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https://github.com/bulletphysics/bullet3
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b563c7c8ce
(load urdf, get state, set desired state, step simulation) Create SharedMemoryCommand and put that into the queue move arrays for Q, Qdot etc into the command
165 lines
3.8 KiB
C
165 lines
3.8 KiB
C
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#ifndef SHARED_MEMORY_COMMANDS_H
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#define SHARED_MEMORY_COMMANDS_H
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//this is a very experimental draft of commands. We will iterate on this API (commands, arguments etc)
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#ifdef __GNUC__
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#include <stdint.h>
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typedef int32_t smInt32_t;
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typedef int64_t smInt64_t;
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typedef uint32_t smUint32_t;
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typedef uint64_t smUint64_t;
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#elif defined(_MSC_VER)
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typedef __int32 smInt32_t;
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typedef __int64 smInt64_t;
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typedef unsigned __int32 smUint32_t;
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typedef unsigned __int64 smUint64_t;
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#else
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typedef int smInt32_t;
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typedef long long int smInt64_t;
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typedef unsigned int smUint32_t;
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typedef unsigned long long int smUint64_t;
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#endif
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enum SharedMemoryServerCommand
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{
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CMD_URDF_LOADING_COMPLETED,
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CMD_URDF_LOADING_FAILED,
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CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED,
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CMD_BULLET_DATA_STREAM_RECEIVED_FAILED,
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CMD_BOX_COLLISION_SHAPE_CREATION_COMPLETED,
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CMD_RIGID_BODY_CREATION_COMPLETED,
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CMD_SET_JOINT_FEEDBACK_COMPLETED,
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CMD_ACTUAL_STATE_UPDATE_COMPLETED,
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CMD_DESIRED_STATE_RECEIVED_COMPLETED,
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CMD_STEP_FORWARD_SIMULATION_COMPLETED,
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CMD_MAX_SERVER_COMMANDS
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};
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enum SharedMemoryClientCommand
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{
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CMD_LOAD_URDF,
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CMD_SEND_BULLET_DATA_STREAM,
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CMD_CREATE_BOX_COLLISION_SHAPE,
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CMD_DELETE_BOX_COLLISION_SHAPE,
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CMD_CREATE_RIGID_BODY,
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CMD_DELETE_RIGID_BODY,
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CMD_SET_JOINT_FEEDBACK,///enable or disable joint feedback
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CMD_SEND_DESIRED_STATE,
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CMD_REQUEST_ACTUAL_STATE,
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CMD_STEP_FORWARD_SIMULATION, //includes CMD_REQUEST_STATE
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CMD_SHUTDOWN,
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CMD_MAX_CLIENT_COMMANDS
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};
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#define SHARED_MEMORY_SERVER_TEST_C
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#define MAX_DEGREE_OF_FREEDOM 1024
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#define MAX_NUM_SENSORS 1024
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#define MAX_URDF_FILENAME_LENGTH 1024
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struct UrdfArgs
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{
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char m_urdfFileName[MAX_URDF_FILENAME_LENGTH];
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double m_initialPosition[3];
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double m_initialOrientation[4];
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bool m_useMultiBody;
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bool m_useFixedBase;
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};
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struct BulletDataStreamArgs
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{
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int m_streamChunkLength;
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};
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struct SetJointFeedbackArgs
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{
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int m_bodyUniqueId;
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int m_linkId;
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bool m_isEnabled;
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};
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//todo: discuss and decide about control mode and combinations
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enum {
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// POSITION_CONTROL=0,
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CONTROL_MODE_VELOCITY,
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CONTROL_MODE_TORQUE,
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};
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struct SendDesiredStateArgs
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{
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int m_bodyUniqueId;
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int m_controlMode;
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//desired state is only written by the client, read-only access by server is expected
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double m_desiredStateQ[MAX_DEGREE_OF_FREEDOM];
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double m_desiredStateQdot[MAX_DEGREE_OF_FREEDOM];
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//m_desiredStateForceTorque is either the actual applied force/torque (in CONTROL_MODE_TORQUE) or
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//or m_desiredStateForceTorque is the maximum applied force/torque for the motor/constraint to reach the desired velocity in CONTROL_MODE_VELOCITY mode
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double m_desiredStateForceTorque[MAX_DEGREE_OF_FREEDOM];
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};
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struct RequestActualStateArgs
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{
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int m_bodyUniqueId;
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};
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struct CreateBoxShapeArgs
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{
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double m_halfExtents[3];
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};
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struct CreateRigidBodyArgs
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{
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int m_shapeId;
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double m_initialPosition[3];
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double m_initialOrientation[3];
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};
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struct SendActualStateArgs
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{
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int m_bodyUniqueId;
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int m_numDegreeOfFreedomQ;
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int m_numDegreeOfFreedomU;
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//actual state is only written by the server, read-only access by client is expected
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double m_actualStateQ[MAX_DEGREE_OF_FREEDOM];
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double m_actualStateQdot[MAX_DEGREE_OF_FREEDOM];
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double m_actualStateSensors[MAX_NUM_SENSORS];//these are force sensors and IMU information
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};
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struct StepSimulationArgs
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{
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double m_deltaTimeInSeconds;
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};
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struct SharedMemoryCommand
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{
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int m_type;
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smUint64_t m_timeStamp;
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int m_sequenceNumber;
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union
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{
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UrdfArgs m_urdfArguments;
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BulletDataStreamArgs m_dataStreamArguments;
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StepSimulationArgs m_stepSimulationArguments;
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SendDesiredStateArgs m_sendDesiredStateCommandArgument;
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RequestActualStateArgs m_requestActualStateInformationCommandArgument;
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SendActualStateArgs m_sendActualStateArgs;
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};
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};
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typedef SharedMemoryCommand ServerStatus;
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#endif //SHARED_MEMORY_COMMANDS_H
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