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https://github.com/bulletphysics/bullet3
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116 lines
3.3 KiB
C
116 lines
3.3 KiB
C
#ifndef SHARED_MEMORY_PUBLIC_H
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#define SHARED_MEMORY_PUBLIC_H
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#define SHARED_MEMORY_KEY 12347
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enum EnumSharedMemoryClientCommand
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{
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CMD_LOAD_URDF,
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CMD_SEND_BULLET_DATA_STREAM,
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CMD_CREATE_BOX_COLLISION_SHAPE,
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// CMD_DELETE_BOX_COLLISION_SHAPE,
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CMD_CREATE_RIGID_BODY,
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CMD_DELETE_RIGID_BODY,
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CMD_CREATE_SENSOR,///enable or disable joint feedback for force/torque sensors
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// CMD_REQUEST_SENSOR_MEASUREMENTS,//see CMD_REQUEST_ACTUAL_STATE/CMD_ACTUAL_STATE_UPDATE_COMPLETED
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CMD_INIT_POSE,
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CMD_SEND_PHYSICS_SIMULATION_PARAMETERS,
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CMD_SEND_DESIRED_STATE,//todo: reconsider naming, for example SET_JOINT_CONTROL_VARIABLE?
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CMD_REQUEST_ACTUAL_STATE,
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CMD_REQUEST_DEBUG_LINES,
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CMD_STEP_FORWARD_SIMULATION,
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CMD_RESET_SIMULATION,
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CMD_PICK_BODY,
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CMD_MOVE_PICKED_BODY,
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CMD_REMOVE_PICKING_CONSTRAINT_BODY,
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CMD_MAX_CLIENT_COMMANDS
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};
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enum EnumSharedMemoryServerStatus
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{
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CMD_SHARED_MEMORY_NOT_INITIALIZED=0,
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CMD_WAITING_FOR_CLIENT_COMMAND,
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//CMD_CLIENT_COMMAND_COMPLETED is a generic 'completed' status that doesn't need special handling on the client
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CMD_CLIENT_COMMAND_COMPLETED,
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//the server will skip unknown command and report a status 'CMD_UNKNOWN_COMMAND_FLUSHED'
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CMD_UNKNOWN_COMMAND_FLUSHED,
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CMD_URDF_LOADING_COMPLETED,
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CMD_URDF_LOADING_FAILED,
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CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED,
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CMD_BULLET_DATA_STREAM_RECEIVED_FAILED,
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CMD_BOX_COLLISION_SHAPE_CREATION_COMPLETED,
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CMD_RIGID_BODY_CREATION_COMPLETED,
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CMD_SET_JOINT_FEEDBACK_COMPLETED,
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CMD_ACTUAL_STATE_UPDATE_COMPLETED,
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CMD_ACTUAL_STATE_UPDATE_FAILED,
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CMD_DEBUG_LINES_COMPLETED,
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CMD_DEBUG_LINES_OVERFLOW_FAILED,
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CMD_DESIRED_STATE_RECEIVED_COMPLETED,
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CMD_STEP_FORWARD_SIMULATION_COMPLETED,
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CMD_RESET_SIMULATION_COMPLETED,
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CMD_INVALID_STATUS,
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CMD_MAX_SERVER_COMMANDS
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};
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enum JointInfoFlags
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{
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JOINT_HAS_MOTORIZED_POWER=1,
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};
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enum
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{
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COLLISION_SHAPE_TYPE_BOX=1,
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COLLISION_SHAPE_TYPE_CYLINDER_X,
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COLLISION_SHAPE_TYPE_CYLINDER_Y,
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COLLISION_SHAPE_TYPE_CYLINDER_Z,
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COLLISION_SHAPE_TYPE_CAPSULE_X,
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COLLISION_SHAPE_TYPE_CAPSULE_Y,
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COLLISION_SHAPE_TYPE_CAPSULE_Z,
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COLLISION_SHAPE_TYPE_SPHERE
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};
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// copied from btMultiBodyLink.h
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enum JointType {
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eRevoluteType = 0,
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ePrismaticType = 1,
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};
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struct b3JointInfo
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{
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char* m_linkName;
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char* m_jointName;
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int m_jointType;
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int m_qIndex;
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int m_uIndex;
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int m_jointIndex;
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int m_flags;
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double m_jointDamping;
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double m_jointFriction;
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};
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struct b3JointSensorState
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{
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double m_jointPosition;
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double m_jointVelocity;
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double m_jointForceTorque[6]; /* note to roboticists: this is NOT the motor torque/force, but the spatial reaction force vector at joint */
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};
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struct b3DebugLines
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{
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int m_numDebugLines;
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const float* m_linesFrom;//float x,y,z times 'm_numDebugLines'.
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const float* m_linesTo;//float x,y,z times 'm_numDebugLines'.
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const float* m_linesColor;//float red,green,blue times 'm_numDebugLines'.
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};
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//todo: discuss and decide about control mode and combinations
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enum {
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// POSITION_CONTROL=0,
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CONTROL_MODE_VELOCITY=0,
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CONTROL_MODE_TORQUE,
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CONTROL_MODE_POSITION_VELOCITY_PD,
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};
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#endif//SHARED_MEMORY_PUBLIC_H
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