mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 06:00:12 +00:00
f0cccf0faa
This will allow to exclude (filter) certain bodies. By default, static bodies have collision group 2, and dynamic (mass=1) bodies have collision group 1. As long as mask & group != 0, a raytest will be performed.
1257 lines
33 KiB
C
1257 lines
33 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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#ifdef __APPLE__
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#define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (1024 * 1024)
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#else
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#define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (8 * 1024 * 1024)
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#endif
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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
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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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CHANGE_DYNAMICS_INFO_SET_CONTACT_PROCESSING_THRESHOLD = 4096,
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CHANGE_DYNAMICS_INFO_SET_ACTIVATION_STATE = 8192,
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CHANGE_DYNAMICS_INFO_SET_JOINT_DAMPING = 16384,
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CHANGE_DYNAMICS_INFO_SET_ANISOTROPIC_FRICTION = 32768,
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CHANGE_DYNAMICS_INFO_SET_MAX_JOINT_VELOCITY = 1<<16,
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CHANGE_DYNAMICS_INFO_SET_COLLISION_MARGIN = 1 << 17,
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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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double m_contactProcessingThreshold;
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int m_activationState;
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double m_jointDamping;
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double m_anisotropicFriction[3];
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double m_maxJointVelocity;
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double m_collisionMargin;
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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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float m_projectiveTextureViewMatrix[16];
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float m_projectiveTextureProjectionMatrix[16];
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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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REQUEST_PIXEL_ARGS_HAS_PROJECTIVE_TEXTURE_MATRICES = 1024,
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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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CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_A = 16,
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CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_B = 32,
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CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_POSITION_A = 64,
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CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_POSITION_B = 128,
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CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_ORIENTATION_A = 256,
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CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_ORIENTATION_B = 512,
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};
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struct RequestRaycastIntersections
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{
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// The number of threads that Bullet may use to perform the ray casts.
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// 0: Let Bullet decide
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// 1: Use a single thread (i.e. no multi-threading)
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// 2 or more: Number of threads to use.
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int m_numThreads;
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int m_numCommandRays;
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//m_numCommandRays command rays are stored in m_fromToRays
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b3RayData m_fromToRays[MAX_RAY_INTERSECTION_BATCH_SIZE];
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int m_numStreamingRays;
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//optional m_parentObjectUniqueId (-1 for unused)
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int m_parentObjectUniqueId;
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int m_parentLinkIndex;
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int m_reportHitNumber;
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int m_collisionFilterMask;
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//streaming ray data stored in shared memory streaming part. (size m_numStreamingRays )
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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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// Actual ray result data stored in shared memory streaming part.
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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_collisionShapeA;
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int m_collisionShapeB;
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double m_collisionShapePositionA[3];
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double m_collisionShapePositionB[3];
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double m_collisionShapeOrientationA[4];
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double m_collisionShapeOrientationB[4];
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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 = 1<<1,
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SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS = 1<<2,
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SIM_PARAM_UPDATE_NUM_SIMULATION_SUB_STEPS = 1<<3,
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SIM_PARAM_UPDATE_REAL_TIME_SIMULATION = 1<<4,
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SIM_PARAM_UPDATE_DEFAULT_CONTACT_ERP = 1<<5,
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SIM_PARAM_UPDATE_INTERNAL_SIMULATION_FLAGS = 1<<6,
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SIM_PARAM_UPDATE_USE_SPLIT_IMPULSE = 1<<7,
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SIM_PARAM_UPDATE_SPLIT_IMPULSE_PENETRATION_THRESHOLD = 1<<8,
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SIM_PARAM_UPDATE_COLLISION_FILTER_MODE = 1 << 9,
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SIM_PARAM_UPDATE_CONTACT_BREAKING_THRESHOLD = 1 << 10,
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SIM_PARAM_ENABLE_CONE_FRICTION = 1 << 11,
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SIM_PARAM_ENABLE_FILE_CACHING = 1 << 12,
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SIM_PARAM_UPDATE_RESTITUTION_VELOCITY_THRESHOLD = 1 << 13,
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SIM_PARAM_UPDATE_DEFAULT_NON_CONTACT_ERP = 1 << 14,
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SIM_PARAM_UPDATE_DEFAULT_FRICTION_ERP = 1 << 15,
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SIM_PARAM_UPDATE_DETERMINISTIC_OVERLAPPING_PAIRS = 1 << 16,
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SIM_PARAM_UPDATE_CCD_ALLOWED_PENETRATION = 1 << 17,
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SIM_PARAM_UPDATE_JOINT_FEEDBACK_MODE = 1 << 18,
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SIM_PARAM_UPDATE_DEFAULT_GLOBAL_CFM = 1 << 19,
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SIM_PARAM_UPDATE_DEFAULT_FRICTION_CFM = 1 << 20,
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SIM_PARAM_UPDATE_SOLVER_RESIDULAL_THRESHOLD = 1 << 21,
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SIM_PARAM_UPDATE_CONTACT_SLOP = 1 << 22,
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SIM_PARAM_ENABLE_SAT = 1 << 23,
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SIM_PARAM_CONSTRAINT_SOLVER_TYPE = 1 << 24,
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|
SIM_PARAM_CONSTRAINT_MIN_SOLVER_ISLAND_SIZE = 1 << 25,
|
|
SIM_PARAM_REPORT_CONSTRAINT_SOLVER_ANALYTICS = 1 << 26,
|
|
SIM_PARAM_UPDATE_WARM_STARTING_FACTOR = 1 << 27,
|
|
SIM_PARAM_UPDATE_ARTICULATED_WARM_STARTING_FACTOR = 1 << 28,
|
|
SIM_PARAM_UPDATE_SPARSE_SDF = 1 << 29,
|
|
SIM_PARAM_UPDATE_NUM_NONCONTACT_INNER_ITERATIONS = 1 << 30,
|
|
};
|
|
|
|
enum EnumLoadSoftBodyUpdateFlags
|
|
{
|
|
LOAD_SOFT_BODY_FILE_NAME = 1,
|
|
LOAD_SOFT_BODY_UPDATE_SCALE = 1<<1,
|
|
LOAD_SOFT_BODY_UPDATE_MASS = 1<<2,
|
|
LOAD_SOFT_BODY_UPDATE_COLLISION_MARGIN = 1<<3,
|
|
LOAD_SOFT_BODY_INITIAL_POSITION = 1<<4,
|
|
LOAD_SOFT_BODY_INITIAL_ORIENTATION = 1<<5,
|
|
LOAD_SOFT_BODY_ADD_COROTATED_FORCE = 1<<6,
|
|
LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE = 1<<7,
|
|
LOAD_SOFT_BODY_ADD_GRAVITY_FORCE = 1<<8,
|
|
LOAD_SOFT_BODY_SET_COLLISION_HARDNESS = 1<<9,
|
|
LOAD_SOFT_BODY_SET_FRICTION_COEFFICIENT = 1<<10,
|
|
LOAD_SOFT_BODY_ADD_BENDING_SPRINGS = 1<<11,
|
|
LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE = 1<<12,
|
|
LOAD_SOFT_BODY_USE_SELF_COLLISION = 1<<13,
|
|
LOAD_SOFT_BODY_USE_FACE_CONTACT = 1<<14,
|
|
LOAD_SOFT_BODY_SIM_MESH = 1<<15,
|
|
LOAD_SOFT_BODY_SET_REPULSION_STIFFNESS = 1<<16,
|
|
};
|
|
|
|
enum EnumSimParamInternalSimFlags
|
|
{
|
|
SIM_PARAM_INTERNAL_CREATE_ROBOT_ASSETS = 1,
|
|
};
|
|
|
|
///Controlling a robot involves sending the desired state to its joint motor controllers.
|
|
///The control mode determines the state variables used for motor control.
|
|
|
|
struct LoadSoftBodyArgs
|
|
{
|
|
char m_fileName[MAX_FILENAME_LENGTH];
|
|
double m_scale;
|
|
double m_mass;
|
|
double m_collisionMargin;
|
|
double m_initialPosition[3];
|
|
double m_initialOrientation[4];
|
|
double m_springElasticStiffness;
|
|
double m_springDampingStiffness;
|
|
double m_springBendingStiffness;
|
|
double m_corotatedMu;
|
|
double m_corotatedLambda;
|
|
int m_useBendingSprings;
|
|
double m_collisionHardness;
|
|
int m_useSelfCollision;
|
|
double m_frictionCoeff;
|
|
double m_NeoHookeanMu;
|
|
double m_NeoHookeanLambda;
|
|
double m_NeoHookeanDamping;
|
|
int m_useFaceContact;
|
|
char m_simFileName[MAX_FILENAME_LENGTH];
|
|
double m_repulsionStiffness;
|
|
};
|
|
|
|
struct b3LoadSoftBodyResultArgs
|
|
{
|
|
int m_objectUniqueId;
|
|
};
|
|
|
|
struct RequestActualStateArgs
|
|
{
|
|
int m_bodyUniqueId;
|
|
};
|
|
|
|
struct SendActualStateArgs
|
|
{
|
|
int m_bodyUniqueId;
|
|
int m_numLinks;
|
|
int m_numDegreeOfFreedomQ;
|
|
int m_numDegreeOfFreedomU;
|
|
|
|
double m_rootLocalInertialFrame[7];
|
|
struct SendActualStateSharedMemoryStorage* m_stateDetails;
|
|
|
|
};
|
|
|
|
struct SendActualStateSharedMemoryStorage
|
|
{
|
|
//actual state is only written by the server, read-only access by client is expected
|
|
double m_actualStateQ[MAX_DEGREE_OF_FREEDOM];
|
|
double m_actualStateQdot[MAX_DEGREE_OF_FREEDOM];
|
|
|
|
//measured 6DOF force/torque sensors: force[x,y,z] and torque[x,y,z]
|
|
double m_jointReactionForces[6 * MAX_DEGREE_OF_FREEDOM];
|
|
|
|
double m_jointMotorForce[MAX_DEGREE_OF_FREEDOM];
|
|
double m_jointMotorForceMultiDof[MAX_DEGREE_OF_FREEDOM];
|
|
|
|
double m_linkState[7 * MAX_NUM_LINKS];
|
|
double m_linkWorldVelocities[6 * MAX_NUM_LINKS]; //linear velocity and angular velocity in world space (x/y/z each).
|
|
double m_linkLocalInertialFrames[7 * MAX_NUM_LINKS];
|
|
};
|
|
|
|
struct b3SendCollisionInfoArgs
|
|
{
|
|
int m_numLinks;
|
|
double m_rootWorldAABBMin[3];
|
|
double m_rootWorldAABBMax[3];
|
|
|
|
double m_linkWorldAABBsMin[3 * MAX_NUM_LINKS];
|
|
double m_linkWorldAABBsMax[3 * MAX_NUM_LINKS];
|
|
};
|
|
|
|
struct b3RequestCollisionInfoArgs
|
|
{
|
|
int m_bodyUniqueId;
|
|
};
|
|
|
|
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];
|
|
int m_numUserCollisionShapes;
|
|
int m_userCollisionShapes[MAX_SDF_BODIES];
|
|
};
|
|
|
|
struct b3Profile
|
|
{
|
|
char m_name[MAX_FILENAME_LENGTH];
|
|
int m_durationInMicroSeconds;
|
|
int m_type;
|
|
};
|
|
|
|
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;
|
|
int m_dofCountQ;
|
|
int m_dofCountQdot;
|
|
double m_jointPositionsQ[MAX_DEGREE_OF_FREEDOM];
|
|
double m_jointVelocitiesQdot[MAX_DEGREE_OF_FREEDOM];
|
|
double m_jointAccelerations[MAX_DEGREE_OF_FREEDOM];
|
|
int m_flags;
|
|
};
|
|
|
|
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];
|
|
int m_dofCountQ;
|
|
int m_flags;
|
|
};
|
|
|
|
struct CalculateMassMatrixResultArgs
|
|
{
|
|
int m_dofCount;
|
|
};
|
|
|
|
enum b3EnumCollisionFilterFlags
|
|
{
|
|
B3_COLLISION_FILTER_PAIR = 1,
|
|
B3_COLLISION_FILTER_GROUP_MASK = 2,
|
|
};
|
|
|
|
struct b3CollisionFilterArgs
|
|
{
|
|
int m_bodyUniqueIdA;
|
|
int m_bodyUniqueIdB;
|
|
int m_linkIndexA;
|
|
int m_linkIndexB;
|
|
int m_enableCollision;
|
|
int m_collisionFilterGroup;
|
|
int m_collisionFilterMask;
|
|
};
|
|
|
|
struct CalculateInverseKinematicsArgs
|
|
{
|
|
int m_bodyUniqueId;
|
|
// double m_jointPositionsQ[MAX_DEGREE_OF_FREEDOM];
|
|
double m_targetPositions[MAX_DEGREE_OF_FREEDOM*3];
|
|
int m_numEndEffectorLinkIndices;
|
|
double m_targetOrientation[4]; //orientation represented as quaternion, x,y,z,w
|
|
int m_endEffectorLinkIndices[MAX_DEGREE_OF_FREEDOM];
|
|
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];
|
|
double m_currentPositions[MAX_DEGREE_OF_FREEDOM];
|
|
int m_maxNumIterations;
|
|
double m_residualThreshold;
|
|
};
|
|
|
|
struct CalculateInverseKinematicsResultArgs
|
|
{
|
|
int m_bodyUniqueId;
|
|
int m_dofCount;
|
|
double m_jointPositions[MAX_DEGREE_OF_FREEDOM];
|
|
};
|
|
|
|
|
|
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,
|
|
USER_DEBUG_REMOVE_ALL_PARAMETERS = 4096,
|
|
};
|
|
|
|
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,
|
|
COV_SET_LIGHT_POSITION = 4,
|
|
COV_SET_SHADOWMAP_RESOLUTION = 8,
|
|
COV_SET_SHADOWMAP_WORLD_SIZE = 16,
|
|
COV_SET_REMOTE_SYNC_TRANSFORM_INTERVAL = 32,
|
|
};
|
|
|
|
struct ConfigureOpenGLVisualizerRequest
|
|
{
|
|
double m_cameraDistance;
|
|
double m_cameraPitch;
|
|
double m_cameraYaw;
|
|
double m_cameraTargetPosition[3];
|
|
double m_lightPosition[3];
|
|
int m_shadowMapResolution;
|
|
int m_shadowMapWorldSize;
|
|
double m_remoteSyncTransformInterval;
|
|
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;
|
|
int m_numVertices;
|
|
int m_numIndices;
|
|
int m_numUVs;
|
|
int m_numNormals;
|
|
double m_heightfieldTextureScaling;
|
|
int m_numHeightfieldRows;
|
|
int m_numHeightfieldColumns;
|
|
double m_rgbaColor[4];
|
|
double m_specularColor[3];
|
|
int m_replaceHeightfieldIndex;
|
|
};
|
|
|
|
#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 MAX_DEGREE_OF_FREEDOM
|
|
enum eCreateMultiBodyEnum
|
|
{
|
|
MULTI_BODY_HAS_BASE = 1,
|
|
MULT_BODY_USE_MAXIMAL_COORDINATES = 2,
|
|
MULT_BODY_HAS_FLAGS = 4,
|
|
};
|
|
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];
|
|
int m_flags;
|
|
int m_numBatchObjects;
|
|
|
|
};
|
|
|
|
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 SyncUserDataRequestArgs
|
|
{
|
|
// The number of bodies for which we'd like to sync the user data of. When 0, all bodies are synced.
|
|
int m_numRequestedBodies;
|
|
// The body IDs for which we'd like to sync the user data of.
|
|
int m_requestedBodyIds[MAX_REQUESTED_BODIES_LENGTH];
|
|
};
|
|
|
|
struct SyncUserDataArgs
|
|
{
|
|
// User data identifiers stored in m_bulletStreamDataServerToClientRefactor
|
|
// as as array of integers.
|
|
int m_numUserDataIdentifiers;
|
|
// Whether the client should clear its user data cache.
|
|
bool m_clearCachedUserDataEntries;
|
|
};
|
|
|
|
struct UserDataRequestArgs
|
|
{
|
|
int m_userDataId;
|
|
};
|
|
|
|
struct UserDataResponseArgs
|
|
{
|
|
int m_userDataId;
|
|
int m_bodyUniqueId;
|
|
int m_linkIndex;
|
|
int m_visualShapeIndex;
|
|
int m_valueType;
|
|
int m_valueLength;
|
|
char m_key[MAX_USER_DATA_KEY_LENGTH];
|
|
// Value data stored in m_bulletStreamDataServerToClientRefactor.
|
|
};
|
|
|
|
struct AddUserDataRequestArgs
|
|
{
|
|
int m_bodyUniqueId;
|
|
int m_linkIndex;
|
|
int m_visualShapeIndex;
|
|
int m_valueType;
|
|
int m_valueLength;
|
|
char m_key[MAX_USER_DATA_KEY_LENGTH];
|
|
// Value data stored in m_bulletStreamDataServerToClientRefactor.
|
|
};
|
|
|
|
struct b3RequestMeshDataArgs
|
|
{
|
|
int m_bodyUniqueId;
|
|
int m_linkIndex;
|
|
int m_startingVertex;
|
|
int m_collisionShapeIndex;
|
|
};
|
|
|
|
struct b3SendMeshDataArgs
|
|
{
|
|
int m_numVerticesCopied;
|
|
int m_startingVertex;
|
|
int m_numVerticesRemaining;
|
|
};
|
|
|
|
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 SyncUserDataRequestArgs m_syncUserDataRequestArgs;
|
|
struct UserDataRequestArgs m_userDataRequestArgs;
|
|
struct AddUserDataRequestArgs m_addUserDataRequestArgs;
|
|
struct UserDataRequestArgs m_removeUserDataRequestArgs;
|
|
struct b3CollisionFilterArgs m_collisionFilterArgs;
|
|
struct b3RequestMeshDataArgs m_requestMeshDataArgs;
|
|
};
|
|
};
|
|
|
|
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
|
|
int m_numDataStreamBytes;
|
|
char* m_dataStream;
|
|
|
|
//m_updateFlags is a bit fields to tell which parameters were updated,
|
|
//m_updateFlags is ignored for most status messages
|
|
int m_updateFlags;
|
|
|
|
union {
|
|
struct BulletDataStreamArgs m_dataStreamArguments;
|
|
struct SdfLoadedArgs m_sdfLoadedArgs;
|
|
struct SendActualStateArgs m_sendActualStateArgs;
|
|
struct SendDebugLinesArgs m_sendDebugLinesArgs;
|
|
struct SendPixelDataArgs m_sendPixelDataArguments;
|
|
struct RigidBodyCreateArgs m_rigidBodyCreateArgs;
|
|
struct CalculateInverseDynamicsResultArgs m_inverseDynamicsResultArgs;
|
|
struct CalculateJacobianResultArgs m_jacobianResultArgs;
|
|
struct CalculateMassMatrixResultArgs m_massMatrixResultArgs;
|
|
struct SendContactDataArgs m_sendContactPointArgs;
|
|
struct SendOverlappingObjectsArgs m_sendOverlappingObjectsArgs;
|
|
struct CalculateInverseKinematicsResultArgs m_inverseKinematicsResultArgs;
|
|
struct SendVisualShapeDataArgs m_sendVisualShapeArgs;
|
|
struct UserDebugDrawResultArgs m_userDebugDrawArgs;
|
|
struct b3UserConstraint m_userConstraintResultArgs;
|
|
struct b3UserConstraintState m_userConstraintStateResultArgs;
|
|
struct SendVREvents m_sendVREvents;
|
|
struct SendKeyboardEvents m_sendKeyboardEvents;
|
|
struct SendRaycastHits m_raycastHits;
|
|
struct StateLoggingResultArgs m_stateLoggingResultArgs;
|
|
struct b3OpenGLVisualizerCameraInfo m_visualizerCameraResultArgs;
|
|
struct b3ObjectArgs m_removeObjectArgs;
|
|
struct b3DynamicsInfo m_dynamicsInfo;
|
|
struct b3CreateUserShapeResultArgs m_createUserShapeResultArgs;
|
|
struct b3CreateMultiBodyResultArgs m_createMultiBodyResultArgs;
|
|
struct b3SendCollisionInfoArgs m_sendCollisionInfoArgs;
|
|
struct SendMouseEvents m_sendMouseEvents;
|
|
struct b3LoadTextureResultArgs m_loadTextureResultArguments;
|
|
struct b3CustomCommandResultArgs m_customCommandResultArgs;
|
|
struct b3PhysicsSimulationParameters m_simulationParameterResultArgs;
|
|
struct b3StateSerializationArguments m_saveStateResultArgs;
|
|
struct b3LoadSoftBodyResultArgs m_loadSoftBodyResultArguments;
|
|
struct SendCollisionShapeDataArgs m_sendCollisionShapeArgs;
|
|
struct SyncUserDataArgs m_syncUserDataArgs;
|
|
struct UserDataResponseArgs m_userDataResponseArgs;
|
|
struct UserDataRequestArgs m_removeUserDataResponseArgs;
|
|
struct b3ForwardDynamicsAnalyticsArgs m_forwardDynamicsAnalyticsArgs;
|
|
struct b3SendMeshDataArgs m_sendMeshDataArgs;
|
|
};
|
|
};
|
|
|
|
typedef struct SharedMemoryStatus SharedMemoryStatus_t;
|
|
|
|
#endif //SHARED_MEMORY_COMMANDS_H
|