mirror of
https://github.com/bulletphysics/bullet3
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247 lines
7.6 KiB
C++
247 lines
7.6 KiB
C++
#ifndef B3_ROBOT_SIMULATOR_CLIENT_API_H
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#define B3_ROBOT_SIMULATOR_CLIENT_API_H
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#include "../SharedMemory/SharedMemoryPublic.h"
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#include "Bullet3Common/b3Vector3.h"
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#include "Bullet3Common/b3Quaternion.h"
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#include "Bullet3Common/b3Transform.h"
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#include "Bullet3Common/b3AlignedObjectArray.h"
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#include <string>
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struct b3RobotSimulatorLoadUrdfFileArgs
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{
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b3Vector3 m_startPosition;
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b3Quaternion m_startOrientation;
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bool m_forceOverrideFixedBase;
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bool m_useMultiBody;
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int m_flags;
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b3RobotSimulatorLoadUrdfFileArgs(const b3Vector3& startPos, const b3Quaternion& startOrn)
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: m_startPosition(startPos),
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m_startOrientation(startOrn),
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m_forceOverrideFixedBase(false),
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m_useMultiBody(true),
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m_flags(0)
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{
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}
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b3RobotSimulatorLoadUrdfFileArgs()
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: m_startPosition(b3MakeVector3(0, 0, 0)),
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m_startOrientation(b3Quaternion(0, 0, 0, 1)),
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m_forceOverrideFixedBase(false),
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m_useMultiBody(true),
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m_flags(0)
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{
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}
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};
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struct b3RobotSimulatorLoadSdfFileArgs
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{
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bool m_forceOverrideFixedBase;
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bool m_useMultiBody;
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b3RobotSimulatorLoadSdfFileArgs()
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: m_forceOverrideFixedBase(false),
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m_useMultiBody(true)
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{
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}
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};
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struct b3RobotSimulatorLoadFileResults
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{
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b3AlignedObjectArray<int> m_uniqueObjectIds;
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b3RobotSimulatorLoadFileResults()
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{
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}
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};
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struct b3RobotSimulatorJointMotorArgs
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{
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int m_controlMode;
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double m_targetPosition;
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double m_kp;
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double m_targetVelocity;
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double m_kd;
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double m_maxTorqueValue;
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b3RobotSimulatorJointMotorArgs(int controlMode)
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: m_controlMode(controlMode),
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m_targetPosition(0),
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m_kp(0.1),
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m_targetVelocity(0),
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m_kd(0.9),
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m_maxTorqueValue(1000)
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{
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}
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};
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enum b3RobotSimulatorInverseKinematicsFlags
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{
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B3_HAS_IK_TARGET_ORIENTATION = 1,
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B3_HAS_NULL_SPACE_VELOCITY = 2,
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B3_HAS_JOINT_DAMPING = 4,
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};
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struct b3RobotSimulatorInverseKinematicArgs
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{
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int m_bodyUniqueId;
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// double* m_currentJointPositions;
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// int m_numPositions;
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double m_endEffectorTargetPosition[3];
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double m_endEffectorTargetOrientation[4];
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int m_endEffectorLinkIndex;
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int m_flags;
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int m_numDegreeOfFreedom;
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b3AlignedObjectArray<double> m_lowerLimits;
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b3AlignedObjectArray<double> m_upperLimits;
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b3AlignedObjectArray<double> m_jointRanges;
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b3AlignedObjectArray<double> m_restPoses;
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b3AlignedObjectArray<double> m_jointDamping;
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b3RobotSimulatorInverseKinematicArgs()
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: m_bodyUniqueId(-1),
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m_endEffectorLinkIndex(-1),
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m_flags(0)
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{
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m_endEffectorTargetPosition[0] = 0;
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m_endEffectorTargetPosition[1] = 0;
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m_endEffectorTargetPosition[2] = 0;
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m_endEffectorTargetOrientation[0] = 0;
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m_endEffectorTargetOrientation[1] = 0;
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m_endEffectorTargetOrientation[2] = 0;
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m_endEffectorTargetOrientation[3] = 1;
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}
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};
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struct b3RobotSimulatorInverseKinematicsResults
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{
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int m_bodyUniqueId;
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b3AlignedObjectArray<double> m_calculatedJointPositions;
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};
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struct b3JointStates2
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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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b3Transform m_rootLocalInertialFrame;
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b3AlignedObjectArray<double> m_actualStateQ;
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b3AlignedObjectArray<double> m_actualStateQdot;
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b3AlignedObjectArray<double> m_jointReactionForces;
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};
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///The b3RobotSimulatorClientAPI is pretty much the C++ version of pybullet
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///as documented in the pybullet Quickstart Guide
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///https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA
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class b3RobotSimulatorClientAPI
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{
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struct b3RobotSimulatorClientAPI_InternalData* m_data;
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public:
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b3RobotSimulatorClientAPI();
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virtual ~b3RobotSimulatorClientAPI();
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bool connect(int mode, const std::string& hostName = "localhost", int portOrKey = -1);
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void disconnect();
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bool isConnected() const;
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void setTimeOut(double timeOutInSec);
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void syncBodies();
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void resetSimulation();
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b3Quaternion getQuaternionFromEuler(const b3Vector3& rollPitchYaw);
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b3Vector3 getEulerFromQuaternion(const b3Quaternion& quat);
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int loadURDF(const std::string& fileName, const struct b3RobotSimulatorLoadUrdfFileArgs& args = b3RobotSimulatorLoadUrdfFileArgs());
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bool loadSDF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results, const struct b3RobotSimulatorLoadSdfFileArgs& args = b3RobotSimulatorLoadSdfFileArgs());
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bool loadMJCF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results);
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bool loadBullet(const std::string& fileName, b3RobotSimulatorLoadFileResults& results);
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bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo* bodyInfo);
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bool getBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation) const;
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bool resetBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation);
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bool getBaseVelocity(int bodyUniqueId, b3Vector3& baseLinearVelocity, b3Vector3& baseAngularVelocity) const;
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bool resetBaseVelocity(int bodyUniqueId, const b3Vector3& linearVelocity, const b3Vector3& angularVelocity) const;
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int getNumJoints(int bodyUniqueId) const;
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bool getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo* jointInfo);
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int createConstraint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo);
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int changeConstraint(int constraintId, b3JointInfo* jointInfo);
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void removeConstraint(int constraintId);
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bool getJointState(int bodyUniqueId, int jointIndex, struct b3JointSensorState* state);
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bool getJointStates(int bodyUniqueId, b3JointStates2& state);
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bool resetJointState(int bodyUniqueId, int jointIndex, double targetValue);
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void setJointMotorControl(int bodyUniqueId, int jointIndex, const struct b3RobotSimulatorJointMotorArgs& args);
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void stepSimulation();
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bool canSubmitCommand() const;
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void setRealTimeSimulation(bool enableRealTimeSimulation);
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void setInternalSimFlags(int flags);
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void setGravity(const b3Vector3& gravityAcceleration);
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void setTimeStep(double timeStepInSeconds);
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void setNumSimulationSubSteps(int numSubSteps);
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void setNumSolverIterations(int numIterations);
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void setContactBreakingThreshold(double threshold);
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bool calculateInverseKinematics(const struct b3RobotSimulatorInverseKinematicArgs& args, struct b3RobotSimulatorInverseKinematicsResults& results);
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bool getBodyJacobian(int bodyUniqueId, int linkIndex, const double* localPosition, const double* jointPositions, const double* jointVelocities, const double* jointAccelerations, double* linearJacobian, double* angularJacobian);
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bool getLinkState(int bodyUniqueId, int linkIndex, b3LinkState* linkState);
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void configureDebugVisualizer(enum b3ConfigureDebugVisualizerEnum flag, int enable);
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void resetDebugVisualizerCamera(double cameraDistance, double cameraPitch, double cameraYaw, const b3Vector3& targetPos);
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int startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const b3AlignedObjectArray<int>& objectUniqueIds=b3AlignedObjectArray<int>(), int maxLogDof = -1);
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void stopStateLogging(int stateLoggerUniqueId);
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void getVREvents(b3VREventsData* vrEventsData, int deviceTypeFilter);
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void getKeyboardEvents(b3KeyboardEventsData* keyboardEventsData);
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void submitProfileTiming(const std::string& profileName, int durationInMicroSeconds=1);
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//////////////// INTERNAL
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void loadBunny(double scale, double mass, double collisionMargin);
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//setGuiHelper is only used when embedded in existing example browser
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void setGuiHelper(struct GUIHelperInterface* guiHelper);
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//renderScene is only used when embedded in existing example browser
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virtual void renderScene();
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//debugDraw is only used when embedded in existing example browser
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virtual void debugDraw(int debugDrawMode);
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virtual bool mouseMoveCallback(float x,float y);
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virtual bool mouseButtonCallback(int button, int state, float x, float y);
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////////////////INTERNAL
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};
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#endif //B3_ROBOT_SIMULATOR_CLIENT_API_H
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