mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 05:40:05 +00:00
9708392322
add UDP network connection for physics client <-> server. also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever)
240 lines
16 KiB
C
240 lines
16 KiB
C
#ifndef PHYSICS_CLIENT_C_API_H
|
|
#define PHYSICS_CLIENT_C_API_H
|
|
|
|
//#include "SharedMemoryBlock.h"
|
|
#include "SharedMemoryPublic.h"
|
|
|
|
#define B3_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name
|
|
|
|
B3_DECLARE_HANDLE(b3PhysicsClientHandle);
|
|
B3_DECLARE_HANDLE(b3SharedMemoryCommandHandle);
|
|
B3_DECLARE_HANDLE(b3SharedMemoryStatusHandle);
|
|
|
|
|
|
///There are several connection methods, see following header files:
|
|
#include "PhysicsClientSharedMemory_C_API.h"
|
|
#include "PhysicsClientSharedMemory2_C_API.h"
|
|
#include "PhysicsDirectC_API.h"
|
|
#include "PhysicsClientUDP_C_API.h"
|
|
#include "SharedMemoryInProcessPhysicsC_API.h"
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
|
|
|
|
///b3DisconnectSharedMemory will disconnect the client from the server and cleanup memory.
|
|
void b3DisconnectSharedMemory(b3PhysicsClientHandle physClient);
|
|
|
|
///There can only be 1 outstanding command. Check if a command can be send.
|
|
int b3CanSubmitCommand(b3PhysicsClientHandle physClient);
|
|
|
|
///blocking submit command and wait for status
|
|
b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle);
|
|
|
|
///In general it is better to use b3SubmitClientCommandAndWaitStatus. b3SubmitClientCommand is a non-blocking submit
|
|
///command, which requires checking for the status manually, using b3ProcessServerStatus. Also, before sending the
|
|
///next command, make sure to check if you can send a command using 'b3CanSubmitCommand'.
|
|
int b3SubmitClientCommand(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle);
|
|
|
|
///non-blocking check status
|
|
b3SharedMemoryStatusHandle b3ProcessServerStatus(b3PhysicsClientHandle physClient);
|
|
|
|
/// Get the physics server return status type. See EnumSharedMemoryServerStatus in SharedMemoryPublic.h for error codes.
|
|
int b3GetStatusType(b3SharedMemoryStatusHandle statusHandle);
|
|
|
|
int b3GetStatusBodyIndices(b3SharedMemoryStatusHandle statusHandle, int* bodyIndicesOut, int bodyIndicesCapacity);
|
|
|
|
int b3GetStatusBodyIndex(b3SharedMemoryStatusHandle statusHandle);
|
|
|
|
int b3GetStatusActualState(b3SharedMemoryStatusHandle statusHandle,
|
|
int* bodyUniqueId,
|
|
int* numDegreeOfFreedomQ,
|
|
int* numDegreeOfFreedomU,
|
|
const double* rootLocalInertialFrame[],
|
|
const double* actualStateQ[],
|
|
const double* actualStateQdot[],
|
|
const double* jointReactionForces[]);
|
|
|
|
///return the total number of bodies in the simulation
|
|
int b3GetNumBodies(b3PhysicsClientHandle physClient);
|
|
|
|
/// return the body unique id, given the index in range [0 , b3GetNumBodies() )
|
|
int b3GetBodyUniqueId(b3PhysicsClientHandle physClient, int serialIndex);
|
|
|
|
///given a body unique id, return the body information. See b3BodyInfo in SharedMemoryPublic.h
|
|
int b3GetBodyInfo(b3PhysicsClientHandle physClient, int bodyUniqueId, struct b3BodyInfo* info);
|
|
|
|
///give a unique body index (after loading the body) return the number of joints.
|
|
int b3GetNumJoints(b3PhysicsClientHandle physClient, int bodyIndex);
|
|
|
|
///given a body and joint index, return the joint information. See b3JointInfo in SharedMemoryPublic.h
|
|
int b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointIndex, struct b3JointInfo* info);
|
|
|
|
b3SharedMemoryCommandHandle b3CreateJoint(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info);
|
|
|
|
///Request debug lines for debug visualization. The flags in debugMode are the same as used in Bullet
|
|
///See btIDebugDraw::DebugDrawModes in Bullet/src/LinearMath/btIDebugDraw.h
|
|
b3SharedMemoryCommandHandle b3InitRequestDebugLinesCommand(b3PhysicsClientHandle physClient, int debugMode);
|
|
|
|
///Get the pointers to the debug line information, after b3InitRequestDebugLinesCommand returns
|
|
///status CMD_DEBUG_LINES_COMPLETED
|
|
void b3GetDebugLines(b3PhysicsClientHandle physClient, struct b3DebugLines* lines);
|
|
|
|
///request an image from a simulated camera, using a software renderer.
|
|
b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient);
|
|
void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command, float viewMatrix[16], float projectionMatrix[16]);
|
|
void b3RequestCameraImageSetViewMatrix(b3SharedMemoryCommandHandle command, const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3]);
|
|
void b3RequestCameraImageSetViewMatrix2(b3SharedMemoryCommandHandle commandHandle, const float cameraTargetPosition[3], float distance, float yaw, float pitch, float roll, int upAxis);
|
|
void b3RequestCameraImageSetProjectionMatrix(b3SharedMemoryCommandHandle command, float left, float right, float bottom, float top, float nearVal, float farVal);
|
|
void b3RequestCameraImageSetFOVProjectionMatrix(b3SharedMemoryCommandHandle command, float fov, float aspect, float nearVal, float farVal);
|
|
void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle command, int width, int height );
|
|
void b3RequestCameraImageSelectRenderer(b3SharedMemoryCommandHandle commandHandle, int renderer);
|
|
void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData);
|
|
|
|
///request an contact point information
|
|
b3SharedMemoryCommandHandle b3InitRequestContactPointInformation(b3PhysicsClientHandle physClient);
|
|
void b3SetContactFilterBodyA(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdA);
|
|
void b3SetContactFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB);
|
|
void b3GetContactPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointInfo);
|
|
|
|
//request visual shape information
|
|
b3SharedMemoryCommandHandle b3InitRequestVisualShapeInformation(b3PhysicsClientHandle physClient, int bodyUniqueIdA);
|
|
void b3GetVisualShapeInformation(b3PhysicsClientHandle physClient, struct b3VisualShapeInformation* visualShapeInfo);
|
|
|
|
|
|
b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient);
|
|
int b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz);
|
|
int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double timeStep);
|
|
int b3PhysicsParamSetDefaultContactERP(b3SharedMemoryCommandHandle commandHandle, double defaultContactERP);
|
|
int b3PhysicsParamSetNumSubSteps(b3SharedMemoryCommandHandle commandHandle, int numSubSteps);
|
|
int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation);
|
|
int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations);
|
|
|
|
//b3PhysicsParamSetInternalSimFlags is for internal/temporary/easter-egg/experimental demo purposes
|
|
//Use at own risk: magic things may or my not happen when calling this API
|
|
int b3PhysicsParamSetInternalSimFlags(b3SharedMemoryCommandHandle commandHandle, int flags);
|
|
|
|
|
|
b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient);
|
|
|
|
b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHandle physClient);
|
|
|
|
///Load a robot from a URDF file. Status type will CMD_URDF_LOADING_COMPLETED.
|
|
///Access the robot from the unique body index, through b3GetStatusBodyIndex(statusHandle);
|
|
b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName);
|
|
|
|
int b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ);
|
|
int b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
|
|
int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
|
|
int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase);
|
|
|
|
|
|
///compute the forces to achieve an acceleration, given a state q and qdot using inverse dynamics
|
|
b3SharedMemoryCommandHandle b3CalculateInverseDynamicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex,
|
|
const double* jointPositionsQ, const double* jointVelocitiesQdot, const double* jointAccelerations);
|
|
|
|
int b3GetStatusInverseDynamicsJointForces(b3SharedMemoryStatusHandle statusHandle,
|
|
int* bodyUniqueId,
|
|
int* dofCount,
|
|
double* jointForces);
|
|
|
|
b3SharedMemoryCommandHandle b3CalculateJacobianCommandInit(b3PhysicsClientHandle physClient, int bodyIndex, int linkIndex, const double* localPosition, const double* jointPositionsQ, const double* jointVelocitiesQdot, const double* jointAccelerations);
|
|
|
|
int b3GetStatusJacobian(b3SharedMemoryStatusHandle statusHandle, double* linearJacobian, double* angularJacobian);
|
|
|
|
///compute the joint positions to move the end effector to a desired target using inverse kinematics
|
|
b3SharedMemoryCommandHandle b3CalculateInverseKinematicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex);
|
|
void b3CalculateInverseKinematicsAddTargetPurePosition(b3SharedMemoryCommandHandle commandHandle, int endEffectorLinkIndex, const double targetPosition[3]);
|
|
void b3CalculateInverseKinematicsAddTargetPositionWithOrientation(b3SharedMemoryCommandHandle commandHandle, int endEffectorLinkIndex, const double targetPosition[3], const double targetOrientation[4]);
|
|
void b3CalculateInverseKinematicsPosWithNullSpaceVel(b3SharedMemoryCommandHandle commandHandle, int numDof, int endEffectorLinkIndex, const double targetPosition[3], const double* lowerLimit, const double* upperLimit, const double* jointRange, const double* restPose);
|
|
void b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(b3SharedMemoryCommandHandle commandHandle, int numDof, int endEffectorLinkIndex, const double targetPosition[3], const double targetOrientation[4], const double* lowerLimit, const double* upperLimit, const double* jointRange, const double* restPose);
|
|
int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle statusHandle,
|
|
int* bodyUniqueId,
|
|
int* dofCount,
|
|
double* jointPositions);
|
|
|
|
b3SharedMemoryCommandHandle b3LoadSdfCommandInit(b3PhysicsClientHandle physClient, const char* sdfFileName);
|
|
int b3LoadSdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
|
|
|
|
b3SharedMemoryCommandHandle b3SaveWorldCommandInit(b3PhysicsClientHandle physClient, const char* sdfFileName);
|
|
|
|
|
|
///The b3JointControlCommandInit method is obsolete, use b3JointControlCommandInit2 instead
|
|
b3SharedMemoryCommandHandle b3JointControlCommandInit(b3PhysicsClientHandle physClient, int controlMode);
|
|
|
|
|
|
///Set joint motor control variables such as desired position/angle, desired velocity,
|
|
///applied joint forces, dependent on the control mode (CONTROL_MODE_VELOCITY or CONTROL_MODE_TORQUE)
|
|
b3SharedMemoryCommandHandle b3JointControlCommandInit2(b3PhysicsClientHandle physClient, int bodyUniqueId, int controlMode);
|
|
|
|
///Only use when controlMode is CONTROL_MODE_POSITION_VELOCITY_PD
|
|
int b3JointControlSetDesiredPosition(b3SharedMemoryCommandHandle commandHandle, int qIndex, double value);
|
|
int b3JointControlSetKp(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
|
|
int b3JointControlSetKd(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
|
|
|
|
///Only use when controlMode is CONTROL_MODE_VELOCITY
|
|
int b3JointControlSetDesiredVelocity(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value); /* find a better name for dof/q/u indices, point to b3JointInfo */
|
|
int b3JointControlSetMaximumForce(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
|
|
///Only use if when controlMode is CONTROL_MODE_TORQUE,
|
|
int b3JointControlSetDesiredForceTorque(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
|
|
|
|
|
|
///the creation of collision shapes and rigid bodies etc is likely going to change,
|
|
///but good to have a b3CreateBoxShapeCommandInit for now
|
|
|
|
///create a box of size (1,1,1) at world origin (0,0,0) at orientation quat (0,0,0,1)
|
|
///after that, you can optionally adjust the initial position, orientation and size
|
|
b3SharedMemoryCommandHandle b3CreateBoxShapeCommandInit(b3PhysicsClientHandle physClient);
|
|
int b3CreateBoxCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ);
|
|
int b3CreateBoxCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
|
|
int b3CreateBoxCommandSetHalfExtents(b3SharedMemoryCommandHandle commandHandle, double halfExtentsX,double halfExtentsY,double halfExtentsZ);
|
|
int b3CreateBoxCommandSetMass(b3SharedMemoryCommandHandle commandHandle, double mass);
|
|
int b3CreateBoxCommandSetCollisionShapeType(b3SharedMemoryCommandHandle commandHandle, int collisionShapeType);
|
|
int b3CreateBoxCommandSetColorRGBA(b3SharedMemoryCommandHandle commandHandle, double red,double green,double blue, double alpha);
|
|
|
|
|
|
///b3CreatePoseCommandInit will initialize (teleport) the pose of a body/robot. You can individually set the base position,
|
|
///base orientation and joint angles. This will set all velocities of base and joints to zero.
|
|
///This is not a robot control command using actuators/joint motors, but manual repositioning the robot.
|
|
b3SharedMemoryCommandHandle b3CreatePoseCommandInit(b3PhysicsClientHandle physClient, int bodyIndex);
|
|
int b3CreatePoseCommandSetBasePosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ);
|
|
int b3CreatePoseCommandSetBaseOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
|
|
int b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle commandHandle, int numJointPositions, const double* jointPositions);
|
|
int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, double jointPosition);
|
|
|
|
///We are currently not reading the sensor information from the URDF file, and programmatically assign sensors.
|
|
///This is rather inconsistent, to mix programmatical creation with loading from file.
|
|
b3SharedMemoryCommandHandle b3CreateSensorCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId);
|
|
int b3CreateSensorEnable6DofJointForceTorqueSensor(b3SharedMemoryCommandHandle commandHandle, int jointIndex, int enable);
|
|
///b3CreateSensorEnableIMUForLink is not implemented yet.
|
|
///For now, if the IMU is located in the root link, use the root world transform to mimic an IMU.
|
|
int b3CreateSensorEnableIMUForLink(b3SharedMemoryCommandHandle commandHandle, int linkIndex, int enable);
|
|
|
|
b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandle physClient,int bodyUniqueId);
|
|
void b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int jointIndex, struct b3JointSensorState *state);
|
|
void b3GetLinkState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int linkIndex, struct b3LinkState *state);
|
|
|
|
b3SharedMemoryCommandHandle b3PickBody(b3PhysicsClientHandle physClient, double rayFromWorldX,
|
|
double rayFromWorldY, double rayFromWorldZ,
|
|
double rayToWorldX, double rayToWorldY, double rayToWorldZ);
|
|
b3SharedMemoryCommandHandle b3MovePickedBody(b3PhysicsClientHandle physClient, double rayFromWorldX,
|
|
double rayFromWorldY, double rayFromWorldZ,
|
|
double rayToWorldX, double rayToWorldY,
|
|
double rayToWorldZ);
|
|
b3SharedMemoryCommandHandle b3RemovePickingConstraint(b3PhysicsClientHandle physClient);
|
|
|
|
/// Apply external force at the body (or link) center of mass, in world space/Cartesian coordinates.
|
|
b3SharedMemoryCommandHandle b3ApplyExternalForceCommandInit(b3PhysicsClientHandle physClient);
|
|
void b3ApplyExternalForce(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double force[3], const double position[3], int flags);
|
|
void b3ApplyExternalTorque(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double torque[3], int flags);
|
|
|
|
b3SharedMemoryCommandHandle b3LoadBunnyCommandInit(b3PhysicsClientHandle physClient);
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif //PHYSICS_CLIENT_C_API_H
|