mirror of
https://github.com/bulletphysics/bullet3
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590 lines
16 KiB
C++
590 lines
16 KiB
C++
#ifndef B3_ROBOT_SIMULATOR_CLIENT_API_NO_DIRECT_H
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#define B3_ROBOT_SIMULATOR_CLIENT_API_NO_DIRECT_H
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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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#include "SharedMemoryPublic.h"
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btQuaternion.h"
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#include "LinearMath/btTransform.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include <string>
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struct b3RobotSimulatorLoadUrdfFileArgs
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{
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btVector3 m_startPosition;
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btQuaternion 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 btVector3& startPos, const btQuaternion& 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(btVector3(0, 0, 0)),
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m_startOrientation(btQuaternion(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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btAlignedObjectArray<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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btAlignedObjectArray<double> m_lowerLimits;
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btAlignedObjectArray<double> m_upperLimits;
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btAlignedObjectArray<double> m_jointRanges;
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btAlignedObjectArray<double> m_restPoses;
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btAlignedObjectArray<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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btAlignedObjectArray<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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btTransform m_rootLocalInertialFrame;
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btAlignedObjectArray<double> m_actualStateQ;
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btAlignedObjectArray<double> m_actualStateQdot;
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btAlignedObjectArray<double> m_jointReactionForces;
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};
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struct b3RobotSimulatorJointMotorArrayArgs
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{
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int m_controlMode;
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int m_numControlledDofs;
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int *m_jointIndices;
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double *m_targetPositions;
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double *m_kps;
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double *m_targetVelocities;
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double *m_kds;
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double *m_forces;
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b3RobotSimulatorJointMotorArrayArgs(int controlMode, int numControlledDofs)
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: m_controlMode(controlMode),
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m_numControlledDofs(numControlledDofs),
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m_jointIndices(NULL),
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m_targetPositions(NULL),
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m_kps(NULL),
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m_targetVelocities(NULL),
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m_kds(NULL),
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m_forces(NULL)
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{
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}
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};
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struct b3RobotSimulatorGetCameraImageArgs
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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;
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float *m_projectionMatrix;
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float *m_lightDirection;
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float *m_lightColor;
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float m_lightDistance;
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int m_hasShadow;
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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_renderer;
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b3RobotSimulatorGetCameraImageArgs(int width, int height)
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: m_width(width),
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m_height(height),
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m_viewMatrix(NULL),
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m_projectionMatrix(NULL),
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m_lightDirection(NULL),
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m_lightColor(NULL),
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m_lightDistance(-1),
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m_hasShadow(-1),
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m_lightAmbientCoeff(-1),
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m_lightDiffuseCoeff(-1),
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m_lightSpecularCoeff(-1),
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m_renderer(-1)
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{
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}
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};
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struct b3RobotSimulatorSetPhysicsEngineParameters
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{
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double m_fixedTimeStep;
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int m_numSolverIterations;
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int m_useSplitImpulse;
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double m_splitImpulsePenetrationThreshold;
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int m_numSubSteps;
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int m_collisionFilterMode;
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double m_contactBreakingThreshold;
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int m_maxNumCmdPer1ms;
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int m_enableFileCaching;
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double m_restitutionVelocityThreshold;
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double m_erp;
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double m_contactERP;
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double m_frictionERP;
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double m_solverResidualThreshold;
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b3RobotSimulatorSetPhysicsEngineParameters()
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: m_fixedTimeStep(-1),
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m_numSolverIterations(-1),
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m_useSplitImpulse(-1),
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m_splitImpulsePenetrationThreshold(-1),
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m_numSubSteps(-1),
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m_collisionFilterMode(-1),
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m_contactBreakingThreshold(-1),
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m_maxNumCmdPer1ms(-1),
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m_enableFileCaching(-1),
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m_restitutionVelocityThreshold(-1),
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m_erp(-1),
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m_contactERP(-1),
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m_frictionERP(-1),
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m_solverResidualThreshold(-1)
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{}
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};
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struct b3RobotSimulatorChangeDynamicsArgs
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{
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double m_mass;
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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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int m_frictionAnchor;
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b3RobotSimulatorChangeDynamicsArgs()
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: m_mass(-1),
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m_lateralFriction(-1),
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m_spinningFriction(-1),
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m_rollingFriction(-1),
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m_restitution(-1),
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m_linearDamping(-1),
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m_angularDamping(-1),
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m_contactStiffness(-1),
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m_contactDamping(-1),
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m_frictionAnchor(-1)
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{}
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};
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struct b3RobotSimulatorAddUserDebugLineArgs
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{
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double m_colorRGB[3];
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double m_lineWidth;
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double m_lifeTime;
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int m_parentObjectUniqueId;
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int m_parentLinkIndex;
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b3RobotSimulatorAddUserDebugLineArgs()
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:
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m_lineWidth(1),
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m_lifeTime(0),
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m_parentObjectUniqueId(-1),
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m_parentLinkIndex(-1)
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{
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m_colorRGB[0] = 1;
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m_colorRGB[1] = 1;
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m_colorRGB[2] = 1;
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}
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};
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enum b3AddUserDebugTextFlags {
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DEBUG_TEXT_HAS_ORIENTATION = 1
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};
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struct b3RobotSimulatorAddUserDebugTextArgs
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{
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double m_colorRGB[3];
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double m_size;
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double m_lifeTime;
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double m_textOrientation[4];
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int m_parentObjectUniqueId;
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int m_parentLinkIndex;
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int m_flags;
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b3RobotSimulatorAddUserDebugTextArgs()
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: m_size(1),
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m_lifeTime(0),
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m_parentObjectUniqueId(-1),
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m_parentLinkIndex(-1),
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m_flags(0)
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{
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m_colorRGB[0] = 1;
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m_colorRGB[1] = 1;
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m_colorRGB[2] = 1;
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m_textOrientation[0] = 0;
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m_textOrientation[1] = 0;
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m_textOrientation[2] = 0;
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m_textOrientation[3] = 1;
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}
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};
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struct b3RobotSimulatorGetContactPointsArgs
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{
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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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b3RobotSimulatorGetContactPointsArgs()
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: m_bodyUniqueIdA(-1),
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m_bodyUniqueIdB(-1),
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m_linkIndexA(-2),
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m_linkIndexB(-2)
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{}
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};
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struct b3RobotSimulatorCreateCollisionShapeArgs
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{
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int m_shapeType;
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double m_radius;
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btVector3 m_halfExtents;
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double m_height;
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char* m_fileName;
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btVector3 m_meshScale;
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btVector3 m_planeNormal;
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int m_flags;
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b3RobotSimulatorCreateCollisionShapeArgs()
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: m_shapeType(-1),
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m_radius(0.5),
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m_height(1),
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m_fileName(NULL),
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m_flags(0)
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{
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m_halfExtents.m_floats[0] = 1;
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m_halfExtents.m_floats[1] = 1;
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m_halfExtents.m_floats[2] = 1;
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m_meshScale.m_floats[0] = 1;
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m_meshScale.m_floats[1] = 1;
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m_meshScale.m_floats[2] = 1;
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m_planeNormal.m_floats[0] = 0;
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m_planeNormal.m_floats[1] = 0;
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m_planeNormal.m_floats[2] = 1;
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}
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};
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struct b3RobotSimulatorCreateMultiBodyArgs
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{
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double m_baseMass;
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int m_baseCollisionShapeIndex;
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int m_baseVisualShapeIndex;
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btVector3 m_basePosition;
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btQuaternion m_baseOrientation;
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btVector3 m_baseInertialFramePosition;
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btQuaternion m_baseInertialFrameOrientation;
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int m_numLinks;
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double *m_linkMasses;
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int *m_linkCollisionShapeIndices;
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int *m_linkVisualShapeIndices;
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btVector3 *m_linkPositions;
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btQuaternion *m_linkOrientations;
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btVector3 *m_linkInertialFramePositions;
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btQuaternion *m_linkInertialFrameOrientations;
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int *m_linkParentIndices;
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int *m_linkJointTypes;
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btVector3 *m_linkJointAxes;
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int m_useMaximalCoordinates;
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b3RobotSimulatorCreateMultiBodyArgs()
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: m_numLinks(0), m_baseMass(0), m_baseCollisionShapeIndex(-1), m_baseVisualShapeIndex(-1), m_useMaximalCoordinates(0),
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m_linkMasses(NULL),
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m_linkCollisionShapeIndices(NULL),
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m_linkVisualShapeIndices(NULL),
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m_linkPositions(NULL),
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m_linkOrientations(NULL),
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m_linkInertialFramePositions(NULL),
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m_linkInertialFrameOrientations(NULL),
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m_linkParentIndices(NULL),
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m_linkJointTypes(NULL),
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m_linkJointAxes(NULL)
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{
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m_basePosition.setValue(0,0,0);
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m_baseOrientation.setValue(0,0,0,1);
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m_baseInertialFramePosition.setValue(0,0,0);
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m_baseInertialFrameOrientation.setValue(0,0,0,1);
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}
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};
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class b3RobotSimulatorClientAPI_NoDirect
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{
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protected:
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struct b3RobotSimulatorClientAPI_InternalData* m_data;
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public:
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b3RobotSimulatorClientAPI_NoDirect();
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virtual ~b3RobotSimulatorClientAPI_NoDirect();
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//No 'connect', use setInternalData to bypass the connect method, pass an existing client
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virtual void setInternalData(struct b3RobotSimulatorClientAPI_InternalData* data);
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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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btQuaternion getQuaternionFromEuler(const btVector3& rollPitchYaw);
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btVector3 getEulerFromQuaternion(const btQuaternion& 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, btVector3& basePosition, btQuaternion& baseOrientation) const;
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bool resetBasePositionAndOrientation(int bodyUniqueId, btVector3& basePosition, btQuaternion& baseOrientation);
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bool getBaseVelocity(int bodyUniqueId, btVector3& baseLinearVelocity, btVector3& baseAngularVelocity) const;
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bool resetBaseVelocity(int bodyUniqueId, const btVector3& linearVelocity, const btVector3& 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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bool setJointMotorControlArray(int bodyUniqueId, int controlMode, int numControlledDofs,
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int *jointIndices, double *targetVelocities, double *targetPositions,
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double *forces, double *kps, double *kds);
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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 btVector3& 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 btVector3& targetPos);
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int startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const btAlignedObjectArray<int>& objectUniqueIds=btAlignedObjectArray<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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// JFC: added these 24 methods
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void getMouseEvents(b3MouseEventsData* mouseEventsData);
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bool getLinkState(int bodyUniqueId, int linkIndex, int computeLinkVelocity, int computeForwardKinematics, b3LinkState* linkState);
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bool getCameraImage(int width, int height, struct b3RobotSimulatorGetCameraImageArgs args, b3CameraImageData &imageData);
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bool calculateInverseDynamics(int bodyUniqueId, double *jointPositions, double *jointVelocities, double *jointAccelerations, double *jointForcesOutput);
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int getNumBodies() const;
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int getBodyUniqueId(int bodyId) const;
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bool removeBody(int bodyUniqueId);
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bool getDynamicsInfo(int bodyUniqueId, int linkIndex, b3DynamicsInfo *dynamicsInfo);
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bool changeDynamics(int bodyUniqueId, int linkIndex, struct b3RobotSimulatorChangeDynamicsArgs &args);
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int addUserDebugParameter(char *paramName, double rangeMin, double rangeMax, double startValue);
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double readUserDebugParameter(int itemUniqueId);
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bool removeUserDebugItem(int itemUniqueId);
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int addUserDebugText(char *text, double *textPosition, struct b3RobotSimulatorAddUserDebugTextArgs &args);
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int addUserDebugText(char *text, btVector3 &textPosition, struct b3RobotSimulatorAddUserDebugTextArgs &args);
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int addUserDebugLine(double *fromXYZ, double *toXYZ, struct b3RobotSimulatorAddUserDebugLineArgs &args);
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int addUserDebugLine(btVector3 &fromXYZ, btVector3 &toXYZ, struct b3RobotSimulatorAddUserDebugLineArgs &args);
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bool setJointMotorControlArray(int bodyUniqueId, struct b3RobotSimulatorJointMotorArrayArgs &args);
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bool setPhysicsEngineParameter(struct b3RobotSimulatorSetPhysicsEngineParameters &args);
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bool applyExternalForce(int objectUniqueId, int linkIndex, double *force, double *position, int flags);
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bool applyExternalForce(int objectUniqueId, int linkIndex, btVector3 &force, btVector3 &position, int flags);
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bool applyExternalTorque(int objectUniqueId, int linkIndex, double *torque, int flags);
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bool applyExternalTorque(int objectUniqueId, int linkIndex, btVector3 &torque, int flags);
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bool enableJointForceTorqueSensor(int bodyUniqueId, int linkIndex, bool enable);
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bool getDebugVisualizerCamera(struct b3OpenGLVisualizerCameraInfo *cameraInfo);
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bool getContactPoints(struct b3RobotSimulatorGetContactPointsArgs &args, struct b3ContactInformation *contactInfo);
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bool getClosestPoints(struct b3RobotSimulatorGetContactPointsArgs &args, double distance, struct b3ContactInformation *contactInfo);
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bool getOverlappingObjects(double *aabbMin, double *aabbMax, struct b3AABBOverlapData *overlapData);
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bool getOverlappingObjects(btVector3 &aabbMin, btVector3 &aabbMax, struct b3AABBOverlapData *overlapData);
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bool getAABB(int bodyUniqueId, int linkIndex, double *aabbMin, double *aabbMax);
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bool getAABB(int bodyUniqueId, int linkIndex, btVector3 &aabbMin, btVector3 &aabbMax);
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int createCollisionShape(int shapeType, struct b3RobotSimulatorCreateCollisionShapeArgs &args);
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int createMultiBody(struct b3RobotSimulatorCreateMultiBodyArgs &args);
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int getNumConstraints() const;
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int getConstraintUniqueId(int serialIndex);
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void loadSoftBody(const std::string& fileName, double scale, double mass, double collisionMargin);
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virtual void setGuiHelper(struct GUIHelperInterface* guiHelper);
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virtual struct GUIHelperInterface* getGuiHelper();
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bool getCollisionShapeData(int bodyUniqueId, int linkIndex, b3CollisionShapeInformation &collisionShapeInfo);
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bool getVisualShapeData(int bodyUniqueId, b3VisualShapeInformation &visualShapeInfo);
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};
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#endif //B3_ROBOT_SIMULATOR_CLIENT_API_NO_DIRECT_H
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