mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 06:00:12 +00:00
3b9b803683
Parse and use colors from URDF file (single rgba color per link, not per visual) Rename btMultiBody 'stepVelocities' to 'computeAccelerationsArticulatedBodyAlgorithmMultiDof' btHashMap, add const Value* operator[] remove a few more obsolete btMultiBody methods (on the non-multi-dof path) fix spelling typo in fillConstraintJacobianMultiDof (fil -> fill) Add mention to Jakub Stepien for his work on btMultiBody
129 lines
7.7 KiB
C
129 lines
7.7 KiB
C
#ifndef PHYSICS_CLIENT_C_API_H
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#define PHYSICS_CLIENT_C_API_H
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//#include "SharedMemoryBlock.h"
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#include "SharedMemoryPublic.h"
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#define B3_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name
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B3_DECLARE_HANDLE(b3PhysicsClientHandle);
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B3_DECLARE_HANDLE(b3SharedMemoryCommandHandle);
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B3_DECLARE_HANDLE(b3SharedMemoryStatusHandle);
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#ifdef __cplusplus
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extern "C" {
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#endif
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///make sure to start the server first, before connecting client to a physics server over shared memory or UDP
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b3PhysicsClientHandle b3ConnectSharedMemory(int key);
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void b3DisconnectSharedMemory(b3PhysicsClientHandle physClient);
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///check if a command can be send
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int b3CanSubmitCommand(b3PhysicsClientHandle physClient);
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//blocking submit command and wait for status
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b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle);
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///non-blocking submit command
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int b3SubmitClientCommand(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle);
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///non-blocking check status
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b3SharedMemoryStatusHandle b3ProcessServerStatus(b3PhysicsClientHandle physClient);
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int b3GetStatusType(b3SharedMemoryStatusHandle statusHandle);
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int b3GetStatusBodyIndex(b3SharedMemoryStatusHandle statusHandle);
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int b3GetStatusActualState(b3SharedMemoryStatusHandle statusHandle,
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int* bodyUniqueId,
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int* numDegreeOfFreedomQ,
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int* numDegreeOfFreedomU,
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const double* rootLocalInertialFrame[],
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const double* actualStateQ[],
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const double* actualStateQdot[],
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const double* jointReactionForces[]);
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int b3GetNumJoints(b3PhysicsClientHandle physClient, int bodyIndex);
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void b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int linkIndex, struct b3JointInfo* info);
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b3SharedMemoryCommandHandle b3InitRequestDebugLinesCommand(b3PhysicsClientHandle physClient, int debugMode);
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void b3GetDebugLines(b3PhysicsClientHandle physClient, struct b3DebugLines* lines);
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b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient);
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int b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz);
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int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double timeStep);
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b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient);
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b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHandle physClient);
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b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName);
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///all those commands are optional, except for the *Init
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int b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ);
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int b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
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int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
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int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase);
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///Set joint control variables such as desired position/angle, desired velocity,
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///applied joint forces, dependent on the control mode (CONTROL_MODE_VELOCITY or CONTROL_MODE_TORQUE)
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b3SharedMemoryCommandHandle b3JointControlCommandInit(b3PhysicsClientHandle physClient, int controlMode);
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///Only use when controlMode is CONTROL_MODE_POSITION_VELOCITY_PD
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int b3JointControlSetDesiredPosition(b3SharedMemoryCommandHandle commandHandle, int qIndex, double value);
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int b3JointControlSetKp(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
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int b3JointControlSetKd(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
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//Only use when controlMode is CONTROL_MODE_VELOCITY
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int b3JointControlSetDesiredVelocity(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value); /* find a better name for dof/q/u indices, point to b3JointInfo */
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int b3JointControlSetMaximumForce(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
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///Only use if when controlMode is CONTROL_MODE_TORQUE,
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int b3JointControlSetDesiredForceTorque(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
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///the creation of collision shapes and rigid bodies etc is likely going to change,
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///but good to have a b3CreateBoxShapeCommandInit for now
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//create a box of size (1,1,1) at world origin (0,0,0) at orientation quat (0,0,0,1)
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//after that, you can optionally adjust the initial position, orientation and size
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b3SharedMemoryCommandHandle b3CreateBoxShapeCommandInit(b3PhysicsClientHandle physClient);
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int b3CreateBoxCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ);
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int b3CreateBoxCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
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int b3CreateBoxCommandSetHalfExtents(b3SharedMemoryCommandHandle commandHandle, double halfExtentsX,double halfExtentsY,double halfExtentsZ);
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int b3CreateBoxCommandSetMass(b3SharedMemoryCommandHandle commandHandle, double mass);
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int b3CreateBoxCommandSetCollisionShapeType(b3SharedMemoryCommandHandle commandHandle, int collisionShapeType);
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int b3CreateBoxCommandSetColorRGBA(b3SharedMemoryCommandHandle commandHandle, double red,double green,double blue, double alpha);
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///Initialize (teleport) the pose of a body/robot. You can individually set the base position, base orientation and joint angles.
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///This will set all velocities of base and joints to zero.
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b3SharedMemoryCommandHandle b3CreatePoseCommandInit(b3PhysicsClientHandle physClient, int bodyIndex);
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int b3CreatePoseCommandSetBasePosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ);
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int b3CreatePoseCommandSetBaseOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
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int b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle commandHandle, int numJointPositions, const double* jointPositions);
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int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, double jointPosition);
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b3SharedMemoryCommandHandle b3CreateSensorCommandInit(b3PhysicsClientHandle physClient);
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int b3CreateSensorEnable6DofJointForceTorqueSensor(b3SharedMemoryCommandHandle commandHandle, int jointIndex, int enable);
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int b3CreateSensorEnableIMUForLink(b3SharedMemoryCommandHandle commandHandle, int linkIndex, int enable);
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b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandle physClient,int bodyUniqueId);
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void b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int jointIndex, struct b3JointSensorState *state);
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b3SharedMemoryCommandHandle b3PickBody(b3PhysicsClientHandle physClient, double rayFromWorldX,
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double rayFromWorldY, double rayFromWorldZ,
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double rayToWorldX, double rayToWorldY, double rayToWorldZ);
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b3SharedMemoryCommandHandle b3MovePickedBody(b3PhysicsClientHandle physClient, double rayFromWorldX,
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double rayFromWorldY, double rayFromWorldZ,
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double rayToWorldX, double rayToWorldY,
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double rayToWorldZ);
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b3SharedMemoryCommandHandle b3RemovePickingConstraint(b3PhysicsClientHandle physClient);
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#ifdef __cplusplus
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}
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#endif
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#endif //PHYSICS_CLIENT_C_API_H
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