mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 06:00:12 +00:00
ddf304ca78
(due to local convex-triangle collisions causing opposite contact normals, use the pre-computed edge normal) PyBullet: expose experimental continuous collision detection for maximal coordinate rigid bodies, to prevent tunneling.
1103 lines
27 KiB
C++
1103 lines
27 KiB
C++
#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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#include "SharedMemoryPublic.h"
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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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#define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (512*1024)
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#define SHARED_MEMORY_SERVER_TEST_C
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#define MAX_DEGREE_OF_FREEDOM 128
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#define MAX_NUM_SENSORS 256
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#define MAX_URDF_FILENAME_LENGTH 1024
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#define MAX_SDF_FILENAME_LENGTH 1024
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#define MAX_FILENAME_LENGTH MAX_URDF_FILENAME_LENGTH
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#define MAX_NUM_LINKS MAX_DEGREE_OF_FREEDOM
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struct TmpFloat3
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{
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float m_x;
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float m_y;
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float m_z;
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};
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#ifdef _WIN32
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__inline
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#else
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inline
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#endif
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TmpFloat3 CreateTmpFloat3(float x, float y, float z)
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{
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TmpFloat3 tmp;
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tmp.m_x = x;
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tmp.m_y = y;
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tmp.m_z = z;
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return tmp;
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}
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enum EnumSdfArgsUpdateFlags
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{
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SDF_ARGS_FILE_NAME=1,
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};
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struct SdfArgs
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{
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char m_sdfFileName[MAX_URDF_FILENAME_LENGTH];
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int m_useMultiBody;
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double m_globalScaling;
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};
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struct FileArgs
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{
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char m_fileName[MAX_URDF_FILENAME_LENGTH];
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int m_stateId;
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};
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enum EnumLoadStateArgsUpdateFlags
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{
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CMD_LOAD_STATE_HAS_STATEID=1,
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CMD_LOAD_STATE_HAS_FILENAME=2,
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};
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enum EnumUrdfArgsUpdateFlags
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{
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URDF_ARGS_FILE_NAME=1,
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URDF_ARGS_INITIAL_POSITION=2,
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URDF_ARGS_INITIAL_ORIENTATION=4,
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URDF_ARGS_USE_MULTIBODY=8,
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URDF_ARGS_USE_FIXED_BASE=16,
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URDF_ARGS_HAS_CUSTOM_URDF_FLAGS = 32,
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URDF_ARGS_USE_GLOBAL_SCALING =64,
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};
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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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int m_useMultiBody;
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int m_useFixedBase;
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int m_urdfFlags;
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double m_globalScaling;
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};
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struct MjcfArgs
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{
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char m_mjcfFileName[MAX_URDF_FILENAME_LENGTH];
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int m_useMultiBody;
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int m_flags;
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};
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struct b3SearchPathfArgs
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{
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char m_path[MAX_FILENAME_LENGTH];
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};
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enum CustomCommandEnum
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{
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CMD_CUSTOM_COMMAND_LOAD_PLUGIN=1,
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CMD_CUSTOM_COMMAND_UNLOAD_PLUGIN=2,
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CMD_CUSTOM_COMMAND_EXECUTE_PLUGIN_COMMAND=4,
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CMD_CUSTOM_COMMAND_LOAD_PLUGIN_POSTFIX=8,
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};
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struct b3CustomCommand
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{
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int m_pluginUniqueId;
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b3PluginArguments m_arguments;
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char m_pluginPath[MAX_FILENAME_LENGTH];
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char m_postFix[MAX_FILENAME_LENGTH];
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};
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struct b3CustomCommandResultArgs
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{
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int m_pluginUniqueId;
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int m_executeCommandResult;
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};
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struct BulletDataStreamArgs
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{
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char m_bulletFileName[MAX_FILENAME_LENGTH];
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int m_bodyUniqueId;
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char m_bodyName[MAX_FILENAME_LENGTH];
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};
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enum EnumChangeDynamicsInfoFlags
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{
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CHANGE_DYNAMICS_INFO_SET_MASS=1,
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CHANGE_DYNAMICS_INFO_SET_COM=2,
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CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION=4,
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CHANGE_DYNAMICS_INFO_SET_SPINNING_FRICTION=8,
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CHANGE_DYNAMICS_INFO_SET_ROLLING_FRICTION=16,
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CHANGE_DYNAMICS_INFO_SET_RESTITUTION=32,
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CHANGE_DYNAMICS_INFO_SET_LINEAR_DAMPING=64,
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CHANGE_DYNAMICS_INFO_SET_ANGULAR_DAMPING=128,
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CHANGE_DYNAMICS_INFO_SET_CONTACT_STIFFNESS_AND_DAMPING=256,
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CHANGE_DYNAMICS_INFO_SET_FRICTION_ANCHOR = 512,
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CHANGE_DYNAMICS_INFO_SET_LOCAL_INERTIA_DIAGONAL = 1024,
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CHANGE_DYNAMICS_INFO_SET_CCD_SWEPT_SPHERE_RADIUS = 2048,
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};
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struct ChangeDynamicsInfoArgs
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{
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int m_bodyUniqueId;
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int m_linkIndex;
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double m_mass;
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double m_COM[3];
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double m_lateralFriction;
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double m_spinningFriction;
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double m_rollingFriction;
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double m_restitution;
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double m_linearDamping;
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double m_angularDamping;
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double m_contactStiffness;
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double m_contactDamping;
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double m_localInertiaDiagonal[3];
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int m_frictionAnchor;
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double m_ccdSweptSphereRadius;
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};
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struct GetDynamicsInfoArgs
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{
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int m_bodyUniqueId;
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int m_linkIndex;
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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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int m_isEnabled;
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};
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enum EnumInitPoseFlags
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{
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INIT_POSE_HAS_INITIAL_POSITION=1,
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INIT_POSE_HAS_INITIAL_ORIENTATION=2,
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INIT_POSE_HAS_JOINT_STATE=4,
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INIT_POSE_HAS_BASE_LINEAR_VELOCITY = 8,
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INIT_POSE_HAS_BASE_ANGULAR_VELOCITY = 16,
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INIT_POSE_HAS_JOINT_VELOCITY=32,
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};
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///InitPoseArgs is mainly to initialize (teleport) the robot in a particular position
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///No motors or controls are needed to initialize the pose. It is similar to
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///moving a robot to a starting place, while it is switched off. It is only called
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///at the start of a robot control session. All velocities and control forces are cleared to zero.
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struct InitPoseArgs
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{
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int m_bodyUniqueId;
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int m_hasInitialStateQ[MAX_DEGREE_OF_FREEDOM];
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double m_initialStateQ[MAX_DEGREE_OF_FREEDOM];
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int m_hasInitialStateQdot[MAX_DEGREE_OF_FREEDOM];
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double m_initialStateQdot[MAX_DEGREE_OF_FREEDOM];
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};
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struct RequestDebugLinesArgs
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{
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int m_debugMode;
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int m_startingLineIndex;
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};
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struct RequestPixelDataArgs
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{
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float m_viewMatrix[16];
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float m_projectionMatrix[16];
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int m_startPixelIndex;
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int m_pixelWidth;
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int m_pixelHeight;
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float m_lightDirection[3];
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float m_lightColor[3];
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float m_lightDistance;
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float m_lightAmbientCoeff;
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float m_lightDiffuseCoeff;
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float m_lightSpecularCoeff;
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int m_hasShadow;
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int m_flags;
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};
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enum EnumRequestPixelDataUpdateFlags
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{
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REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES=1,
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REQUEST_PIXEL_ARGS_SET_PIXEL_WIDTH_HEIGHT=2,
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REQUEST_PIXEL_ARGS_SET_LIGHT_DIRECTION=4,
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REQUEST_PIXEL_ARGS_SET_LIGHT_COLOR=8,
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REQUEST_PIXEL_ARGS_SET_LIGHT_DISTANCE=16,
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REQUEST_PIXEL_ARGS_SET_SHADOW=32,
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REQUEST_PIXEL_ARGS_SET_AMBIENT_COEFF=64,
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REQUEST_PIXEL_ARGS_SET_DIFFUSE_COEFF=128,
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REQUEST_PIXEL_ARGS_SET_SPECULAR_COEFF=256,
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REQUEST_PIXEL_ARGS_HAS_FLAGS = 512,
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//don't exceed (1<<15), because this enum is shared with EnumRenderer in SharedMemoryPublic.h
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};
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enum EnumRequestContactDataUpdateFlags
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{
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CMD_REQUEST_CONTACT_POINT_HAS_QUERY_MODE=1,
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CMD_REQUEST_CONTACT_POINT_HAS_CLOSEST_DISTANCE_THRESHOLD=2,
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CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER = 4,
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CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER = 8,
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};
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struct RequestRaycastIntersections
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{
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int m_numRays;
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double m_rayFromPositions[MAX_RAY_INTERSECTION_BATCH_SIZE][3];
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double m_rayToPositions[MAX_RAY_INTERSECTION_BATCH_SIZE][3];
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};
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struct SendRaycastHits
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{
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int m_numRaycastHits;
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b3RayHitInfo m_rayHits[MAX_RAY_INTERSECTION_BATCH_SIZE];
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};
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struct RequestContactDataArgs
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{
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int m_startingContactPointIndex;
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int m_objectAIndexFilter;
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int m_objectBIndexFilter;
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int m_linkIndexAIndexFilter;
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int m_linkIndexBIndexFilter;
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double m_closestDistanceThreshold;
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int m_mode;
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};
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struct RequestOverlappingObjectsArgs
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{
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int m_startingOverlappingObjectIndex;
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double m_aabbQueryMin[3];
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double m_aabbQueryMax[3];
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};
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struct RequestVisualShapeDataArgs
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{
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int m_bodyUniqueId;
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int m_startingVisualShapeIndex;
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};
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struct RequestCollisionShapeDataArgs
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{
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int m_bodyUniqueId;
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int m_linkIndex;
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};
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enum EnumUpdateVisualShapeData
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{
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CMD_UPDATE_VISUAL_SHAPE_TEXTURE=1,
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CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR=2,
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CMD_UPDATE_VISUAL_SHAPE_SPECULAR_COLOR=4,
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};
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struct UpdateVisualShapeDataArgs
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{
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int m_bodyUniqueId;
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int m_jointIndex;
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int m_shapeIndex;
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int m_textureUniqueId;
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double m_rgbaColor[4];
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double m_specularColor[3];
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};
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struct LoadTextureArgs
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{
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char m_textureFileName[MAX_FILENAME_LENGTH];
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};
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struct b3LoadTextureResultArgs
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{
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int m_textureUniqueId;
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};
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struct SendVisualShapeDataArgs
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{
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int m_bodyUniqueId;
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int m_startingVisualShapeIndex;
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int m_numVisualShapesCopied;
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int m_numRemainingVisualShapes;
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};
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struct SendCollisionShapeDataArgs
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{
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int m_bodyUniqueId;
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int m_linkIndex;
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int m_numCollisionShapes;
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};
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struct SendDebugLinesArgs
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{
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int m_startingLineIndex;
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int m_numDebugLines;
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int m_numRemainingDebugLines;
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};
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struct SendPixelDataArgs
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{
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int m_imageWidth;
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int m_imageHeight;
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int m_startingPixelIndex;
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int m_numPixelsCopied;
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int m_numRemainingPixels;
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};
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struct PickBodyArgs
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{
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double m_rayFromWorld[3];
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double m_rayToWorld[3];
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};
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///Controlling a robot involves sending the desired state to its joint motor controllers.
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///The control mode determines the state variables used for motor control.
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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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//PD parameters in case m_controlMode == CONTROL_MODE_POSITION_VELOCITY_PD
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double m_Kp[MAX_DEGREE_OF_FREEDOM];//indexed by degree of freedom, 6 for base, and then the dofs for each link
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double m_Kd[MAX_DEGREE_OF_FREEDOM];//indexed by degree of freedom, 6 for base, and then the dofs for each link
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double m_rhsClamp[MAX_DEGREE_OF_FREEDOM];
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int m_hasDesiredStateFlags[MAX_DEGREE_OF_FREEDOM];
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//desired state is only written by the client, read-only access by server is expected
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//m_desiredStateQ is indexed by position variables,
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//starting with 3 base position variables, 4 base orientation variables (quaternion), then link position variables
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double m_desiredStateQ[MAX_DEGREE_OF_FREEDOM];
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//m_desiredStateQdot is index by velocity degrees of freedom, 3 linear and 3 angular variables for the base and then link velocity variables
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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 the maximum applied force/torque for the PD/motor/constraint to reach the desired velocity in CONTROL_MODE_VELOCITY and CONTROL_MODE_POSITION_VELOCITY_PD mode
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//indexed by degree of freedom, 6 dof base, and then dofs for each link
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double m_desiredStateForceTorque[MAX_DEGREE_OF_FREEDOM];
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};
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enum EnumSimDesiredStateUpdateFlags
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{
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SIM_DESIRED_STATE_HAS_Q=1,
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SIM_DESIRED_STATE_HAS_QDOT=2,
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SIM_DESIRED_STATE_HAS_KD=4,
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SIM_DESIRED_STATE_HAS_KP=8,
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SIM_DESIRED_STATE_HAS_MAX_FORCE=16,
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SIM_DESIRED_STATE_HAS_RHS_CLAMP=32
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};
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enum EnumSimParamUpdateFlags
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{
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SIM_PARAM_UPDATE_DELTA_TIME=1,
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SIM_PARAM_UPDATE_GRAVITY=2,
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SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS=4,
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SIM_PARAM_UPDATE_NUM_SIMULATION_SUB_STEPS=8,
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SIM_PARAM_UPDATE_REAL_TIME_SIMULATION = 16,
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SIM_PARAM_UPDATE_DEFAULT_CONTACT_ERP=32,
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SIM_PARAM_UPDATE_INTERNAL_SIMULATION_FLAGS=64,
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SIM_PARAM_UPDATE_USE_SPLIT_IMPULSE=128,
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SIM_PARAM_UPDATE_SPLIT_IMPULSE_PENETRATION_THRESHOLD = 256,
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SIM_PARAM_UPDATE_COLLISION_FILTER_MODE=512,
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SIM_PARAM_UPDATE_CONTACT_BREAKING_THRESHOLD = 1024,
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SIM_PARAM_ENABLE_CONE_FRICTION = 2048,
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SIM_PARAM_ENABLE_FILE_CACHING = 4096,
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SIM_PARAM_UPDATE_RESTITUTION_VELOCITY_THRESHOLD = 8192,
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SIM_PARAM_UPDATE_DEFAULT_NON_CONTACT_ERP=16384,
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SIM_PARAM_UPDATE_DEFAULT_FRICTION_ERP = 32768,
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SIM_PARAM_UPDATE_DETERMINISTIC_OVERLAPPING_PAIRS = 65536,
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SIM_PARAM_UPDATE_CCD_ALLOWED_PENETRATION = 131072,
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};
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enum EnumLoadSoftBodyUpdateFlags
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{
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LOAD_SOFT_BODY_FILE_NAME=1,
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LOAD_SOFT_BODY_UPDATE_SCALE=2,
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LOAD_SOFT_BODY_UPDATE_MASS=4,
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LOAD_SOFT_BODY_UPDATE_COLLISION_MARGIN=8
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};
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enum EnumSimParamInternalSimFlags
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{
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SIM_PARAM_INTERNAL_CREATE_ROBOT_ASSETS=1,
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};
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///Controlling a robot involves sending the desired state to its joint motor controllers.
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///The control mode determines the state variables used for motor control.
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struct LoadSoftBodyArgs
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{
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char m_fileName[MAX_FILENAME_LENGTH];
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double m_scale;
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double m_mass;
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double m_collisionMargin;
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};
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struct b3LoadSoftBodyResultArgs
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{
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int m_objectUniqueId;
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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 SendActualStateArgs
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{
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int m_bodyUniqueId;
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int m_numLinks;
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int m_numDegreeOfFreedomQ;
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int m_numDegreeOfFreedomU;
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double m_rootLocalInertialFrame[7];
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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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//measured 6DOF force/torque sensors: force[x,y,z] and torque[x,y,z]
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double m_jointReactionForces[6*MAX_DEGREE_OF_FREEDOM];
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double m_jointMotorForce[MAX_DEGREE_OF_FREEDOM];
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double m_linkState[7*MAX_NUM_LINKS];
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double m_linkWorldVelocities[6*MAX_NUM_LINKS];//linear velocity and angular velocity in world space (x/y/z each).
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double m_linkLocalInertialFrames[7*MAX_NUM_LINKS];
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};
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struct b3SendCollisionInfoArgs
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{
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int m_numLinks;
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double m_rootWorldAABBMin[3];
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double m_rootWorldAABBMax[3];
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double m_linkWorldAABBsMin[3*MAX_NUM_LINKS];
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double m_linkWorldAABBsMax[3*MAX_NUM_LINKS];
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};
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struct b3RequestCollisionInfoArgs
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{
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int m_bodyUniqueId;
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};
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enum EnumSensorTypes
|
|
{
|
|
SENSOR_FORCE_TORQUE=1,
|
|
SENSOR_IMU=2,
|
|
};
|
|
|
|
struct CreateSensorArgs
|
|
{
|
|
int m_bodyUniqueId;
|
|
int m_numJointSensorChanges;
|
|
int m_sensorType[MAX_DEGREE_OF_FREEDOM];
|
|
|
|
///todo: clean up the duplication, make sure no-one else is using those members directly (use C-API header instead)
|
|
int m_jointIndex[MAX_DEGREE_OF_FREEDOM];
|
|
int m_enableJointForceSensor[MAX_DEGREE_OF_FREEDOM];
|
|
|
|
int m_linkIndex[MAX_DEGREE_OF_FREEDOM];
|
|
int m_enableSensor[MAX_DEGREE_OF_FREEDOM];
|
|
|
|
};
|
|
|
|
typedef struct SharedMemoryCommand SharedMemoryCommand_t;
|
|
|
|
enum EnumBoxShapeFlags
|
|
{
|
|
BOX_SHAPE_HAS_INITIAL_POSITION=1,
|
|
BOX_SHAPE_HAS_INITIAL_ORIENTATION=2,
|
|
BOX_SHAPE_HAS_HALF_EXTENTS=4,
|
|
BOX_SHAPE_HAS_MASS=8,
|
|
BOX_SHAPE_HAS_COLLISION_SHAPE_TYPE=16,
|
|
BOX_SHAPE_HAS_COLOR=32,
|
|
};
|
|
///This command will be replaced to allow arbitrary collision shape types
|
|
struct CreateBoxShapeArgs
|
|
{
|
|
double m_halfExtentsX;
|
|
double m_halfExtentsY;
|
|
double m_halfExtentsZ;
|
|
|
|
double m_mass;
|
|
int m_collisionShapeType;//see SharedMemoryPublic.h
|
|
|
|
double m_initialPosition[3];
|
|
double m_initialOrientation[4];
|
|
double m_colorRGBA[4];
|
|
};
|
|
|
|
struct b3ObjectArgs
|
|
{
|
|
int m_numBodies;
|
|
int m_bodyUniqueIds[MAX_SDF_BODIES];
|
|
int m_numUserConstraints;
|
|
int m_userConstraintUniqueIds[MAX_SDF_BODIES];
|
|
};
|
|
|
|
struct b3Profile
|
|
{
|
|
char m_name[MAX_FILENAME_LENGTH];
|
|
int m_durationInMicroSeconds;
|
|
};
|
|
|
|
|
|
|
|
struct SdfLoadedArgs
|
|
{
|
|
int m_numBodies;
|
|
int m_bodyUniqueIds[MAX_SDF_BODIES];
|
|
int m_numUserConstraints;
|
|
int m_userConstraintUniqueIds[MAX_SDF_BODIES];
|
|
|
|
///@todo(erwincoumans) load cameras, lights etc
|
|
//int m_numCameras;
|
|
//int m_numLights;
|
|
};
|
|
|
|
|
|
struct SdfRequestInfoArgs
|
|
{
|
|
int m_bodyUniqueId;
|
|
};
|
|
|
|
///flags for b3ApplyExternalTorque and b3ApplyExternalForce
|
|
enum EnumExternalForcePrivateFlags
|
|
{
|
|
// EF_LINK_FRAME=1,
|
|
// EF_WORLD_FRAME=2,
|
|
EF_TORQUE=4,
|
|
EF_FORCE=8,
|
|
};
|
|
|
|
|
|
|
|
struct ExternalForceArgs
|
|
{
|
|
int m_numForcesAndTorques;
|
|
int m_bodyUniqueIds[MAX_SDF_BODIES];
|
|
int m_linkIds[MAX_SDF_BODIES];
|
|
double m_forcesAndTorques[3*MAX_SDF_BODIES];
|
|
double m_positions[3*MAX_SDF_BODIES];
|
|
int m_forceFlags[MAX_SDF_BODIES];
|
|
};
|
|
|
|
enum EnumSdfRequestInfoFlags
|
|
{
|
|
SDF_REQUEST_INFO_BODY=1,
|
|
//SDF_REQUEST_INFO_CAMERA=2,
|
|
};
|
|
|
|
|
|
struct CalculateInverseDynamicsArgs
|
|
{
|
|
int m_bodyUniqueId;
|
|
|
|
double m_jointPositionsQ[MAX_DEGREE_OF_FREEDOM];
|
|
double m_jointVelocitiesQdot[MAX_DEGREE_OF_FREEDOM];
|
|
double m_jointAccelerations[MAX_DEGREE_OF_FREEDOM];
|
|
};
|
|
|
|
struct CalculateInverseDynamicsResultArgs
|
|
{
|
|
int m_bodyUniqueId;
|
|
int m_dofCount;
|
|
double m_jointForces[MAX_DEGREE_OF_FREEDOM];
|
|
};
|
|
|
|
struct CalculateJacobianArgs
|
|
{
|
|
int m_bodyUniqueId;
|
|
int m_linkIndex;
|
|
double m_localPosition[3];
|
|
double m_jointPositionsQ[MAX_DEGREE_OF_FREEDOM];
|
|
double m_jointVelocitiesQdot[MAX_DEGREE_OF_FREEDOM];
|
|
double m_jointAccelerations[MAX_DEGREE_OF_FREEDOM];
|
|
};
|
|
|
|
struct CalculateJacobianResultArgs
|
|
{
|
|
int m_dofCount;
|
|
double m_linearJacobian[3*MAX_DEGREE_OF_FREEDOM];
|
|
double m_angularJacobian[3*MAX_DEGREE_OF_FREEDOM];
|
|
};
|
|
|
|
struct CalculateMassMatrixArgs
|
|
{
|
|
int m_bodyUniqueId;
|
|
double m_jointPositionsQ[MAX_DEGREE_OF_FREEDOM];
|
|
};
|
|
|
|
struct CalculateMassMatrixResultArgs
|
|
{
|
|
int m_dofCount;
|
|
};
|
|
|
|
struct CalculateInverseKinematicsArgs
|
|
{
|
|
int m_bodyUniqueId;
|
|
// double m_jointPositionsQ[MAX_DEGREE_OF_FREEDOM];
|
|
double m_targetPosition[3];
|
|
double m_targetOrientation[4];//orientation represented as quaternion, x,y,z,w
|
|
int m_endEffectorLinkIndex;
|
|
double m_lowerLimit[MAX_DEGREE_OF_FREEDOM];
|
|
double m_upperLimit[MAX_DEGREE_OF_FREEDOM];
|
|
double m_jointRange[MAX_DEGREE_OF_FREEDOM];
|
|
double m_restPose[MAX_DEGREE_OF_FREEDOM];
|
|
double m_jointDamping[MAX_DEGREE_OF_FREEDOM];
|
|
};
|
|
|
|
struct CalculateInverseKinematicsResultArgs
|
|
{
|
|
int m_bodyUniqueId;
|
|
int m_dofCount;
|
|
double m_jointPositions[MAX_DEGREE_OF_FREEDOM];
|
|
};
|
|
|
|
enum EnumUserConstraintFlags
|
|
{
|
|
USER_CONSTRAINT_ADD_CONSTRAINT=1,
|
|
USER_CONSTRAINT_REMOVE_CONSTRAINT=2,
|
|
USER_CONSTRAINT_CHANGE_CONSTRAINT=4,
|
|
USER_CONSTRAINT_CHANGE_PIVOT_IN_B=8,
|
|
USER_CONSTRAINT_CHANGE_FRAME_ORN_IN_B=16,
|
|
USER_CONSTRAINT_CHANGE_MAX_FORCE=32,
|
|
USER_CONSTRAINT_REQUEST_INFO=64,
|
|
USER_CONSTRAINT_CHANGE_GEAR_RATIO=128,
|
|
USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK=256,
|
|
USER_CONSTRAINT_CHANGE_RELATIVE_POSITION_TARGET=512,
|
|
USER_CONSTRAINT_CHANGE_ERP=1024,
|
|
USER_CONSTRAINT_REQUEST_STATE=2048,
|
|
};
|
|
|
|
enum EnumBodyChangeFlags
|
|
{
|
|
BODY_DELETE_FLAG=1,
|
|
};
|
|
|
|
|
|
|
|
|
|
enum EnumUserDebugDrawFlags
|
|
{
|
|
USER_DEBUG_HAS_LINE=1,
|
|
USER_DEBUG_HAS_TEXT=2,
|
|
USER_DEBUG_REMOVE_ONE_ITEM=4,
|
|
USER_DEBUG_REMOVE_ALL=8,
|
|
USER_DEBUG_SET_CUSTOM_OBJECT_COLOR = 16,
|
|
USER_DEBUG_REMOVE_CUSTOM_OBJECT_COLOR = 32,
|
|
USER_DEBUG_ADD_PARAMETER=64,
|
|
USER_DEBUG_READ_PARAMETER=128,
|
|
USER_DEBUG_HAS_OPTION_FLAGS=256,
|
|
USER_DEBUG_HAS_TEXT_ORIENTATION = 512,
|
|
USER_DEBUG_HAS_PARENT_OBJECT=1024,
|
|
USER_DEBUG_HAS_REPLACE_ITEM_UNIQUE_ID=2048,
|
|
};
|
|
|
|
struct UserDebugDrawArgs
|
|
{
|
|
double m_debugLineFromXYZ[3];
|
|
double m_debugLineToXYZ[3];
|
|
double m_debugLineColorRGB[3];
|
|
double m_lineWidth;
|
|
|
|
double m_lifeTime;
|
|
int m_itemUniqueId;
|
|
|
|
char m_text[MAX_FILENAME_LENGTH];
|
|
double m_textPositionXYZ[3];
|
|
double m_textOrientation[4];
|
|
int m_parentObjectUniqueId;
|
|
int m_parentLinkIndex;
|
|
double m_textColorRGB[3];
|
|
double m_textSize;
|
|
int m_optionFlags;
|
|
int m_replaceItemUniqueId;
|
|
|
|
double m_rangeMin;
|
|
double m_rangeMax;
|
|
double m_startValue;
|
|
|
|
double m_objectDebugColorRGB[3];
|
|
int m_objectUniqueId;
|
|
int m_linkIndex;
|
|
};
|
|
|
|
|
|
|
|
struct UserDebugDrawResultArgs
|
|
{
|
|
int m_debugItemUniqueId;
|
|
double m_parameterValue;
|
|
};
|
|
|
|
|
|
struct SendVREvents
|
|
{
|
|
int m_numVRControllerEvents;
|
|
b3VRControllerEvent m_controllerEvents[MAX_VR_CONTROLLERS];
|
|
};
|
|
|
|
struct SendKeyboardEvents
|
|
{
|
|
int m_numKeyboardEvents;
|
|
b3KeyboardEvent m_keyboardEvents[MAX_KEYBOARD_EVENTS];
|
|
};
|
|
|
|
struct SendMouseEvents
|
|
{
|
|
int m_numMouseEvents;
|
|
b3MouseEvent m_mouseEvents[MAX_MOUSE_EVENTS];
|
|
};
|
|
|
|
enum eVRCameraEnums
|
|
{
|
|
VR_CAMERA_ROOT_POSITION=1,
|
|
VR_CAMERA_ROOT_ORIENTATION=2,
|
|
VR_CAMERA_ROOT_TRACKING_OBJECT=4,
|
|
VR_CAMERA_FLAG = 8,
|
|
};
|
|
|
|
enum eStateLoggingEnums
|
|
{
|
|
STATE_LOGGING_START_LOG=1,
|
|
STATE_LOGGING_STOP_LOG=2,
|
|
STATE_LOGGING_FILTER_OBJECT_UNIQUE_ID=4,
|
|
STATE_LOGGING_MAX_LOG_DOF=8,
|
|
STATE_LOGGING_FILTER_LINK_INDEX_A=16,
|
|
STATE_LOGGING_FILTER_LINK_INDEX_B=32,
|
|
STATE_LOGGING_FILTER_BODY_UNIQUE_ID_A=64,
|
|
STATE_LOGGING_FILTER_BODY_UNIQUE_ID_B=128,
|
|
STATE_LOGGING_FILTER_DEVICE_TYPE=256,
|
|
STATE_LOGGING_LOG_FLAGS=512
|
|
};
|
|
|
|
struct VRCameraState
|
|
{
|
|
double m_rootPosition[3];
|
|
double m_rootOrientation[4];
|
|
int m_trackingObjectUniqueId;
|
|
int m_trackingObjectFlag;
|
|
};
|
|
|
|
|
|
|
|
struct StateLoggingRequest
|
|
{
|
|
char m_fileName[MAX_FILENAME_LENGTH];
|
|
int m_logType;//Minitaur, generic robot, VR states, contact points
|
|
int m_numBodyUniqueIds;////only if STATE_LOGGING_FILTER_OBJECT_UNIQUE_ID flag is set
|
|
int m_bodyUniqueIds[MAX_SDF_BODIES];
|
|
int m_loggingUniqueId;
|
|
int m_maxLogDof;
|
|
int m_linkIndexA; // only if STATE_LOGGING_FILTER_LINK_INDEX_A flag is set
|
|
int m_linkIndexB; // only if STATE_LOGGING_FILTER_LINK_INDEX_B flag is set
|
|
int m_bodyUniqueIdA; // only if STATE_LOGGING_FILTER_BODY_UNIQUE_ID_A flag is set
|
|
int m_bodyUniqueIdB; // only if STATE_LOGGING_FILTER_BODY_UNIQUE_ID_B flag is set
|
|
int m_deviceFilterType; //user to select (filter) which VR devices to log
|
|
int m_logFlags;
|
|
};
|
|
|
|
struct StateLoggingResultArgs
|
|
{
|
|
int m_loggingUniqueId;
|
|
};
|
|
|
|
enum InternalOpenGLVisualizerUpdateFlags
|
|
{
|
|
COV_SET_CAMERA_VIEW_MATRIX=1,
|
|
COV_SET_FLAGS=2,
|
|
};
|
|
|
|
struct ConfigureOpenGLVisualizerRequest
|
|
{
|
|
double m_cameraDistance;
|
|
double m_cameraPitch;
|
|
double m_cameraYaw;
|
|
double m_cameraTargetPosition[3];
|
|
|
|
int m_setFlag;
|
|
int m_setEnabled;
|
|
};
|
|
|
|
enum
|
|
{
|
|
URDF_GEOM_HAS_RADIUS = 1,
|
|
};
|
|
|
|
struct b3CreateUserShapeData
|
|
{
|
|
int m_type;//see UrdfGeomTypes
|
|
|
|
int m_hasChildTransform;
|
|
double m_childPosition[3];
|
|
double m_childOrientation[4];
|
|
|
|
double m_sphereRadius;
|
|
double m_boxHalfExtents[3];
|
|
double m_capsuleRadius;
|
|
double m_capsuleHeight;
|
|
int m_hasFromTo;
|
|
double m_capsuleFrom[3];
|
|
double m_capsuleTo[3];
|
|
double m_planeNormal[3];
|
|
double m_planeConstant;
|
|
|
|
int m_meshFileType;
|
|
char m_meshFileName[VISUAL_SHAPE_MAX_PATH_LEN];
|
|
double m_meshScale[3];
|
|
int m_collisionFlags;
|
|
int m_visualFlags;
|
|
|
|
double m_rgbaColor[4];
|
|
double m_specularColor[3];
|
|
|
|
};
|
|
|
|
#define MAX_COMPOUND_COLLISION_SHAPES 16
|
|
|
|
struct b3CreateUserShapeArgs
|
|
{
|
|
int m_numUserShapes;
|
|
b3CreateUserShapeData m_shapes[MAX_COMPOUND_COLLISION_SHAPES];
|
|
};
|
|
|
|
struct b3CreateUserShapeResultArgs
|
|
{
|
|
int m_userShapeUniqueId;
|
|
};
|
|
|
|
|
|
#define MAX_CREATE_MULTI_BODY_LINKS 128
|
|
enum eCreateMultiBodyEnum
|
|
{
|
|
MULTI_BODY_HAS_BASE=1,
|
|
MULT_BODY_USE_MAXIMAL_COORDINATES=2,
|
|
};
|
|
struct b3CreateMultiBodyArgs
|
|
{
|
|
char m_bodyName[1024];
|
|
int m_baseLinkIndex;
|
|
|
|
double m_linkPositions[3*MAX_CREATE_MULTI_BODY_LINKS];
|
|
double m_linkOrientations[4*MAX_CREATE_MULTI_BODY_LINKS];
|
|
|
|
int m_numLinks;
|
|
double m_linkMasses[MAX_CREATE_MULTI_BODY_LINKS];
|
|
double m_linkInertias[MAX_CREATE_MULTI_BODY_LINKS*3];
|
|
|
|
double m_linkInertialFramePositions[MAX_CREATE_MULTI_BODY_LINKS*3];
|
|
double m_linkInertialFrameOrientations[MAX_CREATE_MULTI_BODY_LINKS*4];
|
|
|
|
int m_linkCollisionShapeUniqueIds[MAX_CREATE_MULTI_BODY_LINKS];
|
|
int m_linkVisualShapeUniqueIds[MAX_CREATE_MULTI_BODY_LINKS];
|
|
int m_linkParentIndices[MAX_CREATE_MULTI_BODY_LINKS];
|
|
int m_linkJointTypes[MAX_CREATE_MULTI_BODY_LINKS];
|
|
double m_linkJointAxis[3*MAX_CREATE_MULTI_BODY_LINKS];
|
|
|
|
#if 0
|
|
std::string m_name;
|
|
std::string m_sourceFile;
|
|
btTransform m_rootTransformInWorld;
|
|
btHashMap<btHashString, UrdfMaterial*> m_materials;
|
|
btHashMap<btHashString, UrdfLink*> m_links;
|
|
btHashMap<btHashString, UrdfJoint*> m_joints;
|
|
#endif
|
|
};
|
|
|
|
struct b3CreateMultiBodyResultArgs
|
|
{
|
|
int m_bodyUniqueId;
|
|
};
|
|
|
|
struct b3ChangeTextureArgs
|
|
{
|
|
int m_textureUniqueId;
|
|
int m_width;
|
|
int m_height;
|
|
};
|
|
|
|
struct b3StateSerializationArguments
|
|
{
|
|
char m_fileName[MAX_URDF_FILENAME_LENGTH];
|
|
int m_stateId;
|
|
};
|
|
|
|
struct SharedMemoryCommand
|
|
{
|
|
int m_type;
|
|
smUint64_t m_timeStamp;
|
|
int m_sequenceNumber;
|
|
|
|
//m_updateFlags is a bit fields to tell which parameters need updating
|
|
//for example m_updateFlags = SIM_PARAM_UPDATE_DELTA_TIME | SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS;
|
|
int m_updateFlags;
|
|
|
|
union
|
|
{
|
|
struct UrdfArgs m_urdfArguments;
|
|
struct SdfArgs m_sdfArguments;
|
|
struct MjcfArgs m_mjcfArguments;
|
|
struct FileArgs m_fileArguments;
|
|
struct SdfRequestInfoArgs m_sdfRequestInfoArgs;
|
|
struct ChangeDynamicsInfoArgs m_changeDynamicsInfoArgs;
|
|
struct GetDynamicsInfoArgs m_getDynamicsInfoArgs;
|
|
struct InitPoseArgs m_initPoseArgs;
|
|
struct b3PhysicsSimulationParameters m_physSimParamArgs;
|
|
struct BulletDataStreamArgs m_dataStreamArguments;
|
|
struct SendDesiredStateArgs m_sendDesiredStateCommandArgument;
|
|
struct RequestActualStateArgs m_requestActualStateInformationCommandArgument;
|
|
struct CreateSensorArgs m_createSensorArguments;
|
|
struct CreateBoxShapeArgs m_createBoxShapeArguments;
|
|
struct RequestDebugLinesArgs m_requestDebugLinesArguments;
|
|
struct RequestPixelDataArgs m_requestPixelDataArguments;
|
|
struct PickBodyArgs m_pickBodyArguments;
|
|
struct ExternalForceArgs m_externalForceArguments;
|
|
struct CalculateInverseDynamicsArgs m_calculateInverseDynamicsArguments;
|
|
struct CalculateJacobianArgs m_calculateJacobianArguments;
|
|
struct CalculateMassMatrixArgs m_calculateMassMatrixArguments;
|
|
struct b3UserConstraint m_userConstraintArguments;
|
|
struct RequestContactDataArgs m_requestContactPointArguments;
|
|
struct RequestOverlappingObjectsArgs m_requestOverlappingObjectsArgs;
|
|
struct RequestVisualShapeDataArgs m_requestVisualShapeDataArguments;
|
|
struct UpdateVisualShapeDataArgs m_updateVisualShapeDataArguments;
|
|
struct LoadTextureArgs m_loadTextureArguments;
|
|
struct CalculateInverseKinematicsArgs m_calculateInverseKinematicsArguments;
|
|
struct UserDebugDrawArgs m_userDebugDrawArgs;
|
|
struct RequestRaycastIntersections m_requestRaycastIntersections;
|
|
struct LoadSoftBodyArgs m_loadSoftBodyArguments;
|
|
struct VRCameraState m_vrCameraStateArguments;
|
|
struct StateLoggingRequest m_stateLoggingArguments;
|
|
struct ConfigureOpenGLVisualizerRequest m_configureOpenGLVisualizerArguments;
|
|
struct b3ObjectArgs m_removeObjectArgs;
|
|
struct b3Profile m_profile;
|
|
struct b3CreateUserShapeArgs m_createUserShapeArgs;
|
|
struct b3CreateMultiBodyArgs m_createMultiBodyArgs;
|
|
struct b3RequestCollisionInfoArgs m_requestCollisionInfoArgs;
|
|
struct b3ChangeTextureArgs m_changeTextureArgs;
|
|
struct b3SearchPathfArgs m_searchPathArgs;
|
|
struct b3CustomCommand m_customCommandArgs;
|
|
struct b3StateSerializationArguments m_loadStateArguments;
|
|
struct RequestCollisionShapeDataArgs m_requestCollisionShapeDataArguments;
|
|
};
|
|
};
|
|
|
|
struct RigidBodyCreateArgs
|
|
{
|
|
int m_bodyUniqueId;
|
|
};
|
|
|
|
struct SendContactDataArgs
|
|
{
|
|
int m_startingContactPointIndex;
|
|
int m_numContactPointsCopied;
|
|
int m_numRemainingContactPoints;
|
|
};
|
|
|
|
struct SendOverlappingObjectsArgs
|
|
{
|
|
int m_startingOverlappingObjectIndex;
|
|
int m_numOverlappingObjectsCopied;
|
|
int m_numRemainingOverlappingObjects;
|
|
};
|
|
|
|
|
|
|
|
|
|
|
|
|
|
struct SharedMemoryStatus
|
|
{
|
|
int m_type;
|
|
|
|
smUint64_t m_timeStamp;
|
|
int m_sequenceNumber;
|
|
|
|
//m_streamBytes is only for internal purposes
|
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int m_numDataStreamBytes;
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char* m_dataStream;
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//m_updateFlags is a bit fields to tell which parameters were updated,
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//m_updateFlags is ignored for most status messages
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int m_updateFlags;
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union
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{
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struct BulletDataStreamArgs m_dataStreamArguments;
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struct SdfLoadedArgs m_sdfLoadedArgs;
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struct SendActualStateArgs m_sendActualStateArgs;
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struct SendDebugLinesArgs m_sendDebugLinesArgs;
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struct SendPixelDataArgs m_sendPixelDataArguments;
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struct RigidBodyCreateArgs m_rigidBodyCreateArgs;
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|
struct CalculateInverseDynamicsResultArgs m_inverseDynamicsResultArgs;
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|
struct CalculateJacobianResultArgs m_jacobianResultArgs;
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|
struct CalculateMassMatrixResultArgs m_massMatrixResultArgs;
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struct SendContactDataArgs m_sendContactPointArgs;
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|
struct SendOverlappingObjectsArgs m_sendOverlappingObjectsArgs;
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|
struct CalculateInverseKinematicsResultArgs m_inverseKinematicsResultArgs;
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|
struct SendVisualShapeDataArgs m_sendVisualShapeArgs;
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|
struct UserDebugDrawResultArgs m_userDebugDrawArgs;
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|
struct b3UserConstraint m_userConstraintResultArgs;
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|
struct b3UserConstraintState m_userConstraintStateResultArgs;
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|
struct SendVREvents m_sendVREvents;
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struct SendKeyboardEvents m_sendKeyboardEvents;
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|
struct SendRaycastHits m_raycastHits;
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|
struct StateLoggingResultArgs m_stateLoggingResultArgs;
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|
struct b3OpenGLVisualizerCameraInfo m_visualizerCameraResultArgs;
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|
struct b3ObjectArgs m_removeObjectArgs;
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|
struct b3DynamicsInfo m_dynamicsInfo;
|
|
struct b3CreateUserShapeResultArgs m_createUserShapeResultArgs;
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|
struct b3CreateMultiBodyResultArgs m_createMultiBodyResultArgs;
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|
struct b3SendCollisionInfoArgs m_sendCollisionInfoArgs;
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|
struct SendMouseEvents m_sendMouseEvents;
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|
struct b3LoadTextureResultArgs m_loadTextureResultArguments;
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|
struct b3CustomCommandResultArgs m_customCommandResultArgs;
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|
struct b3PhysicsSimulationParameters m_simulationParameterResultArgs;
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|
struct b3StateSerializationArguments m_saveStateResultArgs;
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|
struct b3LoadSoftBodyResultArgs m_loadSoftBodyResultArguments;
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|
struct SendCollisionShapeDataArgs m_sendCollisionShapeArgs;
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|
};
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|
};
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|
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typedef struct SharedMemoryStatus SharedMemoryStatus_t;
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#endif //SHARED_MEMORY_COMMANDS_H
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