mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 05:40:05 +00:00
496 lines
13 KiB
C
496 lines
13 KiB
C
#ifndef SHARED_MEMORY_PUBLIC_H
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#define SHARED_MEMORY_PUBLIC_H
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#define SHARED_MEMORY_KEY 12347
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///increase the SHARED_MEMORY_MAGIC_NUMBER whenever incompatible changes are made in the structures
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///my convention is year/month/day/rev
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#define SHARED_MEMORY_MAGIC_NUMBER 201703024
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enum EnumSharedMemoryClientCommand
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{
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CMD_LOAD_SDF,
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CMD_LOAD_URDF,
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CMD_LOAD_BULLET,
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CMD_SAVE_BULLET,
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CMD_LOAD_MJCF,
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CMD_LOAD_BUNNY,
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CMD_SEND_BULLET_DATA_STREAM,
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CMD_CREATE_BOX_COLLISION_SHAPE,
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CMD_CREATE_RIGID_BODY,
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CMD_DELETE_RIGID_BODY,
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CMD_CREATE_SENSOR,///enable or disable joint feedback for force/torque sensors
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CMD_INIT_POSE,
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CMD_SEND_PHYSICS_SIMULATION_PARAMETERS,
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CMD_SEND_DESIRED_STATE,//todo: reconsider naming, for example SET_JOINT_CONTROL_VARIABLE?
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CMD_REQUEST_ACTUAL_STATE,
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CMD_REQUEST_DEBUG_LINES,
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CMD_REQUEST_BODY_INFO,
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CMD_REQUEST_INTERNAL_DATA,
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CMD_STEP_FORWARD_SIMULATION,
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CMD_RESET_SIMULATION,
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CMD_PICK_BODY,
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CMD_MOVE_PICKED_BODY,
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CMD_REMOVE_PICKING_CONSTRAINT_BODY,
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CMD_REQUEST_CAMERA_IMAGE_DATA,
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CMD_APPLY_EXTERNAL_FORCE,
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CMD_CALCULATE_INVERSE_DYNAMICS,
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CMD_CALCULATE_INVERSE_KINEMATICS,
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CMD_CALCULATE_JACOBIAN,
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CMD_USER_CONSTRAINT,
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CMD_REQUEST_CONTACT_POINT_INFORMATION,
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CMD_REQUEST_RAY_CAST_INTERSECTIONS,
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CMD_REQUEST_AABB_OVERLAP,
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CMD_SAVE_WORLD,
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CMD_REQUEST_VISUAL_SHAPE_INFO,
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CMD_UPDATE_VISUAL_SHAPE,
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CMD_LOAD_TEXTURE,
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CMD_SET_SHADOW,
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CMD_USER_DEBUG_DRAW,
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CMD_REQUEST_VR_EVENTS_DATA,
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CMD_SET_VR_CAMERA_STATE,
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CMD_SYNC_BODY_INFO,
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CMD_STATE_LOGGING,
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CMD_CONFIGURE_OPENGL_VISUALIZER,
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CMD_REQUEST_KEYBOARD_EVENTS_DATA,
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CMD_REQUEST_OPENGL_VISUALIZER_CAMERA,
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//don't go beyond this command!
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CMD_MAX_CLIENT_COMMANDS,
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};
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enum EnumSharedMemoryServerStatus
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{
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CMD_SHARED_MEMORY_NOT_INITIALIZED=0,
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CMD_WAITING_FOR_CLIENT_COMMAND,
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//CMD_CLIENT_COMMAND_COMPLETED is a generic 'completed' status that doesn't need special handling on the client
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CMD_CLIENT_COMMAND_COMPLETED,
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//the server will skip unknown command and report a status 'CMD_UNKNOWN_COMMAND_FLUSHED'
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CMD_UNKNOWN_COMMAND_FLUSHED,
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CMD_SDF_LOADING_COMPLETED,
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CMD_SDF_LOADING_FAILED,
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CMD_URDF_LOADING_COMPLETED,
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CMD_URDF_LOADING_FAILED,
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CMD_BULLET_LOADING_COMPLETED,
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CMD_BULLET_LOADING_FAILED,
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CMD_BULLET_SAVING_COMPLETED,
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CMD_BULLET_SAVING_FAILED,
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CMD_MJCF_LOADING_COMPLETED,
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CMD_MJCF_LOADING_FAILED,
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CMD_REQUEST_INTERNAL_DATA_COMPLETED,
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CMD_REQUEST_INTERNAL_DATA_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_ACTUAL_STATE_UPDATE_FAILED,
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CMD_DEBUG_LINES_COMPLETED,
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CMD_DEBUG_LINES_OVERFLOW_FAILED,
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CMD_DESIRED_STATE_RECEIVED_COMPLETED,
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CMD_STEP_FORWARD_SIMULATION_COMPLETED,
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CMD_RESET_SIMULATION_COMPLETED,
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CMD_CAMERA_IMAGE_COMPLETED,
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CMD_CAMERA_IMAGE_FAILED,
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CMD_BODY_INFO_COMPLETED,
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CMD_BODY_INFO_FAILED,
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CMD_INVALID_STATUS,
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CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED,
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CMD_CALCULATED_INVERSE_DYNAMICS_FAILED,
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CMD_CALCULATED_JACOBIAN_COMPLETED,
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CMD_CALCULATED_JACOBIAN_FAILED,
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CMD_CONTACT_POINT_INFORMATION_COMPLETED,
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CMD_CONTACT_POINT_INFORMATION_FAILED,
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CMD_REQUEST_AABB_OVERLAP_COMPLETED,
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CMD_REQUEST_AABB_OVERLAP_FAILED,
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CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED,
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CMD_CALCULATE_INVERSE_KINEMATICS_FAILED,
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CMD_SAVE_WORLD_COMPLETED,
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CMD_SAVE_WORLD_FAILED,
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CMD_VISUAL_SHAPE_INFO_COMPLETED,
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CMD_VISUAL_SHAPE_INFO_FAILED,
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CMD_VISUAL_SHAPE_UPDATE_COMPLETED,
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CMD_VISUAL_SHAPE_UPDATE_FAILED,
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CMD_LOAD_TEXTURE_COMPLETED,
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CMD_LOAD_TEXTURE_FAILED,
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CMD_USER_DEBUG_DRAW_COMPLETED,
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CMD_USER_DEBUG_DRAW_PARAMETER_COMPLETED,
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CMD_USER_DEBUG_DRAW_FAILED,
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CMD_USER_CONSTRAINT_COMPLETED,
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CMD_USER_CONSTRAINT_INFO_COMPLETED,
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CMD_REMOVE_USER_CONSTRAINT_COMPLETED,
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CMD_CHANGE_USER_CONSTRAINT_COMPLETED,
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CMD_REMOVE_USER_CONSTRAINT_FAILED,
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CMD_CHANGE_USER_CONSTRAINT_FAILED,
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CMD_USER_CONSTRAINT_FAILED,
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CMD_REQUEST_VR_EVENTS_DATA_COMPLETED,
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CMD_REQUEST_RAY_CAST_INTERSECTIONS_COMPLETED,
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CMD_SYNC_BODY_INFO_COMPLETED,
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CMD_SYNC_BODY_INFO_FAILED,
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CMD_STATE_LOGGING_COMPLETED,
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CMD_STATE_LOGGING_START_COMPLETED,
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CMD_STATE_LOGGING_FAILED,
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CMD_REQUEST_KEYBOARD_EVENTS_DATA_COMPLETED,
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CMD_REQUEST_KEYBOARD_EVENTS_DATA_FAILED,
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CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_FAILED,
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CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_COMPLETED,
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//don't go beyond 'CMD_MAX_SERVER_COMMANDS!
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CMD_MAX_SERVER_COMMANDS
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};
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enum JointInfoFlags
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{
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JOINT_HAS_MOTORIZED_POWER=1,
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};
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enum
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{
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COLLISION_SHAPE_TYPE_BOX=1,
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COLLISION_SHAPE_TYPE_CYLINDER_X,
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COLLISION_SHAPE_TYPE_CYLINDER_Y,
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COLLISION_SHAPE_TYPE_CYLINDER_Z,
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COLLISION_SHAPE_TYPE_CAPSULE_X,
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COLLISION_SHAPE_TYPE_CAPSULE_Y,
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COLLISION_SHAPE_TYPE_CAPSULE_Z,
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COLLISION_SHAPE_TYPE_SPHERE
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};
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// copied from btMultiBodyLink.h
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enum JointType {
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eRevoluteType = 0,
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ePrismaticType = 1,
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eSphericalType = 2,
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ePlanarType = 3,
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eFixedType = 4,
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ePoint2PointType = 5,
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};
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struct b3JointInfo
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{
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char* m_linkName;
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char* m_jointName;
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int m_jointType;
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int m_qIndex;
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int m_uIndex;
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int m_jointIndex;
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int m_flags;
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double m_jointDamping;
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double m_jointFriction;
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double m_jointLowerLimit;
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double m_jointUpperLimit;
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double m_jointMaxForce;
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double m_jointMaxVelocity;
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double m_parentFrame[7]; // position and orientation (quaternion)
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double m_childFrame[7]; // ^^^
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double m_jointAxis[3]; // joint axis in parent local frame
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};
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struct b3UserConstraint
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{
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int m_parentBodyIndex;
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int m_parentJointIndex;
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int m_childBodyIndex;
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int m_childJointIndex;
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double m_parentFrame[7];
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double m_childFrame[7];
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double m_jointAxis[3];
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int m_jointType;
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double m_maxAppliedForce;
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int m_userConstraintUniqueId;
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};
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struct b3BodyInfo
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{
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const char* m_baseName;
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const char* m_bodyName; // for btRigidBody, it does not have a base, but can still have a body name from urdf
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};
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// copied from btMultiBodyLink.h
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enum SensorType {
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eSensorForceTorqueType = 1,
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};
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struct b3JointSensorState
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{
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double m_jointPosition;
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double m_jointVelocity;
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double m_jointForceTorque[6]; /* note to roboticists: this is NOT the motor torque/force, but the spatial reaction force vector at joint */
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double m_jointMotorTorque;
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};
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struct b3DebugLines
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{
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int m_numDebugLines;
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const float* m_linesFrom;//float x,y,z times 'm_numDebugLines'.
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const float* m_linesTo;//float x,y,z times 'm_numDebugLines'.
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const float* m_linesColor;//float red,green,blue times 'm_numDebugLines'.
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};
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struct b3OverlappingObject
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{
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int m_objectUniqueId;
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int m_linkIndex;
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};
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struct b3AABBOverlapData
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{
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int m_numOverlappingObjects;
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struct b3OverlappingObject* m_overlappingObjects;
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};
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struct b3CameraImageData
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{
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int m_pixelWidth;
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int m_pixelHeight;
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const unsigned char* m_rgbColorData;//3*m_pixelWidth*m_pixelHeight bytes
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const float* m_depthValues;//m_pixelWidth*m_pixelHeight floats
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const int* m_segmentationMaskValues;//m_pixelWidth*m_pixelHeight ints
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};
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struct b3OpenGLVisualizerCameraInfo
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{
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int m_width;
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int m_height;
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float m_viewMatrix[16];
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float m_projectionMatrix[16];
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float m_camUp[3];
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float m_camForward[3];
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float m_horizontal[3];
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float m_vertical[3];
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};
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enum b3VREventType
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{
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VR_CONTROLLER_MOVE_EVENT=1,
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VR_CONTROLLER_BUTTON_EVENT=2,
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VR_HMD_MOVE_EVENT=4,
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VR_GENERIC_TRACKER_MOVE_EVENT=8,
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};
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#define MAX_VR_BUTTONS 64
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#define MAX_VR_CONTROLLERS 8
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#define MAX_RAY_INTERSECTION_BATCH_SIZE 1024
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#define MAX_RAY_HITS MAX_RAY_INTERSECTION_BATCH_SIZE
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#define MAX_KEYBOARD_EVENTS 256
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enum b3VRButtonInfo
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{
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eButtonIsDown = 1,
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eButtonTriggered = 2,
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eButtonReleased = 4,
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};
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enum eVRDeviceTypeEnums
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{
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VR_DEVICE_CONTROLLER=1,
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VR_DEVICE_HMD=2,
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VR_DEVICE_GENERIC_TRACKER=4,
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};
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struct b3VRControllerEvent
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{
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int m_controllerId;//valid for VR_CONTROLLER_MOVE_EVENT and VR_CONTROLLER_BUTTON_EVENT
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int m_deviceType;
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int m_numMoveEvents;
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int m_numButtonEvents;
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float m_pos[4];//valid for VR_CONTROLLER_MOVE_EVENT and VR_CONTROLLER_BUTTON_EVENT
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float m_orn[4];//valid for VR_CONTROLLER_MOVE_EVENT and VR_CONTROLLER_BUTTON_EVENT
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float m_analogAxis;//valid if VR_CONTROLLER_MOVE_EVENT
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int m_buttons[MAX_VR_BUTTONS];//valid if VR_CONTROLLER_BUTTON_EVENT, see b3VRButtonInfo
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};
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struct b3VREventsData
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{
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int m_numControllerEvents;
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struct b3VRControllerEvent* m_controllerEvents;
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int m_numHmdEvents;
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struct b3VRMoveEvent* m_hmdEvents;
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int m_numGenericTrackerEvents;
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struct b3VRMoveEvent* m_genericTrackerEvents;
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};
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struct b3KeyboardEvent
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{
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int m_keyCode;//ascii
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int m_keyState;// see b3VRButtonInfo
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};
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struct b3KeyboardEventsData
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{
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int m_numKeyboardEvents;
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struct b3KeyboardEvent* m_keyboardEvents;
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};
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struct b3ContactPointData
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{
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//todo: expose some contact flags, such as telling which fields below are valid
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int m_contactFlags;
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int m_bodyUniqueIdA;
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int m_bodyUniqueIdB;
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int m_linkIndexA;
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int m_linkIndexB;
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double m_positionOnAInWS[3];//contact point location on object A, in world space coordinates
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double m_positionOnBInWS[3];//contact point location on object A, in world space coordinates
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double m_contactNormalOnBInWS[3];//the separating contact normal, pointing from object B towards object A
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double m_contactDistance;//negative number is penetration, positive is distance.
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double m_normalForce;
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//todo: expose the friction forces as well
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// double m_linearFrictionDirection0[3];
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// double m_linearFrictionForce0;
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// double m_linearFrictionDirection1[3];
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// double m_linearFrictionForce1;
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// double m_angularFrictionDirection[3];
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// double m_angularFrictionForce;
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};
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enum
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{
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CONTACT_QUERY_MODE_REPORT_EXISTING_CONTACT_POINTS = 0,
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CONTACT_QUERY_MODE_COMPUTE_CLOSEST_POINTS = 1,
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};
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enum b3StateLoggingType
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{
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STATE_LOGGING_MINITAUR = 0,
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STATE_LOGGING_GENERIC_ROBOT = 1,
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STATE_LOGGING_VR_CONTROLLERS = 2,
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STATE_LOGGING_VIDEO_MP4 = 3,
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STATE_LOGGING_COMMANDS = 4,
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STATE_LOGGING_CONTACT_POINTS = 5,
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};
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struct b3ContactInformation
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{
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int m_numContactPoints;
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struct b3ContactPointData* m_contactPointData;
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};
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struct b3RayHitInfo
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{
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double m_hitFraction;
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int m_hitObjectUniqueId;
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int m_hitObjectLinkIndex;
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double m_hitPositionWorld[3];
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double m_hitNormalWorld[3];
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};
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struct b3RaycastInformation
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{
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int m_numRayHits;
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struct b3RayHitInfo* m_rayHits;
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};
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#define VISUAL_SHAPE_MAX_PATH_LEN 128
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struct b3VisualShapeData
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{
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int m_objectUniqueId;
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int m_linkIndex;
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int m_visualGeometryType;//box primitive, sphere primitive, triangle mesh
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double m_dimensions[3];//meaning depends on m_visualGeometryType
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char m_meshAssetFileName[VISUAL_SHAPE_MAX_PATH_LEN];
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double m_localVisualFrame[7];//pos[3], orn[4]
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//todo: add more data if necessary (material color etc, although material can be in asset file .obj file)
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double m_rgbaColor[4];
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};
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struct b3VisualShapeInformation
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{
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int m_numVisualShapes;
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struct b3VisualShapeData* m_visualShapeData;
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};
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enum eLinkStateFlags
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{
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ACTUAL_STATE_COMPUTE_LINKVELOCITY=1
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};
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///b3LinkState provides extra information such as the Cartesian world coordinates
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///center of mass (COM) of the link, relative to the world reference frame.
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///Orientation is a quaternion x,y,z,w
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///Note: to compute the URDF link frame (which equals the joint frame at joint position 0)
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///use URDF link frame = link COM frame * inertiaFrame.inverse()
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struct b3LinkState
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{
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//m_worldPosition and m_worldOrientation of the Center Of Mass (COM)
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double m_worldPosition[3];
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double m_worldOrientation[4];
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double m_localInertialPosition[3];
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double m_localInertialOrientation[4];
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///world position and orientation of the (URDF) link frame
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double m_worldLinkFramePosition[3];
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double m_worldLinkFrameOrientation[4];
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double m_worldLinearVelocity[3]; //only valid when ACTUAL_STATE_COMPUTE_LINKVELOCITY is set (b3RequestActualStateCommandComputeLinkVelocity)
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double m_worldAngularVelocity[3]; //only valid when ACTUAL_STATE_COMPUTE_LINKVELOCITY is set (b3RequestActualStateCommandComputeLinkVelocity)
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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=0,
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CONTROL_MODE_TORQUE,
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CONTROL_MODE_POSITION_VELOCITY_PD,
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};
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///flags for b3ApplyExternalTorque and b3ApplyExternalForce
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enum EnumExternalForceFlags
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{
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EF_LINK_FRAME=1,
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EF_WORLD_FRAME=2,
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};
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///flags to pick the renderer for synthetic camera
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enum EnumRenderer
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{
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ER_TINY_RENDERER=(1<<16),
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ER_BULLET_HARDWARE_OPENGL=(1<<17),
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//ER_FIRE_RAYS=(1<<18),
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};
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enum b3ConfigureDebugVisualizerEnum
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{
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COV_ENABLE_GUI=1,
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COV_ENABLE_SHADOWS,
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COV_ENABLE_WIREFRAME,
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};
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enum eCONNECT_METHOD {
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eCONNECT_GUI = 1,
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eCONNECT_DIRECT = 2,
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eCONNECT_SHARED_MEMORY = 3,
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eCONNECT_UDP = 4,
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eCONNECT_TCP = 5,
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};
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enum eURDF_Flags
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{
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URDF_USE_INERTIA_FROM_FILE=2,//sync with URDF2Bullet.h 'ConvertURDFFlags'
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URDF_USE_SELF_COLLISION=8,//see CUF_USE_SELF_COLLISION
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};
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#endif//SHARED_MEMORY_PUBLIC_H
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