redgpu/bullet: Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.

test/SharedMemory/test.c
361 строка11 KB
Erwin Coumans
re-enable shared memory connection for pybullet Gym envs (with fallback to GUI or DIRECT)
13 сен 2017, 19:56
13 сен 2017, 19:56c250a5f

//#include "SharedMemoryCommands.h"
#ifdef PHYSICS_SHARED_MEMORY
#include "SharedMemory/PhysicsClientC_API.h"
#endif //PHYSICS_SHARED_MEMORY

#ifdef PHYSICS_UDP
#include "SharedMemory/PhysicsClientUDP_C_API.h"
#endif//PHYSICS_UDP

#ifdef PHYSICS_TCP
#include "SharedMemory/PhysicsClientTCP_C_API.h"
#endif//PHYSICS_TCP

#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<1000;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;
            }
        }
        
		{
			b3SharedMemoryCommandHandle command;
			b3SharedMemoryStatusHandle statusHandle;
            int width = 1024;
			int height = 1024;

			command = b3InitRequestCameraImage(sm);
			
			b3RequestCameraImageSetPixelResolution(command, width, height);
            b3RequestCameraImageSelectRenderer(command,ER_BULLET_HARDWARE_OPENGL);
			statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
		}
        
        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);
            }
        }
        
    } else
    {
        b3Warning("Cannot submit commands.\n");
    }


	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

#ifdef PHYSICS_UDP
        b3PhysicsClientHandle sm = b3ConnectPhysicsUDP("localhost",1234);
#endif //PHYSICS_UDP

#ifdef PHYSICS_TCP
        b3PhysicsClientHandle sm = b3ConnectPhysicsTCP("localhost",6667);
#endif //PHYSICS_UDP

	testSharedMemory(sm);
}
#endif