bullet3/examples/SharedMemory/SharedMemoryCommands.h
erwincoumans 8e496036c6 More work on the C/C++ plugin system for pybullet/C-API:
Add preTickPluginCallback/postTickPluginCallback
User pointer for b3PluginContext, to store objects (class/struct instances)
Pass ints and floats as optional argument for plugin executePluginCommand
2017-09-23 18:05:23 -07:00

1073 lines
26 KiB
C++

#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 <stdint.h>
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,
};
struct b3CustomCommand
{
int m_pluginUniqueId;
b3PluginArguments m_arguments;
char m_pluginPath[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 SendPhysicsSimulationParameters
{
double m_deltaTime;
double m_gravityAcceleration[3];
int m_numSimulationSubSteps;
int m_numSolverIterations;
bool m_allowRealTimeSimulation;
int m_useSplitImpulse;
double m_splitImpulsePenetrationThreshold;
double m_contactBreakingThreshold;
int m_maxNumCmdPer1ms;
int m_internalSimFlags;
double m_defaultContactERP;
int m_collisionFilterMode;
int m_enableFileCaching;
double m_restitutionVelocityThreshold;
double m_defaultNonContactERP;
double m_frictionERP;
};
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];
};
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,
};
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 b3CreateCollisionShape
{
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;
};
#define MAX_COMPOUND_COLLISION_SHAPES 16
struct b3CreateCollisionShapeArgs
{
int m_numCollisionShapes;
b3CreateCollisionShape m_shapes[MAX_COMPOUND_COLLISION_SHAPES];
};
struct b3CreateVisualShapeArgs
{
int m_visualShapeUniqueId;
};
#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<btHashString, UrdfMaterial*> m_materials;
btHashMap<btHashString, UrdfLink*> m_links;
btHashMap<btHashString, UrdfJoint*> m_joints;
#endif
};
struct b3CreateCollisionShapeResultArgs
{
int m_collisionShapeUniqueId;
};
struct b3CreateVisualShapeResultArgs
{
int m_visualShapeUniqueId;
};
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 SendPhysicsSimulationParameters 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 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 b3CreateCollisionShapeArgs m_createCollisionShapeArgs;
struct b3CreateVisualShapeArgs m_createVisualShapeArgs;
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 SendContactDataArgs m_sendContactPointArgs;
struct SendOverlappingObjectsArgs m_sendOverlappingObjectsArgs;
struct CalculateInverseKinematicsResultArgs m_inverseKinematicsResultArgs;
struct SendVisualShapeDataArgs m_sendVisualShapeArgs;
struct UserDebugDrawResultArgs m_userDebugDrawArgs;
struct b3UserConstraint m_userConstraintResultArgs;
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 b3CreateCollisionShapeResultArgs m_createCollisionShapeResultArgs;
struct b3CreateVisualShapeResultArgs m_createVisualShapeResultArgs;
struct b3CreateMultiBodyResultArgs m_createMultiBodyResultArgs;
struct b3SendCollisionInfoArgs m_sendCollisionInfoArgs;
struct SendMouseEvents m_sendMouseEvents;
struct b3LoadTextureResultArgs m_loadTextureResultArguments;
struct b3CustomCommandResultArgs m_customCommandResultArgs;
};
};
typedef struct SharedMemoryStatus SharedMemoryStatus_t;
#endif //SHARED_MEMORY_COMMANDS_H