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4911916937
For example: URDF_USE_INERTIA_FROM_FILE flag. By default, URDF2Bullet will re-compute the inertia tensor based on mass and volume, because most URDF files have bogus Inertia values.
107 lines
3.3 KiB
C++
107 lines
3.3 KiB
C++
#ifndef PHYSICS_SERVER_COMMAND_PROCESSOR_H
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#define PHYSICS_SERVER_COMMAND_PROCESSOR_H
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#include "LinearMath/btVector3.h"
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#include "PhysicsCommandProcessorInterface.h"
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struct SharedMemLines
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{
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btVector3 m_from;
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btVector3 m_to;
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btVector3 m_color;
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};
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///todo: naming. Perhaps PhysicsSdkCommandprocessor?
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class PhysicsServerCommandProcessor : public PhysicsCommandProcessorInterface
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{
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struct PhysicsServerCommandProcessorInternalData* m_data;
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//todo: move this to physics client side / Python
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void createDefaultRobotAssets();
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void resetSimulation();
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protected:
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bool loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags);
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bool loadUrdf(const char* fileName, const class btVector3& pos, const class btQuaternion& orn,
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bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes, int flags=0);
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bool loadMjcf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags);
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bool processImportedObjects(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags, class URDFImporterInterface& u2b);
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bool supportsJointMotor(class btMultiBody* body, int linkIndex);
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int createBodyInfoStream(int bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes);
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void deleteCachedInverseDynamicsBodies();
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void deleteCachedInverseKinematicsBodies();
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void deleteStateLoggers();
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public:
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PhysicsServerCommandProcessor();
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virtual ~PhysicsServerCommandProcessor();
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void createJointMotors(class btMultiBody* body);
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virtual void createEmptyDynamicsWorld();
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virtual void deleteDynamicsWorld();
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virtual bool connect()
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{
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return true;
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};
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virtual void disconnect() {}
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virtual bool isConnected() const
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{
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return true;
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}
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virtual bool processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
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virtual bool receiveStatus(struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
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{
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return false;
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};
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virtual void renderScene();
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virtual void physicsDebugDraw(int debugDrawFlags);
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virtual void setGuiHelper(struct GUIHelperInterface* guiHelper);
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//@todo(erwincoumans) Should we have shared memory commands for picking objects?
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///The pickBody method will try to pick the first body along a ray, return true if succeeds, false otherwise
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virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
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virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
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virtual void removePickingConstraint();
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//logging /playback the shared memory commands
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void enableCommandLogging(bool enable, const char* fileName);
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void replayFromLogFile(const char* fileName);
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void replayLogCommand(char* bufferServerToClient, int bufferSizeInBytes );
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//logging of object states (position etc)
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void logObjectStates(btScalar timeStep);
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void stepSimulationRealTime(double dtInSec, const struct b3VRControllerEvent* vrEvents, int numVREvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents);
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void enableRealTimeSimulation(bool enableRealTimeSim);
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void applyJointDamping(int bodyUniqueId);
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virtual void setTimeOut(double timeOutInSeconds);
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};
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#endif //PHYSICS_SERVER_COMMAND_PROCESSOR_H
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