commandHandle, &args.m_textOrientation[0]);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_USER_DEBUG_DRAW_COMPLETED) {
int debugItemUniqueId = b3GetDebugItemUniqueId(statusHandle);
return debugItemUniqueId;
}
b3Warning("addUserDebugText3D failed.");
return -1;
}
int b3RobotSimulatorClientAPI_NoDirect::addUserDebugText(char *text, btVector3 &textPosition, struct b3RobotSimulatorAddUserDebugTextArgs & args)
{
double dposXYZ[3];
dposXYZ[0] = textPosition.x();
dposXYZ[1] = textPosition.y();
dposXYZ[2] = textPosition.z();
return addUserDebugText(text, &dposXYZ[0], args);
}
int b3RobotSimulatorClientAPI_NoDirect::addUserDebugLine(double *fromXYZ, double *toXYZ, struct b3RobotSimulatorAddUserDebugLineArgs & args)
{
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) {
b3Warning("Not connected to physics server.");
return -1;
}
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
commandHandle = b3InitUserDebugDrawAddLine3D(sm, fromXYZ, toXYZ, &args.m_colorRGB[0], args.m_lineWidth, args.m_lifeTime);
if (args.m_parentObjectUniqueId>=0) {
b3UserDebugItemSetParentObject(commandHandle, args.m_parentObjectUniqueId, args.m_parentLinkIndex);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_USER_DEBUG_DRAW_COMPLETED) {
int debugItemUniqueId = b3GetDebugItemUniqueId(statusHandle);
return debugItemUniqueId;
}
b3Warning("addUserDebugLine failed.");
return -1;
}
int b3RobotSimulatorClientAPI_NoDirect::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();
dtoXYZ[0] = toXYZ.x();
dtoXYZ[1] = toXYZ.y();
dtoXYZ[2] = toXYZ.z();
return addUserDebugLine(&dfromXYZ[0], &dtoXYZ[0], args);
}
bool b3RobotSimulatorClientAPI_NoDirect::setJointMotorControlArray(int bodyUniqueId, struct b3RobotSimulatorJointMotorArrayArgs &args)
{
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) {
b3Warning("Not connected to physics server.");
return false;
}
b3GetNumJoints(sm, bodyUniqueId);
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
// int statusType;
struct b3JointInfo info;
commandHandle = b3JointControlCommandInit2(sm, bodyUniqueId, args.m_controlMode);
for (int i=0;i<args.m_numControlledDofs;i++) {
double targetVelocity = 0.0;
double targetPosition = 0.0;
double force = 100000.0;
double kp = 0.1;
double kd = 1.0;
int jointIndex;
if (args.m_jointIndices) {
jointIndex = args.m_jointIndices[i];
} else {
jointIndex = i;
}
if (args.m_targetVelocities) {
targetVelocity = args.m_targetVelocities[i];
}
if (args.m_targetPositions) {
targetPosition = args.m_targetPositions[i];
}
if (args.m_forces) {
force = args.m_forces[i];
}
if (args.m_kps) {
kp = args.m_kps[i];
}
if (args.m_kds) {
kd = args.m_kds[i];
}
b3GetJointInfo(sm, bodyUniqueId, jointIndex, &info);
switch (args.m_controlMode) {
case CONTROL_MODE_VELOCITY: {
b3JointControlSetDesiredVelocity(commandHandle, info.m_uIndex, targetVelocity);
b3JointControlSetKd(commandHandle, info.m_uIndex, kd);
b3JointControlSetMaximumForce(commandHandle, info.m_uIndex, force);
break;
}
case CONTROL_MODE_TORQUE: {
b3JointControlSetDesiredForceTorque(commandHandle, info.m_uIndex, force);
break;
}
case CONTROL_MODE_POSITION_VELOCITY_PD: {
b3JointControlSetDesiredPosition(commandHandle, info.m_qIndex, targetPosition);
b3JointControlSetKp(commandHandle, info.m_uIndex, kp);
b3JointControlSetDesiredVelocity(commandHandle, info.m_uIndex, targetVelocity);
b3JointControlSetKd(commandHandle, info.m_uIndex, kd);
b3JointControlSetMaximumForce(commandHandle, info.m_uIndex, force);
break;
}
default: {}
};
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
return true;
}
bool b3RobotSimulatorClientAPI_NoDirect::getPhysicsEngineParameters(struct b3RobotSimulatorSetPhysicsEngineParameters &args)
{
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) {
b3Warning("Not connected");
return false;
}
{
b3SharedMemoryCommandHandle command = b3InitRequestPhysicsParamCommand(sm);
b3SharedMemoryStatusHandle statusHandle;
int statusType;
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType!=CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS_COMPLETED)
{
return false;
}
b3GetStatusPhysicsSimulationParameters(statusHandle,&args);
}
return true;
}
bool b3RobotSimulatorClientAPI_NoDirect::setPhysicsEngineParameter(const struct b3RobotSimulatorSetPhysicsEngineParameters &args)
{
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) {
b3Warning("Not connected");
return false;
}
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(sm);
b3SharedMemoryStatusHandle statusHandle;
if (args.m_numSolverIterations >= 0) {
b3PhysicsParamSetNumSolverIterations(command, args.m_numSolverIterations);
}
if (args.m_collisionFilterMode >= 0) {
b3PhysicsParamSetCollisionFilterMode(command, args.m_collisionFilterMode);
}
if (args.m_numSimulationSubSteps >= 0) {
b3PhysicsParamSetNumSubSteps(command, args.m_numSimulationSubSteps);
}
if (args.m_deltaTime >= 0) {
b3PhysicsParamSetTimeStep(command, args.m_deltaTime);
}
if (args.m_useSplitImpulse >= 0) {
b3PhysicsParamSetUseSplitImpulse(command, args.m_useSplitImpulse);
}
if (args.m_splitImpulsePenetrationThreshold >= 0) {
b3PhysicsParamSetSplitImpulsePenetrationThreshold(command, args.m_splitImpulsePenetrationThreshold);
}
if (args.m_contactBreakingThreshold >= 0) {
b3PhysicsParamSetContactBreakingThreshold(command, args.m_contactBreakingThreshold);
}
if (args.m_restitutionVelocityThreshold>=0) {
b3PhysicsParamSetRestitutionVelocityThreshold(command, args.m_restitutionVelocityThreshold);
}
if (args.m_enableFileCaching>=0) {
b3PhysicsParamSetEnableFileCaching(command, args.m_enableFileCaching);
}
if (args.m_defaultNonContactERP>=0) {
b3PhysicsParamSetDefaultNonContactERP(command,args.m_defaultNonContactERP);
}
if (args.m_defaultContactERP>=0) {
b3PhysicsParamSetDefaultContactERP(command,args.m_defaultContactERP);
}
if (args.m_frictionERP >=0) {
b3PhysicsParamSetDefaultFrictionERP(command,args.m_frictionERP);
}
if (args.m_solverResidualThreshold >= 0) {
b3PhysicsParamSetSolverResidualThreshold(command, args.m_solverResidualThreshold);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
return true;
}
bool b3RobotSimulatorClientAPI_NoDirect::applyExternalForce(int objectUniqueId, int linkIndex, double *force, double *position, int flags)
{
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) {
b3Warning("Not connected");
return false;
}
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
command = b3ApplyExternalForceCommandInit(sm);
b3ApplyExternalForce(command, objectUniqueId, linkIndex, force, position, flags);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
return true;
}
bool b3RobotSimulatorClientAPI_NoDirect::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();
dposition[0] = position.x();
dposition[1] = position.y();
dposition[2] = position.z();
return applyExternalForce(objectUniqueId, linkIndex, &dforce[0], &dposition[0], flags);
}
bool b3RobotSimulatorClientAPI_NoDirect::applyExternalTorque(int objectUniqueId, int linkIndex, double *torque, int flags)
{
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) {
b3Warning("Not connected");
return false;
}
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
command = b3ApplyExternalForceCommandInit(sm);
b3ApplyExternalTorque(command, objectUniqueId, linkIndex, torque, flags);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
return true;
}
bool b3RobotSimulatorClientAPI_NoDirect::applyExternalTorque(int objectUniqueId, int linkIndex, btVector3 &torque, int flags)
{
double dtorque[3];
dtorque[0] = torque.x();
dtorque[1] = torque.y();
dtorque[2] = torque.z();
return applyExternalTorque(objectUniqueId, linkIndex, &dtorque[0], flags);
}
bool b3RobotSimulatorClientAPI_NoDirect::enableJointForceTorqueSensor(int bodyUniqueId, int jointIndex, bool enable)
{
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) {
b3Warning("Not connected");
return false;
}
int numJoints = b3GetNumJoints(sm, bodyUniqueId);
if ((jointIndex < 0) || (jointIndex >= numJoints)) {
b3Warning("Error: invalid jointIndex.");
return false;
}
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
command = b3CreateSensorCommandInit(sm, bodyUniqueId);
b3CreateSensorEnable6DofJointForceTorqueSensor(command, jointIndex, enable);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_CLIENT_COMMAND_COMPLETED) {
return true;
}
return false;
}
bool b3RobotSimulatorClientAPI_NoDirect::getDebugVisualizerCamera(struct b3OpenGLVisualizerCameraInfo *cameraInfo)
{
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) {
b3Warning("Not connected");
return false;
}
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
command = b3InitRequestOpenGLVisualizerCameraCommand(sm);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusOpenGLVisualizerCamera(statusHandle, cameraInfo);
if (statusType) {
return true;
}
return false;
}
bool b3RobotSimulatorClientAPI_NoDirect::getContactPoints(struct b3RobotSimulatorGetContactPointsArgs &args, struct b3ContactInformation *contactInfo)
{
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) {
b3Warning("Not connected");
return false;
}
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
command = b3InitRequestContactPointInformation(sm);
if (args.m_bodyUniqueIdA>=0) {
b3SetContactFilterBodyA(command, args.m_bodyUniqueIdA);
}
if (args.m_bodyUniqueIdB>=0) {
b3SetContactFilterBodyB(command, args.m_bodyUniqueIdB);
}
if (args.m_linkIndexA>=-1) {
b3SetContactFilterLinkA(command, args.m_linkIndexA);
}
if (args.m_linkIndexB >=-1) {
b3SetContactFilterLinkB(command, args.m_linkIndexB);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_CONTACT_POINT_INFORMATION_COMPLETED) {
b3GetContactPointInformation(sm, contactInfo);
return true;
}
return false;
}
bool b3RobotSimulatorClientAPI_NoDirect::getClosestPoints(struct b3RobotSimulatorGetContactPointsArgs &args, double distance, struct b3ContactInformation *contactInfo)
{
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) {
b3Warning("Not connected");
return false;
}
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
command = b3InitClosestDistanceQuery(sm);
b3SetClosestDistanceFilterBodyA(command, args.m_bodyUniqueIdA);
b3SetClosestDistanceFilterBodyB(command, args.m_bodyUniqueIdB);
b3SetClosestDistanceThreshold(command, distance);
if (args.m_linkIndexA>=-1) {
b3SetClosestDistanceFilterLinkA(command, args.m_linkIndexA);
}
if (args.m_linkIndexB >=-1) {
b3SetClosestDistanceFilterLinkB(command, args.m_linkIndexB);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_CONTACT_POINT_INFORMATION_COMPLETED) {
b3GetContactPointInformation(sm, contactInfo);
return true;
}
return false;
}
bool b3RobotSimulatorClientAPI_NoDirect::getOverlappingObjects(double *aabbMin, double *aabbMax, struct b3AABBOverlapData *overlapData)
{
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) {
b3Warning("Not connected");
return false;
}
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
// int statusType;
command = b3InitAABBOverlapQuery(sm, aabbMin, aabbMax);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
b3GetAABBOverlapResults(sm, overlapData);
return true;
}
bool b3RobotSimulatorClientAPI_NoDirect::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();
daabbMax[0] = aabbMax.x();
daabbMax[1] = aabbMax.y();
daabbMax[2] = aabbMax.z();
return getOverlappingObjects(&daabbMin[0], &daabbMax[0], overlapData);
}
bool b3RobotSimulatorClientAPI_NoDirect::getAABB(int bodyUniqueId, int linkIndex, double *aabbMin, double *aabbMax)
{
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) {
b3Warning("Not connected");
return false;
}
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
if (bodyUniqueId < 0) {
b3Warning("Invalid bodyUniqueId");
return false;
}
if (linkIndex < -1) {
b3Warning("Invalid linkIndex");
return false;
}
if (aabbMin == NULL || aabbMax == NULL) {
b3Warning("Output AABB matrix is NULL");
return false;
}
command = b3RequestCollisionInfoCommandInit(sm, bodyUniqueId);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_REQUEST_COLLISION_INFO_COMPLETED) {
return false;
}
if (b3GetStatusAABB(statusHandle, linkIndex, aabbMin, aabbMax)) {
return true;
}
return false;
}
bool b3RobotSimulatorClientAPI_NoDirect::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[0] = (float)daabbMin[0];
aabbMin[1] = (float)daabbMin[1];
aabbMin[2] = (float)daabbMin[2];
aabbMax[0] = (float)daabbMax[0];
aabbMax[1] = (float)daabbMax[1];
aabbMax[2] = (float)daabbMax[2];
return status;
}
int b3RobotSimulatorClientAPI_NoDirect::createCollisionShape(int shapeType, struct b3RobotSimulatorCreateCollisionShapeArgs &args)
{
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) {
b3Warning("Not connected");
return false;
}
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
int shapeIndex = -1;
command = b3CreateCollisionShapeCommandInit(sm);
if (shapeType==GEOM_SPHERE && args.m_radius>0) {
shapeIndex = b3CreateCollisionShapeAddSphere(command, args.m_radius);
}
if (shapeType==GEOM_BOX) {
double halfExtents[3];
scalarToDouble3(args.m_halfExtents, halfExtents);
shapeIndex = b3CreateCollisionShapeAddBox(command, halfExtents);
}
if (shapeType==GEOM_CAPSULE && args.m_radius>0 && args.m_height>=0) {
shapeIndex = b3CreateCollisionShapeAddCapsule(command, args.m_radius, args.m_height);
}
if (shapeType==GEOM_CYLINDER && args.m_radius>0 && args.m_height>=0) {
shapeIndex = b3CreateCollisionShapeAddCylinder(command, args.m_radius, args.m_height);
}
if (shapeType==GEOM_MESH && args.m_fileName) {
double meshScale[3];
scalarToDouble3(args.m_meshScale, meshScale);
shapeIndex = b3CreateCollisionShapeAddMesh(command, args.m_fileName, meshScale);
}
if (shapeType==GEOM_PLANE) {
double planeConstant=0;
double planeNormal[3];
scalarToDouble3(args.m_planeNormal, planeNormal);
shapeIndex = b3CreateCollisionShapeAddPlane(command, planeNormal, planeConstant);
}
if (shapeIndex>=0 && args.m_flags) {
b3CreateCollisionSetFlag(command, shapeIndex, args.m_flags);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_CREATE_COLLISION_SHAPE_COMPLETED) {
int uid = b3GetStatusCollisionShapeUniqueId(statusHandle);
return uid;
}
return -1;
}
int b3RobotSimulatorClientAPI_NoDirect::createMultiBody(struct b3RobotSimulatorCreateMultiBodyArgs &args)
{
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) {
b3Warning("Not connected");
return false;
}
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
int statusType, baseIndex;
double doubleBasePosition[3];
double doubleBaseInertialFramePosition[3];
scalarToDouble3(args.m_basePosition.m_floats, doubleBasePosition);
scalarToDouble3(args.m_baseInertialFramePosition.m_floats, doubleBaseInertialFramePosition);
double doubleBaseOrientation[4];
double doubleBaseInertialFrameOrientation[4];
scalarToDouble4(args.m_baseOrientation, doubleBaseOrientation);
scalarToDouble4(args.m_baseInertialFrameOrientation, doubleBaseInertialFrameOrientation);
command = b3CreateMultiBodyCommandInit(sm);
baseIndex = b3CreateMultiBodyBase(command, args.m_baseMass, args.m_baseCollisionShapeIndex, args.m_baseVisualShapeIndex,
doubleBasePosition, doubleBaseOrientation, doubleBaseInertialFramePosition, doubleBaseInertialFrameOrientation);
for (int i = 0; i < args.m_numLinks; i++) {
double linkMass = args.m_linkMasses[i];
int linkCollisionShapeIndex = args.m_linkCollisionShapeIndices[i];
int linkVisualShapeIndex = args.m_linkVisualShapeIndices[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];
btVector3 linkJointAxis = args.m_linkJointAxes[i];
double doubleLinkPosition[3];
double doubleLinkInertialFramePosition[3];
double doubleLinkJointAxis[3];
scalarToDouble3(linkPosition.m_floats, doubleLinkPosition);
scalarToDouble3(linkInertialFramePosition.m_floats, doubleLinkInertialFramePosition);
scalarToDouble3(linkJointAxis.m_floats, doubleLinkJointAxis);
double doubleLinkOrientation[4];
double doubleLinkInertialFrameOrientation[4];
scalarToDouble4(linkOrientation, doubleLinkOrientation);
scalarToDouble4(linkInertialFrameOrientation, doubleLinkInertialFrameOrientation);
b3CreateMultiBodyLink(command,
linkMass,
linkCollisionShapeIndex,
linkVisualShapeIndex,
doubleLinkPosition,
doubleLinkOrientation,
doubleLinkInertialFramePosition,
doubleLinkInertialFrameOrientation,
linkParentIndex,
linkJointType,
doubleLinkJointAxis
);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_CREATE_MULTI_BODY_COMPLETED) {
int uid = b3GetStatusBodyIndex(statusHandle);
return uid;
}
return -1;
}
int b3RobotSimulatorClientAPI_NoDirect::getNumConstraints() const
{
if (!isConnected()) {
b3Warning("Not connected");
return -1;
}
return b3GetNumUserConstraints(m_data->m_physicsClientHandle);
}
int b3RobotSimulatorClientAPI_NoDirect::getConstraintUniqueId(int serialIndex)
{
if (!isConnected()) {
b3Warning("Not connected");
return -1;
}
int userConstraintId = -1;
userConstraintId = b3GetUserConstraintId(m_data->m_physicsClientHandle, serialIndex);
return userConstraintId;
}
void b3RobotSimulatorClientAPI_NoDirect::setGuiHelper(struct GUIHelperInterface* guiHelper)
{
m_data->m_guiHelper = guiHelper;
}
struct GUIHelperInterface* b3RobotSimulatorClientAPI_NoDirect::getGuiHelper()
{
return m_data->m_guiHelper;
}
void b3RobotSimulatorClientAPI_NoDirect::setInternalData(struct b3RobotSimulatorClientAPI_InternalData* data)
{
*m_data = *data;
}
bool b3RobotSimulatorClientAPI_NoDirect::getCollisionShapeData(int bodyUniqueId, int linkIndex,
b3CollisionShapeInformation &collisionShapeInfo)
{
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) {
b3Warning("Not connected");
return false;
}
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
{
command = b3InitRequestCollisionShapeInformation(sm, bodyUniqueId, linkIndex);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
}
btAssert(statusType == CMD_COLLISION_SHAPE_INFO_COMPLETED);
if (statusType == CMD_COLLISION_SHAPE_INFO_COMPLETED) {
b3GetCollisionShapeInformation(sm, &collisionShapeInfo);
}
return true;
}
int b3RobotSimulatorClientAPI_NoDirect::saveStateToMemory()
{
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) {
b3Warning("Not connected");
return false;
}
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle command;
int stateId = -1;
if (sm == 0)
{
return -1;
}
command = b3SaveStateCommandInit(sm);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_SAVE_STATE_COMPLETED)
{
return -1;
}
stateId = b3GetStatusGetStateId(statusHandle);
return stateId;
}
void b3RobotSimulatorClientAPI_NoDirect::restoreStateFromMemory(int stateId)
{
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) {
b3Warning("Not connected");
return;
}
int statusType;
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
int physicsClientId = 0;
command = b3LoadStateCommandInit(sm);
if (stateId >= 0)
{
b3LoadStateSetStateId(command, stateId);
}
// if (fileName)
// {
// b3LoadStateSetFileName(command, fileName);
// }
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
}
bool b3RobotSimulatorClientAPI_NoDirect::getVisualShapeData(int bodyUniqueId, b3VisualShapeInformation &visualShapeInfo)
{
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0)
{
b3Warning("Not connected");
return false;
}
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
commandHandle = b3InitRequestVisualShapeInformation(sm, bodyUniqueId);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
btAssert(statusType == CMD_VISUAL_SHAPE_INFO_COMPLETED);
if (statusType == CMD_VISUAL_SHAPE_INFO_COMPLETED)
{
b3GetVisualShapeInformation(sm, &visualShapeInfo);
return true;
}
return false;
}
void b3RobotSimulatorClientAPI_NoDirect::setAdditionalSearchPath(const std::string& path)
{
int physicsClientId = 0;
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) {
b3Warning("Not connected");
return;
}
if (path.length())
{
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
commandHandle = b3SetAdditionalSearchPath(sm, path.c_str());
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
}
}
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