bullet3/examples/SharedMemory/SharedMemoryCommands.h
Erwin Coumans f0cccf0faa add collisionFilterMask to rayTestBatch and rayTest
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.
2020-05-08 11:57:25 -07:00

1257 lines
33 KiB
C

#ifndef SHARED_MEMORY_COMMANDS_H
#define SHARED_MEMORY_COMMANDS_H
//this is a very experimental draft of commands. We will iterate on this API (commands, arguments etc)
#include "SharedMemoryPublic.h"
#ifdef __GNUC__
#include <stdint.h>
typedef int32_t smInt32_t;
typedef int64_t smInt64_t;
typedef uint32_t smUint32_t;
typedef uint64_t smUint64_t;
#elif defined(_MSC_VER)
typedef __int32 smInt32_t;
typedef __int64 smInt64_t;
typedef unsigned __int32 smUint32_t;
typedef unsigned __int64 smUint64_t;
#else
typedef int smInt32_t;
typedef long long int smInt64_t;
typedef unsigned int smUint32_t;
typedef unsigned long long int smUint64_t;
#endif
#ifdef __APPLE__
#define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (1024 * 1024)
#else
#define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (8 * 1024 * 1024)
#endif
#define SHARED_MEMORY_SERVER_TEST_C
#define MAX_DEGREE_OF_FREEDOM 128
#define MAX_NUM_SENSORS 256
#define MAX_URDF_FILENAME_LENGTH 1024
#define MAX_SDF_FILENAME_LENGTH 1024
#define MAX_FILENAME_LENGTH MAX_URDF_FILENAME_LENGTH
#define MAX_NUM_LINKS MAX_DEGREE_OF_FREEDOM
struct TmpFloat3
{
float m_x;
float m_y;
float m_z;
};
#ifdef _WIN32
__inline
#else
inline
#endif
TmpFloat3
CreateTmpFloat3(float x, float y, float z)
{
TmpFloat3 tmp;
tmp.m_x = x;
tmp.m_y = y;
tmp.m_z = z;
return tmp;
}
enum EnumSdfArgsUpdateFlags
{
SDF_ARGS_FILE_NAME = 1,
};
struct SdfArgs
{
char m_sdfFileName[MAX_URDF_FILENAME_LENGTH];
int m_useMultiBody;
double m_globalScaling;
};
struct FileArgs
{
char m_fileName[MAX_URDF_FILENAME_LENGTH];
int m_stateId;
};
enum EnumLoadStateArgsUpdateFlags
{
CMD_LOAD_STATE_HAS_STATEID = 1,
CMD_LOAD_STATE_HAS_FILENAME = 2,
};
enum EnumUrdfArgsUpdateFlags
{
URDF_ARGS_FILE_NAME = 1,
URDF_ARGS_INITIAL_POSITION = 2,
URDF_ARGS_INITIAL_ORIENTATION = 4,
URDF_ARGS_USE_MULTIBODY = 8,
URDF_ARGS_USE_FIXED_BASE = 16,
URDF_ARGS_HAS_CUSTOM_URDF_FLAGS = 32,
URDF_ARGS_USE_GLOBAL_SCALING = 64,
};
struct UrdfArgs
{
char m_urdfFileName[MAX_URDF_FILENAME_LENGTH];
double m_initialPosition[3];
double m_initialOrientation[4];
int m_useMultiBody;
int m_useFixedBase;
int m_urdfFlags;
double m_globalScaling;
};
struct MjcfArgs
{
char m_mjcfFileName[MAX_URDF_FILENAME_LENGTH];
int m_useMultiBody;
int m_flags;
};
struct b3SearchPathfArgs
{
char m_path[MAX_FILENAME_LENGTH];
};
enum CustomCommandEnum
{
CMD_CUSTOM_COMMAND_LOAD_PLUGIN = 1,
CMD_CUSTOM_COMMAND_UNLOAD_PLUGIN = 2,
CMD_CUSTOM_COMMAND_EXECUTE_PLUGIN_COMMAND = 4,
CMD_CUSTOM_COMMAND_LOAD_PLUGIN_POSTFIX = 8,
};
struct b3CustomCommand
{
int m_pluginUniqueId;
b3PluginArguments m_arguments;
char m_pluginPath[MAX_FILENAME_LENGTH];
char m_postFix[MAX_FILENAME_LENGTH];
};
struct b3CustomCommandResultArgs
{
int m_pluginUniqueId;
int m_executeCommandResult;
};
struct BulletDataStreamArgs
{
char m_bulletFileName[MAX_FILENAME_LENGTH];
int m_bodyUniqueId;
char m_bodyName[MAX_FILENAME_LENGTH];
};
enum EnumChangeDynamicsInfoFlags
{
CHANGE_DYNAMICS_INFO_SET_MASS = 1,
CHANGE_DYNAMICS_INFO_SET_COM = 2,
CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION = 4,
CHANGE_DYNAMICS_INFO_SET_SPINNING_FRICTION = 8,
CHANGE_DYNAMICS_INFO_SET_ROLLING_FRICTION = 16,
CHANGE_DYNAMICS_INFO_SET_RESTITUTION = 32,
CHANGE_DYNAMICS_INFO_SET_LINEAR_DAMPING = 64,
CHANGE_DYNAMICS_INFO_SET_ANGULAR_DAMPING = 128,
CHANGE_DYNAMICS_INFO_SET_CONTACT_STIFFNESS_AND_DAMPING = 256,
CHANGE_DYNAMICS_INFO_SET_FRICTION_ANCHOR = 512,
CHANGE_DYNAMICS_INFO_SET_LOCAL_INERTIA_DIAGONAL = 1024,
CHANGE_DYNAMICS_INFO_SET_CCD_SWEPT_SPHERE_RADIUS = 2048,
CHANGE_DYNAMICS_INFO_SET_CONTACT_PROCESSING_THRESHOLD = 4096,
CHANGE_DYNAMICS_INFO_SET_ACTIVATION_STATE = 8192,
CHANGE_DYNAMICS_INFO_SET_JOINT_DAMPING = 16384,
CHANGE_DYNAMICS_INFO_SET_ANISOTROPIC_FRICTION = 32768,
CHANGE_DYNAMICS_INFO_SET_MAX_JOINT_VELOCITY = 1<<16,
CHANGE_DYNAMICS_INFO_SET_COLLISION_MARGIN = 1 << 17,
};
struct ChangeDynamicsInfoArgs
{
int m_bodyUniqueId;
int m_linkIndex;
double m_mass;
double m_COM[3];
double m_lateralFriction;
double m_spinningFriction;
double m_rollingFriction;
double m_restitution;
double m_linearDamping;
double m_angularDamping;
double m_contactStiffness;
double m_contactDamping;
double m_localInertiaDiagonal[3];
int m_frictionAnchor;
double m_ccdSweptSphereRadius;
double m_contactProcessingThreshold;
int m_activationState;
double m_jointDamping;
double m_anisotropicFriction[3];
double m_maxJointVelocity;
double m_collisionMargin;
};
struct GetDynamicsInfoArgs
{
int m_bodyUniqueId;
int m_linkIndex;
};
struct SetJointFeedbackArgs
{
int m_bodyUniqueId;
int m_linkId;
int m_isEnabled;
};
enum EnumInitPoseFlags
{
INIT_POSE_HAS_INITIAL_POSITION = 1,
INIT_POSE_HAS_INITIAL_ORIENTATION = 2,
INIT_POSE_HAS_JOINT_STATE = 4,
INIT_POSE_HAS_BASE_LINEAR_VELOCITY = 8,
INIT_POSE_HAS_BASE_ANGULAR_VELOCITY = 16,
INIT_POSE_HAS_JOINT_VELOCITY = 32,
};
///InitPoseArgs is mainly to initialize (teleport) the robot in a particular position
///No motors or controls are needed to initialize the pose. It is similar to
///moving a robot to a starting place, while it is switched off. It is only called
///at the start of a robot control session. All velocities and control forces are cleared to zero.
struct InitPoseArgs
{
int m_bodyUniqueId;
int m_hasInitialStateQ[MAX_DEGREE_OF_FREEDOM];
double m_initialStateQ[MAX_DEGREE_OF_FREEDOM];
int m_hasInitialStateQdot[MAX_DEGREE_OF_FREEDOM];
double m_initialStateQdot[MAX_DEGREE_OF_FREEDOM];
};
struct RequestDebugLinesArgs
{
int m_debugMode;
int m_startingLineIndex;
};
struct RequestPixelDataArgs
{
float m_viewMatrix[16];
float m_projectionMatrix[16];
int m_startPixelIndex;
int m_pixelWidth;
int m_pixelHeight;
float m_lightDirection[3];
float m_lightColor[3];
float m_lightDistance;
float m_lightAmbientCoeff;
float m_lightDiffuseCoeff;
float m_lightSpecularCoeff;
int m_hasShadow;
int m_flags;
float m_projectiveTextureViewMatrix[16];
float m_projectiveTextureProjectionMatrix[16];
};
enum EnumRequestPixelDataUpdateFlags
{
REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES = 1,
REQUEST_PIXEL_ARGS_SET_PIXEL_WIDTH_HEIGHT = 2,
REQUEST_PIXEL_ARGS_SET_LIGHT_DIRECTION = 4,
REQUEST_PIXEL_ARGS_SET_LIGHT_COLOR = 8,
REQUEST_PIXEL_ARGS_SET_LIGHT_DISTANCE = 16,
REQUEST_PIXEL_ARGS_SET_SHADOW = 32,
REQUEST_PIXEL_ARGS_SET_AMBIENT_COEFF = 64,
REQUEST_PIXEL_ARGS_SET_DIFFUSE_COEFF = 128,
REQUEST_PIXEL_ARGS_SET_SPECULAR_COEFF = 256,
REQUEST_PIXEL_ARGS_HAS_FLAGS = 512,
REQUEST_PIXEL_ARGS_HAS_PROJECTIVE_TEXTURE_MATRICES = 1024,
//don't exceed (1<<15), because this enum is shared with EnumRenderer in SharedMemoryPublic.h
};
enum EnumRequestContactDataUpdateFlags
{
CMD_REQUEST_CONTACT_POINT_HAS_QUERY_MODE = 1,
CMD_REQUEST_CONTACT_POINT_HAS_CLOSEST_DISTANCE_THRESHOLD = 2,
CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER = 4,
CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER = 8,
CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_A = 16,
CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_B = 32,
CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_POSITION_A = 64,
CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_POSITION_B = 128,
CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_ORIENTATION_A = 256,
CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_ORIENTATION_B = 512,
};
struct RequestRaycastIntersections
{
// The number of threads that Bullet may use to perform the ray casts.
// 0: Let Bullet decide
// 1: Use a single thread (i.e. no multi-threading)
// 2 or more: Number of threads to use.
int m_numThreads;
int m_numCommandRays;
//m_numCommandRays command rays are stored in m_fromToRays
b3RayData m_fromToRays[MAX_RAY_INTERSECTION_BATCH_SIZE];
int m_numStreamingRays;
//optional m_parentObjectUniqueId (-1 for unused)
int m_parentObjectUniqueId;
int m_parentLinkIndex;
int m_reportHitNumber;
int m_collisionFilterMask;
//streaming ray data stored in shared memory streaming part. (size m_numStreamingRays )
};
struct SendRaycastHits
{
int m_numRaycastHits;
// Actual ray result data stored in shared memory streaming part.
};
struct RequestContactDataArgs
{
int m_startingContactPointIndex;
int m_objectAIndexFilter;
int m_objectBIndexFilter;
int m_linkIndexAIndexFilter;
int m_linkIndexBIndexFilter;
double m_closestDistanceThreshold;
int m_collisionShapeA;
int m_collisionShapeB;
double m_collisionShapePositionA[3];
double m_collisionShapePositionB[3];
double m_collisionShapeOrientationA[4];
double m_collisionShapeOrientationB[4];
int m_mode;
};
struct RequestOverlappingObjectsArgs
{
int m_startingOverlappingObjectIndex;
double m_aabbQueryMin[3];
double m_aabbQueryMax[3];
};
struct RequestVisualShapeDataArgs
{
int m_bodyUniqueId;
int m_startingVisualShapeIndex;
};
struct RequestCollisionShapeDataArgs
{
int m_bodyUniqueId;
int m_linkIndex;
};
enum EnumUpdateVisualShapeData
{
CMD_UPDATE_VISUAL_SHAPE_TEXTURE = 1,
CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR = 2,
CMD_UPDATE_VISUAL_SHAPE_SPECULAR_COLOR = 4,
};
struct UpdateVisualShapeDataArgs
{
int m_bodyUniqueId;
int m_jointIndex;
int m_shapeIndex;
int m_textureUniqueId;
double m_rgbaColor[4];
double m_specularColor[3];
};
struct LoadTextureArgs
{
char m_textureFileName[MAX_FILENAME_LENGTH];
};
struct b3LoadTextureResultArgs
{
int m_textureUniqueId;
};
struct SendVisualShapeDataArgs
{
int m_bodyUniqueId;
int m_startingVisualShapeIndex;
int m_numVisualShapesCopied;
int m_numRemainingVisualShapes;
};
struct SendCollisionShapeDataArgs
{
int m_bodyUniqueId;
int m_linkIndex;
int m_numCollisionShapes;
};
struct SendDebugLinesArgs
{
int m_startingLineIndex;
int m_numDebugLines;
int m_numRemainingDebugLines;
};
struct SendPixelDataArgs
{
int m_imageWidth;
int m_imageHeight;
int m_startingPixelIndex;
int m_numPixelsCopied;
int m_numRemainingPixels;
};
struct PickBodyArgs
{
double m_rayFromWorld[3];
double m_rayToWorld[3];
};
///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 SendDesiredStateArgs
{
int m_bodyUniqueId;
int m_controlMode;
//PD parameters in case m_controlMode == CONTROL_MODE_POSITION_VELOCITY_PD
double m_Kp[MAX_DEGREE_OF_FREEDOM]; //indexed by degree of freedom, 6 for base, and then the dofs for each link
double m_Kd[MAX_DEGREE_OF_FREEDOM]; //indexed by degree of freedom, 6 for base, and then the dofs for each link
double m_rhsClamp[MAX_DEGREE_OF_FREEDOM];
int m_hasDesiredStateFlags[MAX_DEGREE_OF_FREEDOM];
//desired state is only written by the client, read-only access by server is expected
//m_desiredStateQ is indexed by position variables,
//starting with 3 base position variables, 4 base orientation variables (quaternion), then link position variables
double m_desiredStateQ[MAX_DEGREE_OF_FREEDOM];
//m_desiredStateQdot is index by velocity degrees of freedom, 3 linear and 3 angular variables for the base and then link velocity variables
double m_desiredStateQdot[MAX_DEGREE_OF_FREEDOM];
//m_desiredStateForceTorque is either the actual applied force/torque (in CONTROL_MODE_TORQUE) or
//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
//indexed by degree of freedom, 6 dof base, and then dofs for each link
double m_desiredStateForceTorque[MAX_DEGREE_OF_FREEDOM];
};
enum EnumSimDesiredStateUpdateFlags
{
SIM_DESIRED_STATE_HAS_Q = 1,
SIM_DESIRED_STATE_HAS_QDOT = 2,
SIM_DESIRED_STATE_HAS_KD = 4,
SIM_DESIRED_STATE_HAS_KP = 8,
SIM_DESIRED_STATE_HAS_MAX_FORCE = 16,
SIM_DESIRED_STATE_HAS_RHS_CLAMP = 32,
};
enum EnumSimParamUpdateFlags
{
SIM_PARAM_UPDATE_DELTA_TIME = 1,
SIM_PARAM_UPDATE_GRAVITY = 1<<1,
SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS = 1<<2,
SIM_PARAM_UPDATE_NUM_SIMULATION_SUB_STEPS = 1<<3,
SIM_PARAM_UPDATE_REAL_TIME_SIMULATION = 1<<4,
SIM_PARAM_UPDATE_DEFAULT_CONTACT_ERP = 1<<5,
SIM_PARAM_UPDATE_INTERNAL_SIMULATION_FLAGS = 1<<6,
SIM_PARAM_UPDATE_USE_SPLIT_IMPULSE = 1<<7,
SIM_PARAM_UPDATE_SPLIT_IMPULSE_PENETRATION_THRESHOLD = 1<<8,
SIM_PARAM_UPDATE_COLLISION_FILTER_MODE = 1 << 9,
SIM_PARAM_UPDATE_CONTACT_BREAKING_THRESHOLD = 1 << 10,
SIM_PARAM_ENABLE_CONE_FRICTION = 1 << 11,
SIM_PARAM_ENABLE_FILE_CACHING = 1 << 12,
SIM_PARAM_UPDATE_RESTITUTION_VELOCITY_THRESHOLD = 1 << 13,
SIM_PARAM_UPDATE_DEFAULT_NON_CONTACT_ERP = 1 << 14,
SIM_PARAM_UPDATE_DEFAULT_FRICTION_ERP = 1 << 15,
SIM_PARAM_UPDATE_DETERMINISTIC_OVERLAPPING_PAIRS = 1 << 16,
SIM_PARAM_UPDATE_CCD_ALLOWED_PENETRATION = 1 << 17,
SIM_PARAM_UPDATE_JOINT_FEEDBACK_MODE = 1 << 18,
SIM_PARAM_UPDATE_DEFAULT_GLOBAL_CFM = 1 << 19,
SIM_PARAM_UPDATE_DEFAULT_FRICTION_CFM = 1 << 20,
SIM_PARAM_UPDATE_SOLVER_RESIDULAL_THRESHOLD = 1 << 21,
SIM_PARAM_UPDATE_CONTACT_SLOP = 1 << 22,
SIM_PARAM_ENABLE_SAT = 1 << 23,
SIM_PARAM_CONSTRAINT_SOLVER_TYPE = 1 << 24,
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