mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 13:50:04 +00:00
03bf78ef49
add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
114 lines
3.2 KiB
C
114 lines
3.2 KiB
C
#ifndef SHARED_MEMORY_PUBLIC_H
|
|
#define SHARED_MEMORY_PUBLIC_H
|
|
|
|
#define SHARED_MEMORY_KEY 12347
|
|
|
|
enum EnumSharedMemoryClientCommand
|
|
{
|
|
CMD_LOAD_URDF,
|
|
CMD_SEND_BULLET_DATA_STREAM,
|
|
CMD_CREATE_BOX_COLLISION_SHAPE,
|
|
// CMD_DELETE_BOX_COLLISION_SHAPE,
|
|
CMD_CREATE_RIGID_BODY,
|
|
CMD_DELETE_RIGID_BODY,
|
|
CMD_CREATE_SENSOR,///enable or disable joint feedback for force/torque sensors
|
|
// CMD_REQUEST_SENSOR_MEASUREMENTS,//see CMD_REQUEST_ACTUAL_STATE/CMD_ACTUAL_STATE_UPDATE_COMPLETED
|
|
CMD_INIT_POSE,
|
|
CMD_SEND_PHYSICS_SIMULATION_PARAMETERS,
|
|
CMD_SEND_DESIRED_STATE,//todo: reconsider naming, for example SET_JOINT_CONTROL_VARIABLE?
|
|
CMD_REQUEST_ACTUAL_STATE,
|
|
CMD_REQUEST_DEBUG_LINES,
|
|
CMD_STEP_FORWARD_SIMULATION,
|
|
CMD_RESET_SIMULATION,
|
|
CMD_PICK_BODY,
|
|
CMD_MOVE_PICKED_BODY,
|
|
CMD_REMOVE_PICKING_CONSTRAINT_BODY,
|
|
CMD_MAX_CLIENT_COMMANDS
|
|
};
|
|
|
|
enum EnumSharedMemoryServerStatus
|
|
{
|
|
CMD_SHARED_MEMORY_NOT_INITIALIZED=0,
|
|
CMD_WAITING_FOR_CLIENT_COMMAND,
|
|
|
|
//CMD_CLIENT_COMMAND_COMPLETED is a generic 'completed' status that doesn't need special handling on the client
|
|
CMD_CLIENT_COMMAND_COMPLETED,
|
|
//the server will skip unknown command and report a status 'CMD_UNKNOWN_COMMAND_FLUSHED'
|
|
CMD_UNKNOWN_COMMAND_FLUSHED,
|
|
|
|
CMD_URDF_LOADING_COMPLETED,
|
|
CMD_URDF_LOADING_FAILED,
|
|
CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED,
|
|
CMD_BULLET_DATA_STREAM_RECEIVED_FAILED,
|
|
CMD_BOX_COLLISION_SHAPE_CREATION_COMPLETED,
|
|
CMD_RIGID_BODY_CREATION_COMPLETED,
|
|
CMD_SET_JOINT_FEEDBACK_COMPLETED,
|
|
CMD_ACTUAL_STATE_UPDATE_COMPLETED,
|
|
CMD_ACTUAL_STATE_UPDATE_FAILED,
|
|
CMD_DEBUG_LINES_COMPLETED,
|
|
CMD_DEBUG_LINES_OVERFLOW_FAILED,
|
|
CMD_DESIRED_STATE_RECEIVED_COMPLETED,
|
|
CMD_STEP_FORWARD_SIMULATION_COMPLETED,
|
|
CMD_RESET_SIMULATION_COMPLETED,
|
|
CMD_MAX_SERVER_COMMANDS
|
|
};
|
|
|
|
enum JointInfoFlags
|
|
{
|
|
JOINT_HAS_MOTORIZED_POWER=1,
|
|
};
|
|
|
|
enum
|
|
{
|
|
COLLISION_SHAPE_TYPE_BOX=1,
|
|
COLLISION_SHAPE_TYPE_CYLINDER_X,
|
|
COLLISION_SHAPE_TYPE_CYLINDER_Y,
|
|
COLLISION_SHAPE_TYPE_CYLINDER_Z,
|
|
COLLISION_SHAPE_TYPE_CAPSULE_X,
|
|
COLLISION_SHAPE_TYPE_CAPSULE_Y,
|
|
COLLISION_SHAPE_TYPE_CAPSULE_Z,
|
|
COLLISION_SHAPE_TYPE_SPHERE
|
|
};
|
|
|
|
// copied from btMultiBodyLink.h
|
|
enum JointType {
|
|
eRevoluteType = 0,
|
|
ePrismaticType = 1,
|
|
};
|
|
|
|
struct b3JointInfo
|
|
{
|
|
char* m_linkName;
|
|
char* m_jointName;
|
|
int m_jointType;
|
|
int m_qIndex;
|
|
int m_uIndex;
|
|
int m_jointIndex;
|
|
int m_flags;
|
|
};
|
|
|
|
struct b3JointSensorState
|
|
{
|
|
double m_jointPosition;
|
|
double m_jointVelocity;
|
|
double m_jointForceTorque[6]; /* note to roboticists: this is NOT the motor torque/force, but the spatial reaction force vector at joint */
|
|
};
|
|
|
|
struct b3DebugLines
|
|
{
|
|
int m_numDebugLines;
|
|
const float* m_linesFrom;//float x,y,z times 'm_numDebugLines'.
|
|
const float* m_linesTo;//float x,y,z times 'm_numDebugLines'.
|
|
const float* m_linesColor;//float red,green,blue times 'm_numDebugLines'.
|
|
};
|
|
|
|
//todo: discuss and decide about control mode and combinations
|
|
enum {
|
|
// POSITION_CONTROL=0,
|
|
CONTROL_MODE_VELOCITY=0,
|
|
CONTROL_MODE_TORQUE,
|
|
CONTROL_MODE_POSITION_VELOCITY_PD,
|
|
};
|
|
|
|
#endif//SHARED_MEMORY_PUBLIC_H
|