/
redgpu
/
bullet
Обзор
Документация
Войти
/
redgpu
/
bullet
Код
Запросы
0
Задачи
Вики
Пакеты
0
Релизы
0
Аналитика
Безопасность
master
examples/SharedMemory/SharedMemoryCommands.h
1 313 строк
34 KB
Maarten Behn
extend wrapper
21 дек 2022, 16:44
21 дек 2022, 16:44
2b4757f
Код
Авторство
О чём код?
#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]; int m_startingReturnBytes; }; struct b3CustomCommandResultArgs { int m_pluginUniqueId; int m_executeCommandResult; int m_returnDataType; int m_returnDataSizeInBytes; int m_returnDataStart; }; 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, CHANGE_DYNAMICS_INFO_SET_JOINT_LIMITS = 1 << 18, CHANGE_DYNAMICS_INFO_SET_JOINT_LIMIT_MAX_FORCE = 1 << 19, CHANGE_DYNAMICS_INFO_SET_DYNAMIC_TYPE = 1 << 20, CHANGE_DYNAMICS_INFO_SET_SLEEP_THRESHOLD = 1 << 21, }; 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; double m_jointLowerLimit; double m_jointUpperLimit; double m_jointLimitForce; int m_dynamicType; double m_sleepThreshold; }; 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, INIT_POSE_HAS_SCALING=64, }; ///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]; double m_scaling[3]; }; 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; double m_fractionEpsilon; //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, CMD_UPDATE_VISUAL_SHAPE_FLAGS = 8, }; struct UpdateVisualShapeDataArgs { int m_bodyUniqueId; int m_jointIndex; int m_shapeIndex; int m_textureUniqueId; double m_rgbaColor[4]; double m_specularColor[3]; int m_flags; }; 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]; double m_damping[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, SIM_DESIRED_STATE_HAS_DAMPING = 64, }; 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, LOAD_SOFT_BODY_SET_DAMPING_SPRING_MODE = 1<<17, LOAD_SOFT_BODY_SET_GRAVITY_FACTOR = 1<<18, }; 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; int m_dampAllDirections; 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; double m_gravFactor; }; 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[MAX_DEGREE_OF_FREEDOM*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, USER_DEBUG_HAS_POINTS = 8192, }; 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; int m_debugPointNum; double m_pointSize; }; 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, COV_SET_SHADOWMAP_INTENSITY = 64, COV_SET_RGB_BACKGROUND = 128, }; 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; double m_shadowMapIntensity; double m_rgbBackground[3]; }; 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; int m_flags; }; struct b3RequestTetraMeshDataArgs { int m_bodyUniqueId; int m_startingVertex; int m_flags; }; struct b3ResetMeshDataArgs { int m_bodyUniqueId; int m_numVertices; int m_flags; }; 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 b3RequestTetraMeshDataArgs m_requestTetraMeshDataArgs; struct b3ResetMeshDataArgs m_resetMeshDataArgs; struct b3RequestTetraMeshDataArgs m_resetTetraMeshDataArgs; }; }; 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