mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 22:00:05 +00:00
330 lines
10 KiB
C
330 lines
10 KiB
C
//#include "SharedMemoryCommands.h"
|
|
#ifdef PHYSICS_SHARED_MEMORY
|
|
#include "SharedMemory/PhysicsClientC_API.h"
|
|
#endif //PHYSICS_SHARED_MEMORY
|
|
|
|
#ifdef PHYSICS_LOOP_BACK
|
|
#include "SharedMemory/PhysicsLoopBackC_API.h"
|
|
#endif //PHYSICS_LOOP_BACK
|
|
|
|
#ifdef PHYSICS_SERVER_DIRECT
|
|
#include "SharedMemory/PhysicsDirectC_API.h"
|
|
#endif //PHYSICS_SERVER_DIRECT
|
|
|
|
#ifdef PHYSICS_IN_PROCESS_EXAMPLE_BROWSER
|
|
#include "SharedMemory/SharedMemoryInProcessPhysicsC_API.h"
|
|
#endif//PHYSICS_IN_PROCESS_EXAMPLE_BROWSER
|
|
|
|
#include "SharedMemory/SharedMemoryPublic.h"
|
|
#include "Bullet3Common/b3Logging.h"
|
|
#include <string.h>
|
|
|
|
|
|
#include <stdio.h>
|
|
|
|
#ifndef ENABLE_GTEST
|
|
#include <assert.h>
|
|
#define ASSERT_EQ(a,b) assert((a)==(b));
|
|
#else
|
|
#define printf
|
|
#endif
|
|
|
|
void testSharedMemory(b3PhysicsClientHandle sm)
|
|
{
|
|
int i, dofCount , posVarCount, ret ,numJoints ;
|
|
int sensorJointIndexLeft=-1;
|
|
int sensorJointIndexRight=-1;
|
|
const char* urdfFileName = "r2d2.urdf";
|
|
const char* sdfFileName = "kuka_iiwa/model.sdf";
|
|
double gravx=0, gravy=0, gravz=-9.8;
|
|
double timeStep = 1./60.;
|
|
double startPosX, startPosY,startPosZ;
|
|
int imuLinkIndex = -1;
|
|
int bodyIndex = -1;
|
|
|
|
if (b3CanSubmitCommand(sm))
|
|
{
|
|
{
|
|
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(sm);
|
|
b3SharedMemoryStatusHandle statusHandle;
|
|
ret = b3PhysicsParamSetGravity(command, gravx,gravy, gravz);
|
|
ret = b3PhysicsParamSetTimeStep(command, timeStep);
|
|
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
|
|
ASSERT_EQ(b3GetStatusType(statusHandle), CMD_CLIENT_COMMAND_COMPLETED);
|
|
}
|
|
|
|
{
|
|
b3SharedMemoryStatusHandle statusHandle;
|
|
int statusType;
|
|
int bodyIndicesOut[10];//MAX_SDF_BODIES = 10
|
|
int numJoints, numBodies;
|
|
int bodyUniqueId;
|
|
b3SharedMemoryCommandHandle command = b3LoadSdfCommandInit(sm, sdfFileName);
|
|
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
|
|
statusType = b3GetStatusType(statusHandle);
|
|
ASSERT_EQ(statusType, CMD_SDF_LOADING_COMPLETED);
|
|
|
|
numBodies = b3GetStatusBodyIndices(statusHandle, bodyIndicesOut, 10);
|
|
ASSERT_EQ(numBodies,1);
|
|
bodyUniqueId = bodyIndicesOut[0];
|
|
{
|
|
{
|
|
b3SharedMemoryStatusHandle statusHandle;
|
|
int statusType;
|
|
b3SharedMemoryCommandHandle command = b3InitRequestVisualShapeInformation(sm, bodyUniqueId);
|
|
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
|
|
statusType = b3GetStatusType(statusHandle);
|
|
if (statusType == CMD_VISUAL_SHAPE_INFO_COMPLETED)
|
|
{
|
|
struct b3VisualShapeInformation vi;
|
|
b3GetVisualShapeInformation(sm, &vi);
|
|
}
|
|
}
|
|
}
|
|
|
|
numJoints = b3GetNumJoints(sm,bodyUniqueId);
|
|
ASSERT_EQ(numJoints,7);
|
|
|
|
#if 0
|
|
b3Printf("numJoints: %d\n", numJoints);
|
|
for (i=0;i<numJoints;i++)
|
|
{
|
|
struct b3JointInfo jointInfo;
|
|
if (b3GetJointInfo(sm,bodyUniqueId, i,&jointInfo))
|
|
{
|
|
b3Printf("jointInfo[%d].m_jointName=%s\n",i,jointInfo.m_jointName);
|
|
}
|
|
}
|
|
#endif
|
|
{
|
|
b3SharedMemoryStatusHandle statusHandle;
|
|
b3SharedMemoryCommandHandle commandHandle;
|
|
double jointAngle = 0.f;
|
|
int jointIndex;
|
|
commandHandle = b3CreatePoseCommandInit(sm, bodyUniqueId);
|
|
for (jointIndex=0;jointIndex<numJoints;jointIndex++)
|
|
{
|
|
b3CreatePoseCommandSetJointPosition(sm, commandHandle, jointIndex, jointAngle);
|
|
}
|
|
|
|
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
|
|
|
|
ASSERT_EQ(b3GetStatusType(statusHandle), CMD_CLIENT_COMMAND_COMPLETED);
|
|
}
|
|
|
|
}
|
|
|
|
|
|
{
|
|
b3SharedMemoryStatusHandle statusHandle;
|
|
int statusType;
|
|
b3SharedMemoryCommandHandle command = b3LoadUrdfCommandInit(sm, urdfFileName);
|
|
|
|
//setting the initial position, orientation and other arguments are optional
|
|
startPosX =2;
|
|
startPosY =0;
|
|
startPosZ = 1;
|
|
ret = b3LoadUrdfCommandSetStartPosition(command, startPosX,startPosY,startPosZ);
|
|
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
|
|
statusType = b3GetStatusType(statusHandle);
|
|
ASSERT_EQ(statusType, CMD_URDF_LOADING_COMPLETED);
|
|
bodyIndex = b3GetStatusBodyIndex(statusHandle);
|
|
}
|
|
|
|
if (bodyIndex>=0)
|
|
{
|
|
|
|
|
|
numJoints = b3GetNumJoints(sm,bodyIndex);
|
|
for (i=0;i<numJoints;i++)
|
|
{
|
|
struct b3JointInfo jointInfo;
|
|
b3GetJointInfo(sm,bodyIndex, i,&jointInfo);
|
|
|
|
// printf("jointInfo[%d].m_jointName=%s\n",i,jointInfo.m_jointName);
|
|
//pick the IMU link index based on torso name
|
|
if (strstr(jointInfo.m_linkName,"base_link"))
|
|
{
|
|
imuLinkIndex = i;
|
|
}
|
|
|
|
//pick the joint index based on joint name
|
|
if (strstr(jointInfo.m_jointName,"base_to_left_leg"))
|
|
{
|
|
sensorJointIndexLeft = i;
|
|
}
|
|
if (strstr(jointInfo.m_jointName,"base_to_right_leg"))
|
|
{
|
|
sensorJointIndexRight = i;
|
|
}
|
|
|
|
}
|
|
|
|
if ((sensorJointIndexLeft>=0) || (sensorJointIndexRight>=0))
|
|
{
|
|
b3SharedMemoryCommandHandle command = b3CreateSensorCommandInit(sm, bodyIndex);
|
|
b3SharedMemoryStatusHandle statusHandle;
|
|
if (imuLinkIndex>=0)
|
|
{
|
|
ret = b3CreateSensorEnableIMUForLink(command, imuLinkIndex, 1);
|
|
}
|
|
|
|
if (sensorJointIndexLeft>=0)
|
|
{
|
|
ret = b3CreateSensorEnable6DofJointForceTorqueSensor(command, sensorJointIndexLeft, 1);
|
|
}
|
|
if(sensorJointIndexRight>=0)
|
|
{
|
|
ret = b3CreateSensorEnable6DofJointForceTorqueSensor(command, sensorJointIndexRight, 1);
|
|
}
|
|
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
|
|
ASSERT_EQ(b3GetStatusType(statusHandle), CMD_CLIENT_COMMAND_COMPLETED);
|
|
}
|
|
}
|
|
|
|
{
|
|
b3SharedMemoryStatusHandle statusHandle;
|
|
b3SharedMemoryCommandHandle command = b3CreateBoxShapeCommandInit(sm);
|
|
ret = b3CreateBoxCommandSetStartPosition(command, 0,0,-1);
|
|
ret = b3CreateBoxCommandSetStartOrientation(command,0,0,0,1);
|
|
ret = b3CreateBoxCommandSetHalfExtents(command, 10,10,1);
|
|
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
|
|
ASSERT_EQ(b3GetStatusType(statusHandle), CMD_RIGID_BODY_CREATION_COMPLETED);
|
|
|
|
}
|
|
|
|
{
|
|
int statusType;
|
|
b3SharedMemoryCommandHandle command = b3RequestActualStateCommandInit(sm,bodyIndex);
|
|
b3SharedMemoryStatusHandle statusHandle;
|
|
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
|
|
statusType = b3GetStatusType(statusHandle);
|
|
ASSERT_EQ(statusType, CMD_ACTUAL_STATE_UPDATE_COMPLETED);
|
|
|
|
if (statusType == CMD_ACTUAL_STATE_UPDATE_COMPLETED)
|
|
{
|
|
b3GetStatusActualState(statusHandle,
|
|
0, &posVarCount, &dofCount,
|
|
0, 0, 0, 0);
|
|
ASSERT_EQ(posVarCount,15);
|
|
ASSERT_EQ(dofCount,14);
|
|
}
|
|
}
|
|
|
|
{
|
|
#if 0
|
|
b3SharedMemoryStatusHandle statusHandle;
|
|
b3SharedMemoryCommandHandle command = b3JointControlCommandInit( sm, CONTROL_MODE_VELOCITY);
|
|
for ( dofIndex=0;dofIndex<dofCount;dofIndex++)
|
|
{
|
|
b3JointControlSetDesiredVelocity(command,dofIndex,1);
|
|
b3JointControlSetMaximumForce(command,dofIndex,100);
|
|
}
|
|
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
|
|
#endif
|
|
}
|
|
///perform some simulation steps for testing
|
|
for ( i=0;i<100;i++)
|
|
{
|
|
b3SharedMemoryStatusHandle statusHandle;
|
|
int statusType;
|
|
|
|
if (b3CanSubmitCommand(sm))
|
|
{
|
|
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, b3InitStepSimulationCommand(sm));
|
|
statusType = b3GetStatusType(statusHandle);
|
|
ASSERT_EQ(statusType, CMD_STEP_FORWARD_SIMULATION_COMPLETED);
|
|
} else
|
|
{
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (b3CanSubmitCommand(sm))
|
|
{
|
|
b3SharedMemoryStatusHandle state = b3SubmitClientCommandAndWaitStatus(sm, b3RequestActualStateCommandInit(sm,bodyIndex));
|
|
|
|
if (sensorJointIndexLeft>=0)
|
|
{
|
|
|
|
struct b3JointSensorState sensorState;
|
|
b3GetJointState(sm,state,sensorJointIndexLeft,&sensorState);
|
|
|
|
b3Printf("Sensor for joint [%d] = %f,%f,%f\n", sensorJointIndexLeft,
|
|
sensorState.m_jointForceTorque[0],
|
|
sensorState.m_jointForceTorque[1],
|
|
sensorState.m_jointForceTorque[2]);
|
|
|
|
}
|
|
|
|
if (sensorJointIndexRight>=0)
|
|
{
|
|
struct b3JointSensorState sensorState;
|
|
b3GetJointState(sm,state,sensorJointIndexRight,&sensorState);
|
|
|
|
b3Printf("Sensor for joint [%d] = %f,%f,%f\n", sensorJointIndexRight,
|
|
sensorState.m_jointForceTorque[0],
|
|
sensorState.m_jointForceTorque[1],
|
|
sensorState.m_jointForceTorque[2]);
|
|
|
|
}
|
|
|
|
|
|
{
|
|
b3SharedMemoryStatusHandle statusHandle;
|
|
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, b3InitResetSimulationCommand(sm));
|
|
ASSERT_EQ(b3GetStatusType(statusHandle), CMD_RESET_SIMULATION_COMPLETED);
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
|
|
b3DisconnectSharedMemory(sm);
|
|
}
|
|
|
|
|
|
|
|
#ifdef ENABLE_GTEST
|
|
|
|
|
|
TEST(BulletPhysicsClientServerTest, DirectConnection) {
|
|
b3PhysicsClientHandle sm = b3ConnectPhysicsDirect();
|
|
testSharedMemory(sm);
|
|
}
|
|
|
|
TEST(BulletPhysicsClientServerTest, LoopBackSharedMemory) {
|
|
b3PhysicsClientHandle sm = b3ConnectPhysicsLoopback(SHARED_MEMORY_KEY);
|
|
testSharedMemory(sm);
|
|
}
|
|
|
|
|
|
#else
|
|
|
|
int main(int argc, char* argv[])
|
|
{
|
|
#ifdef PHYSICS_LOOP_BACK
|
|
b3PhysicsClientHandle sm = b3ConnectPhysicsLoopback(SHARED_MEMORY_KEY);
|
|
#endif
|
|
|
|
#ifdef PHYSICS_SERVER_DIRECT
|
|
b3PhysicsClientHandle sm = b3ConnectPhysicsDirect();
|
|
#endif
|
|
|
|
#ifdef PHYSICS_IN_PROCESS_EXAMPLE_BROWSER
|
|
|
|
#ifdef __APPLE__
|
|
b3PhysicsClientHandle sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc,argv);
|
|
#else
|
|
b3PhysicsClientHandle sm = b3CreateInProcessPhysicsServerAndConnect(argc,argv);
|
|
#endif //__APPLE__
|
|
#endif
|
|
#ifdef PHYSICS_SHARED_MEMORY
|
|
b3PhysicsClientHandle sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
|
|
#endif //PHYSICS_SHARED_MEMORY
|
|
|
|
testSharedMemory(sm);
|
|
}
|
|
#endif
|
|
|