mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 05:40:05 +00:00
361 lines
11 KiB
C
361 lines
11 KiB
C
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//#include "SharedMemoryCommands.h"
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#ifdef PHYSICS_SHARED_MEMORY
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#include "SharedMemory/PhysicsClientC_API.h"
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#endif //PHYSICS_SHARED_MEMORY
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#ifdef PHYSICS_UDP
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#include "SharedMemory/PhysicsClientUDP_C_API.h"
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#endif//PHYSICS_UDP
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#ifdef PHYSICS_TCP
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#include "SharedMemory/PhysicsClientTCP_C_API.h"
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#endif//PHYSICS_TCP
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#ifdef PHYSICS_LOOP_BACK
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#include "SharedMemory/PhysicsLoopBackC_API.h"
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#endif //PHYSICS_LOOP_BACK
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#ifdef PHYSICS_SERVER_DIRECT
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#include "SharedMemory/PhysicsDirectC_API.h"
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#endif //PHYSICS_SERVER_DIRECT
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#ifdef PHYSICS_IN_PROCESS_EXAMPLE_BROWSER
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#include "SharedMemory/SharedMemoryInProcessPhysicsC_API.h"
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#endif//PHYSICS_IN_PROCESS_EXAMPLE_BROWSER
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#include "SharedMemory/SharedMemoryPublic.h"
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#include "Bullet3Common/b3Logging.h"
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#include <string.h>
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#include <stdio.h>
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#ifndef ENABLE_GTEST
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#include <assert.h>
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#define ASSERT_EQ(a,b) assert((a)==(b));
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#else
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#define printf
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#endif
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void testSharedMemory(b3PhysicsClientHandle sm)
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{
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int i, dofCount , posVarCount, ret ,numJoints ;
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int sensorJointIndexLeft=-1;
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int sensorJointIndexRight=-1;
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const char* urdfFileName = "r2d2.urdf";
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const char* sdfFileName = "kuka_iiwa/model.sdf";
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double gravx=0, gravy=0, gravz=-9.8;
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double timeStep = 1./60.;
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double startPosX, startPosY,startPosZ;
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int imuLinkIndex = -1;
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int bodyIndex = -1;
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if (b3CanSubmitCommand(sm))
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{
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{
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b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(sm);
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b3SharedMemoryStatusHandle statusHandle;
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ret = b3PhysicsParamSetGravity(command, gravx,gravy, gravz);
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ret = b3PhysicsParamSetTimeStep(command, timeStep);
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statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
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ASSERT_EQ(b3GetStatusType(statusHandle), CMD_CLIENT_COMMAND_COMPLETED);
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}
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{
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b3SharedMemoryStatusHandle statusHandle;
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int statusType;
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int bodyIndicesOut[10];//MAX_SDF_BODIES = 10
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int numJoints, numBodies;
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int bodyUniqueId;
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b3SharedMemoryCommandHandle command = b3LoadSdfCommandInit(sm, sdfFileName);
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statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
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statusType = b3GetStatusType(statusHandle);
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ASSERT_EQ(statusType, CMD_SDF_LOADING_COMPLETED);
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numBodies = b3GetStatusBodyIndices(statusHandle, bodyIndicesOut, 10);
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ASSERT_EQ(numBodies,1);
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bodyUniqueId = bodyIndicesOut[0];
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{
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{
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b3SharedMemoryStatusHandle statusHandle;
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int statusType;
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b3SharedMemoryCommandHandle command = b3InitRequestVisualShapeInformation(sm, bodyUniqueId);
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statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
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statusType = b3GetStatusType(statusHandle);
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if (statusType == CMD_VISUAL_SHAPE_INFO_COMPLETED)
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{
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struct b3VisualShapeInformation vi;
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b3GetVisualShapeInformation(sm, &vi);
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}
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}
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}
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numJoints = b3GetNumJoints(sm,bodyUniqueId);
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ASSERT_EQ(numJoints,7);
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#if 0
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b3Printf("numJoints: %d\n", numJoints);
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for (i=0;i<numJoints;i++)
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{
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struct b3JointInfo jointInfo;
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if (b3GetJointInfo(sm,bodyUniqueId, i,&jointInfo))
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{
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b3Printf("jointInfo[%d].m_jointName=%s\n",i,jointInfo.m_jointName);
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}
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}
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#endif
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{
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b3SharedMemoryStatusHandle statusHandle;
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b3SharedMemoryCommandHandle commandHandle;
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double jointAngle = 0.f;
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int jointIndex;
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commandHandle = b3CreatePoseCommandInit(sm, bodyUniqueId);
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for (jointIndex=0;jointIndex<numJoints;jointIndex++)
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{
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b3CreatePoseCommandSetJointPosition(sm, commandHandle, jointIndex, jointAngle);
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}
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statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
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ASSERT_EQ(b3GetStatusType(statusHandle), CMD_CLIENT_COMMAND_COMPLETED);
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}
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}
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{
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b3SharedMemoryStatusHandle statusHandle;
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int statusType;
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b3SharedMemoryCommandHandle command = b3LoadUrdfCommandInit(sm, urdfFileName);
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//setting the initial position, orientation and other arguments are optional
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startPosX =2;
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startPosY =0;
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startPosZ = 1;
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ret = b3LoadUrdfCommandSetStartPosition(command, startPosX,startPosY,startPosZ);
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statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
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statusType = b3GetStatusType(statusHandle);
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ASSERT_EQ(statusType, CMD_URDF_LOADING_COMPLETED);
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bodyIndex = b3GetStatusBodyIndex(statusHandle);
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}
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if (bodyIndex>=0)
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{
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numJoints = b3GetNumJoints(sm,bodyIndex);
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for (i=0;i<numJoints;i++)
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{
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struct b3JointInfo jointInfo;
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b3GetJointInfo(sm,bodyIndex, i,&jointInfo);
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// printf("jointInfo[%d].m_jointName=%s\n",i,jointInfo.m_jointName);
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//pick the IMU link index based on torso name
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if (strstr(jointInfo.m_linkName,"base_link"))
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{
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imuLinkIndex = i;
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}
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//pick the joint index based on joint name
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if (strstr(jointInfo.m_jointName,"base_to_left_leg"))
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{
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sensorJointIndexLeft = i;
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}
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if (strstr(jointInfo.m_jointName,"base_to_right_leg"))
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{
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sensorJointIndexRight = i;
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}
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}
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if ((sensorJointIndexLeft>=0) || (sensorJointIndexRight>=0))
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{
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b3SharedMemoryCommandHandle command = b3CreateSensorCommandInit(sm, bodyIndex);
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b3SharedMemoryStatusHandle statusHandle;
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if (imuLinkIndex>=0)
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{
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ret = b3CreateSensorEnableIMUForLink(command, imuLinkIndex, 1);
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}
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if (sensorJointIndexLeft>=0)
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{
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ret = b3CreateSensorEnable6DofJointForceTorqueSensor(command, sensorJointIndexLeft, 1);
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}
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if(sensorJointIndexRight>=0)
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{
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ret = b3CreateSensorEnable6DofJointForceTorqueSensor(command, sensorJointIndexRight, 1);
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}
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statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
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ASSERT_EQ(b3GetStatusType(statusHandle), CMD_CLIENT_COMMAND_COMPLETED);
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}
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}
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{
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b3SharedMemoryStatusHandle statusHandle;
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b3SharedMemoryCommandHandle command = b3CreateBoxShapeCommandInit(sm);
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ret = b3CreateBoxCommandSetStartPosition(command, 0,0,-1);
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ret = b3CreateBoxCommandSetStartOrientation(command,0,0,0,1);
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ret = b3CreateBoxCommandSetHalfExtents(command, 10,10,1);
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statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
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ASSERT_EQ(b3GetStatusType(statusHandle), CMD_RIGID_BODY_CREATION_COMPLETED);
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}
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{
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int statusType;
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b3SharedMemoryCommandHandle command = b3RequestActualStateCommandInit(sm,bodyIndex);
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b3SharedMemoryStatusHandle statusHandle;
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statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
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statusType = b3GetStatusType(statusHandle);
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ASSERT_EQ(statusType, CMD_ACTUAL_STATE_UPDATE_COMPLETED);
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if (statusType == CMD_ACTUAL_STATE_UPDATE_COMPLETED)
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{
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b3GetStatusActualState(statusHandle,
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0, &posVarCount, &dofCount,
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0, 0, 0, 0);
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ASSERT_EQ(posVarCount,15);
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ASSERT_EQ(dofCount,14);
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}
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}
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{
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#if 0
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b3SharedMemoryStatusHandle statusHandle;
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b3SharedMemoryCommandHandle command = b3JointControlCommandInit( sm, CONTROL_MODE_VELOCITY);
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for ( dofIndex=0;dofIndex<dofCount;dofIndex++)
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{
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b3JointControlSetDesiredVelocity(command,dofIndex,1);
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b3JointControlSetMaximumForce(command,dofIndex,100);
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}
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statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
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#endif
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}
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///perform some simulation steps for testing
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for ( i=0;i<1000;i++)
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{
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b3SharedMemoryStatusHandle statusHandle;
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int statusType;
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if (b3CanSubmitCommand(sm))
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{
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statusHandle = b3SubmitClientCommandAndWaitStatus(sm, b3InitStepSimulationCommand(sm));
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statusType = b3GetStatusType(statusHandle);
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ASSERT_EQ(statusType, CMD_STEP_FORWARD_SIMULATION_COMPLETED);
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} else
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{
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break;
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}
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}
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{
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b3SharedMemoryCommandHandle command;
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b3SharedMemoryStatusHandle statusHandle;
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int width = 1024;
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int height = 1024;
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command = b3InitRequestCameraImage(sm);
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b3RequestCameraImageSetPixelResolution(command, width, height);
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statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
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}
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if (b3CanSubmitCommand(sm))
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{
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b3SharedMemoryStatusHandle state = b3SubmitClientCommandAndWaitStatus(sm, b3RequestActualStateCommandInit(sm,bodyIndex));
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if (sensorJointIndexLeft>=0)
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{
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struct b3JointSensorState sensorState;
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b3GetJointState(sm,state,sensorJointIndexLeft,&sensorState);
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b3Printf("Sensor for joint [%d] = %f,%f,%f\n", sensorJointIndexLeft,
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sensorState.m_jointForceTorque[0],
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sensorState.m_jointForceTorque[1],
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sensorState.m_jointForceTorque[2]);
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}
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if (sensorJointIndexRight>=0)
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{
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struct b3JointSensorState sensorState;
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b3GetJointState(sm,state,sensorJointIndexRight,&sensorState);
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b3Printf("Sensor for joint [%d] = %f,%f,%f\n", sensorJointIndexRight,
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sensorState.m_jointForceTorque[0],
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sensorState.m_jointForceTorque[1],
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sensorState.m_jointForceTorque[2]);
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}
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{
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b3SharedMemoryStatusHandle statusHandle;
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statusHandle = b3SubmitClientCommandAndWaitStatus(sm, b3InitResetSimulationCommand(sm));
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ASSERT_EQ(b3GetStatusType(statusHandle), CMD_RESET_SIMULATION_COMPLETED);
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}
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}
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}
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b3DisconnectSharedMemory(sm);
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}
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#ifdef ENABLE_GTEST
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TEST(BulletPhysicsClientServerTest, DirectConnection) {
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b3PhysicsClientHandle sm = b3ConnectPhysicsDirect();
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testSharedMemory(sm);
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}
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TEST(BulletPhysicsClientServerTest, LoopBackSharedMemory) {
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b3PhysicsClientHandle sm = b3ConnectPhysicsLoopback(SHARED_MEMORY_KEY);
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testSharedMemory(sm);
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}
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#else
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int main(int argc, char* argv[])
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{
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#ifdef PHYSICS_LOOP_BACK
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b3PhysicsClientHandle sm = b3ConnectPhysicsLoopback(SHARED_MEMORY_KEY);
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#endif
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#ifdef PHYSICS_SERVER_DIRECT
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b3PhysicsClientHandle sm = b3ConnectPhysicsDirect();
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#endif
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#ifdef PHYSICS_IN_PROCESS_EXAMPLE_BROWSER
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#ifdef __APPLE__
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b3PhysicsClientHandle sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc,argv);
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#else
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b3PhysicsClientHandle sm = b3CreateInProcessPhysicsServerAndConnect(argc,argv);
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#endif //__APPLE__
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#endif
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#ifdef PHYSICS_SHARED_MEMORY
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b3PhysicsClientHandle sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
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#endif //PHYSICS_SHARED_MEMORY
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#ifdef PHYSICS_UDP
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b3PhysicsClientHandle sm = b3ConnectPhysicsUDP("localhost",1234);
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#endif //PHYSICS_UDP
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#ifdef PHYSICS_TCP
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b3PhysicsClientHandle sm = b3ConnectPhysicsTCP("localhost",6667);
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#endif //PHYSICS_UDP
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testSharedMemory(sm);
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}
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#endif
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