bullet3/examples/SharedMemory/SharedMemoryPublic.h

496 lines
13 KiB
C

#ifndef SHARED_MEMORY_PUBLIC_H
#define SHARED_MEMORY_PUBLIC_H
#define SHARED_MEMORY_KEY 12347
///increase the SHARED_MEMORY_MAGIC_NUMBER whenever incompatible changes are made in the structures
///my convention is year/month/day/rev
#define SHARED_MEMORY_MAGIC_NUMBER 201703024
enum EnumSharedMemoryClientCommand
{
CMD_LOAD_SDF,
CMD_LOAD_URDF,
CMD_LOAD_BULLET,
CMD_SAVE_BULLET,
CMD_LOAD_MJCF,
CMD_LOAD_BUNNY,
CMD_SEND_BULLET_DATA_STREAM,
CMD_CREATE_BOX_COLLISION_SHAPE,
CMD_CREATE_RIGID_BODY,
CMD_DELETE_RIGID_BODY,
CMD_CREATE_SENSOR,///enable or disable joint feedback for force/torque sensors
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_REQUEST_BODY_INFO,
CMD_REQUEST_INTERNAL_DATA,
CMD_STEP_FORWARD_SIMULATION,
CMD_RESET_SIMULATION,
CMD_PICK_BODY,
CMD_MOVE_PICKED_BODY,
CMD_REMOVE_PICKING_CONSTRAINT_BODY,
CMD_REQUEST_CAMERA_IMAGE_DATA,
CMD_APPLY_EXTERNAL_FORCE,
CMD_CALCULATE_INVERSE_DYNAMICS,
CMD_CALCULATE_INVERSE_KINEMATICS,
CMD_CALCULATE_JACOBIAN,
CMD_USER_CONSTRAINT,
CMD_REQUEST_CONTACT_POINT_INFORMATION,
CMD_REQUEST_RAY_CAST_INTERSECTIONS,
CMD_REQUEST_AABB_OVERLAP,
CMD_SAVE_WORLD,
CMD_REQUEST_VISUAL_SHAPE_INFO,
CMD_UPDATE_VISUAL_SHAPE,
CMD_LOAD_TEXTURE,
CMD_SET_SHADOW,
CMD_USER_DEBUG_DRAW,
CMD_REQUEST_VR_EVENTS_DATA,
CMD_SET_VR_CAMERA_STATE,
CMD_SYNC_BODY_INFO,
CMD_STATE_LOGGING,
CMD_CONFIGURE_OPENGL_VISUALIZER,
CMD_REQUEST_KEYBOARD_EVENTS_DATA,
CMD_REQUEST_OPENGL_VISUALIZER_CAMERA,
//don't go beyond this command!
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_SDF_LOADING_COMPLETED,
CMD_SDF_LOADING_FAILED,
CMD_URDF_LOADING_COMPLETED,
CMD_URDF_LOADING_FAILED,
CMD_BULLET_LOADING_COMPLETED,
CMD_BULLET_LOADING_FAILED,
CMD_BULLET_SAVING_COMPLETED,
CMD_BULLET_SAVING_FAILED,
CMD_MJCF_LOADING_COMPLETED,
CMD_MJCF_LOADING_FAILED,
CMD_REQUEST_INTERNAL_DATA_COMPLETED,
CMD_REQUEST_INTERNAL_DATA_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_CAMERA_IMAGE_COMPLETED,
CMD_CAMERA_IMAGE_FAILED,
CMD_BODY_INFO_COMPLETED,
CMD_BODY_INFO_FAILED,
CMD_INVALID_STATUS,
CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED,
CMD_CALCULATED_INVERSE_DYNAMICS_FAILED,
CMD_CALCULATED_JACOBIAN_COMPLETED,
CMD_CALCULATED_JACOBIAN_FAILED,
CMD_CONTACT_POINT_INFORMATION_COMPLETED,
CMD_CONTACT_POINT_INFORMATION_FAILED,
CMD_REQUEST_AABB_OVERLAP_COMPLETED,
CMD_REQUEST_AABB_OVERLAP_FAILED,
CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED,
CMD_CALCULATE_INVERSE_KINEMATICS_FAILED,
CMD_SAVE_WORLD_COMPLETED,
CMD_SAVE_WORLD_FAILED,
CMD_VISUAL_SHAPE_INFO_COMPLETED,
CMD_VISUAL_SHAPE_INFO_FAILED,
CMD_VISUAL_SHAPE_UPDATE_COMPLETED,
CMD_VISUAL_SHAPE_UPDATE_FAILED,
CMD_LOAD_TEXTURE_COMPLETED,
CMD_LOAD_TEXTURE_FAILED,
CMD_USER_DEBUG_DRAW_COMPLETED,
CMD_USER_DEBUG_DRAW_PARAMETER_COMPLETED,
CMD_USER_DEBUG_DRAW_FAILED,
CMD_USER_CONSTRAINT_COMPLETED,
CMD_USER_CONSTRAINT_INFO_COMPLETED,
CMD_REMOVE_USER_CONSTRAINT_COMPLETED,
CMD_CHANGE_USER_CONSTRAINT_COMPLETED,
CMD_REMOVE_USER_CONSTRAINT_FAILED,
CMD_CHANGE_USER_CONSTRAINT_FAILED,
CMD_USER_CONSTRAINT_FAILED,
CMD_REQUEST_VR_EVENTS_DATA_COMPLETED,
CMD_REQUEST_RAY_CAST_INTERSECTIONS_COMPLETED,
CMD_SYNC_BODY_INFO_COMPLETED,
CMD_SYNC_BODY_INFO_FAILED,
CMD_STATE_LOGGING_COMPLETED,
CMD_STATE_LOGGING_START_COMPLETED,
CMD_STATE_LOGGING_FAILED,
CMD_REQUEST_KEYBOARD_EVENTS_DATA_COMPLETED,
CMD_REQUEST_KEYBOARD_EVENTS_DATA_FAILED,
CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_FAILED,
CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_COMPLETED,
//don't go beyond 'CMD_MAX_SERVER_COMMANDS!
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,
eSphericalType = 2,
ePlanarType = 3,
eFixedType = 4,
ePoint2PointType = 5,
};
struct b3JointInfo
{
char* m_linkName;
char* m_jointName;
int m_jointType;
int m_qIndex;
int m_uIndex;
int m_jointIndex;
int m_flags;
double m_jointDamping;
double m_jointFriction;
double m_jointLowerLimit;
double m_jointUpperLimit;
double m_jointMaxForce;
double m_jointMaxVelocity;
double m_parentFrame[7]; // position and orientation (quaternion)
double m_childFrame[7]; // ^^^
double m_jointAxis[3]; // joint axis in parent local frame
};
struct b3UserConstraint
{
int m_parentBodyIndex;
int m_parentJointIndex;
int m_childBodyIndex;
int m_childJointIndex;
double m_parentFrame[7];
double m_childFrame[7];
double m_jointAxis[3];
int m_jointType;
double m_maxAppliedForce;
int m_userConstraintUniqueId;
};
struct b3BodyInfo
{
const char* m_baseName;
const char* m_bodyName; // for btRigidBody, it does not have a base, but can still have a body name from urdf
};
// copied from btMultiBodyLink.h
enum SensorType {
eSensorForceTorqueType = 1,
};
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 */
double m_jointMotorTorque;
};
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'.
};
struct b3OverlappingObject
{
int m_objectUniqueId;
int m_linkIndex;
};
struct b3AABBOverlapData
{
int m_numOverlappingObjects;
struct b3OverlappingObject* m_overlappingObjects;
};
struct b3CameraImageData
{
int m_pixelWidth;
int m_pixelHeight;
const unsigned char* m_rgbColorData;//3*m_pixelWidth*m_pixelHeight bytes
const float* m_depthValues;//m_pixelWidth*m_pixelHeight floats
const int* m_segmentationMaskValues;//m_pixelWidth*m_pixelHeight ints
};
struct b3OpenGLVisualizerCameraInfo
{
int m_width;
int m_height;
float m_viewMatrix[16];
float m_projectionMatrix[16];
float m_camUp[3];
float m_camForward[3];
float m_horizontal[3];
float m_vertical[3];
};
enum b3VREventType
{
VR_CONTROLLER_MOVE_EVENT=1,
VR_CONTROLLER_BUTTON_EVENT=2,
VR_HMD_MOVE_EVENT=4,
VR_GENERIC_TRACKER_MOVE_EVENT=8,
};
#define MAX_VR_BUTTONS 64
#define MAX_VR_CONTROLLERS 8
#define MAX_RAY_INTERSECTION_BATCH_SIZE 1024
#define MAX_RAY_HITS MAX_RAY_INTERSECTION_BATCH_SIZE
#define MAX_KEYBOARD_EVENTS 256
enum b3VRButtonInfo
{
eButtonIsDown = 1,
eButtonTriggered = 2,
eButtonReleased = 4,
};
enum eVRDeviceTypeEnums
{
VR_DEVICE_CONTROLLER=1,
VR_DEVICE_HMD=2,
VR_DEVICE_GENERIC_TRACKER=4,
};
struct b3VRControllerEvent
{
int m_controllerId;//valid for VR_CONTROLLER_MOVE_EVENT and VR_CONTROLLER_BUTTON_EVENT
int m_deviceType;
int m_numMoveEvents;
int m_numButtonEvents;
float m_pos[4];//valid for VR_CONTROLLER_MOVE_EVENT and VR_CONTROLLER_BUTTON_EVENT
float m_orn[4];//valid for VR_CONTROLLER_MOVE_EVENT and VR_CONTROLLER_BUTTON_EVENT
float m_analogAxis;//valid if VR_CONTROLLER_MOVE_EVENT
int m_buttons[MAX_VR_BUTTONS];//valid if VR_CONTROLLER_BUTTON_EVENT, see b3VRButtonInfo
};
struct b3VREventsData
{
int m_numControllerEvents;
struct b3VRControllerEvent* m_controllerEvents;
int m_numHmdEvents;
struct b3VRMoveEvent* m_hmdEvents;
int m_numGenericTrackerEvents;
struct b3VRMoveEvent* m_genericTrackerEvents;
};
struct b3KeyboardEvent
{
int m_keyCode;//ascii
int m_keyState;// see b3VRButtonInfo
};
struct b3KeyboardEventsData
{
int m_numKeyboardEvents;
struct b3KeyboardEvent* m_keyboardEvents;
};
struct b3ContactPointData
{
//todo: expose some contact flags, such as telling which fields below are valid
int m_contactFlags;
int m_bodyUniqueIdA;
int m_bodyUniqueIdB;
int m_linkIndexA;
int m_linkIndexB;
double m_positionOnAInWS[3];//contact point location on object A, in world space coordinates
double m_positionOnBInWS[3];//contact point location on object A, in world space coordinates
double m_contactNormalOnBInWS[3];//the separating contact normal, pointing from object B towards object A
double m_contactDistance;//negative number is penetration, positive is distance.
double m_normalForce;
//todo: expose the friction forces as well
// double m_linearFrictionDirection0[3];
// double m_linearFrictionForce0;
// double m_linearFrictionDirection1[3];
// double m_linearFrictionForce1;
// double m_angularFrictionDirection[3];
// double m_angularFrictionForce;
};
enum
{
CONTACT_QUERY_MODE_REPORT_EXISTING_CONTACT_POINTS = 0,
CONTACT_QUERY_MODE_COMPUTE_CLOSEST_POINTS = 1,
};
enum b3StateLoggingType
{
STATE_LOGGING_MINITAUR = 0,
STATE_LOGGING_GENERIC_ROBOT = 1,
STATE_LOGGING_VR_CONTROLLERS = 2,
STATE_LOGGING_VIDEO_MP4 = 3,
STATE_LOGGING_COMMANDS = 4,
STATE_LOGGING_CONTACT_POINTS = 5,
};
struct b3ContactInformation
{
int m_numContactPoints;
struct b3ContactPointData* m_contactPointData;
};
struct b3RayHitInfo
{
double m_hitFraction;
int m_hitObjectUniqueId;
int m_hitObjectLinkIndex;
double m_hitPositionWorld[3];
double m_hitNormalWorld[3];
};
struct b3RaycastInformation
{
int m_numRayHits;
struct b3RayHitInfo* m_rayHits;
};
#define VISUAL_SHAPE_MAX_PATH_LEN 128
struct b3VisualShapeData
{
int m_objectUniqueId;
int m_linkIndex;
int m_visualGeometryType;//box primitive, sphere primitive, triangle mesh
double m_dimensions[3];//meaning depends on m_visualGeometryType
char m_meshAssetFileName[VISUAL_SHAPE_MAX_PATH_LEN];
double m_localVisualFrame[7];//pos[3], orn[4]
//todo: add more data if necessary (material color etc, although material can be in asset file .obj file)
double m_rgbaColor[4];
};
struct b3VisualShapeInformation
{
int m_numVisualShapes;
struct b3VisualShapeData* m_visualShapeData;
};
enum eLinkStateFlags
{
ACTUAL_STATE_COMPUTE_LINKVELOCITY=1
};
///b3LinkState provides extra information such as the Cartesian world coordinates
///center of mass (COM) of the link, relative to the world reference frame.
///Orientation is a quaternion x,y,z,w
///Note: to compute the URDF link frame (which equals the joint frame at joint position 0)
///use URDF link frame = link COM frame * inertiaFrame.inverse()
struct b3LinkState
{
//m_worldPosition and m_worldOrientation of the Center Of Mass (COM)
double m_worldPosition[3];
double m_worldOrientation[4];
double m_localInertialPosition[3];
double m_localInertialOrientation[4];
///world position and orientation of the (URDF) link frame
double m_worldLinkFramePosition[3];
double m_worldLinkFrameOrientation[4];
double m_worldLinearVelocity[3]; //only valid when ACTUAL_STATE_COMPUTE_LINKVELOCITY is set (b3RequestActualStateCommandComputeLinkVelocity)
double m_worldAngularVelocity[3]; //only valid when ACTUAL_STATE_COMPUTE_LINKVELOCITY is set (b3RequestActualStateCommandComputeLinkVelocity)
};
//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,
};
///flags for b3ApplyExternalTorque and b3ApplyExternalForce
enum EnumExternalForceFlags
{
EF_LINK_FRAME=1,
EF_WORLD_FRAME=2,
};
///flags to pick the renderer for synthetic camera
enum EnumRenderer
{
ER_TINY_RENDERER=(1<<16),
ER_BULLET_HARDWARE_OPENGL=(1<<17),
//ER_FIRE_RAYS=(1<<18),
};
enum b3ConfigureDebugVisualizerEnum
{
COV_ENABLE_GUI=1,
COV_ENABLE_SHADOWS,
COV_ENABLE_WIREFRAME,
};
enum eCONNECT_METHOD {
eCONNECT_GUI = 1,
eCONNECT_DIRECT = 2,
eCONNECT_SHARED_MEMORY = 3,
eCONNECT_UDP = 4,
eCONNECT_TCP = 5,
};
enum eURDF_Flags
{
URDF_USE_INERTIA_FROM_FILE=2,//sync with URDF2Bullet.h 'ConvertURDFFlags'
URDF_USE_SELF_COLLISION=8,//see CUF_USE_SELF_COLLISION
};
#endif//SHARED_MEMORY_PUBLIC_H