#ifndef SHARED_MEMORY_PUBLIC_H
#define SHARED_MEMORY_PUBLIC_H

#define SHARED_MEMORY_KEY 12347
///increase the SHARED_MEMORY_MAGIC_NUMBER whenever incompatible changes are made in the structures
///my convention is year/month/day/rev
//Please don't replace an existing magic number:
//instead, only ADD a new one at the top, comment-out previous one


#define SHARED_MEMORY_MAGIC_NUMBER 201902120
//#define SHARED_MEMORY_MAGIC_NUMBER 201811260
//#define SHARED_MEMORY_MAGIC_NUMBER 201810250
//#define SHARED_MEMORY_MAGIC_NUMBER 201809030
//#define SHARED_MEMORY_MAGIC_NUMBER 201809010
//#define SHARED_MEMORY_MAGIC_NUMBER 201807040
//#define SHARED_MEMORY_MAGIC_NUMBER 201806150
//#define SHARED_MEMORY_MAGIC_NUMBER 201806020
//#define SHARED_MEMORY_MAGIC_NUMBER 201801170
//#define SHARED_MEMORY_MAGIC_NUMBER 201801080
//#define SHARED_MEMORY_MAGIC_NUMBER 201801010
//#define SHARED_MEMORY_MAGIC_NUMBER 201710180
//#define SHARED_MEMORY_MAGIC_NUMBER 201710050
//#define SHARED_MEMORY_MAGIC_NUMBER 201708270
//#define SHARED_MEMORY_MAGIC_NUMBER 201707140
//#define SHARED_MEMORY_MAGIC_NUMBER 201706015
//#define SHARED_MEMORY_MAGIC_NUMBER 201706001
//#define SHARED_MEMORY_MAGIC_NUMBER 201703024

enum EnumSharedMemoryClientCommand
{
	CMD_INVALID = 0,
	CMD_LOAD_SDF,
	CMD_LOAD_URDF,
	CMD_LOAD_BULLET,
	CMD_SAVE_BULLET,
	CMD_LOAD_MJCF,
	CMD_LOAD_SOFT_BODY,
	CMD_SEND_BULLET_DATA_STREAM,
	CMD_CREATE_BOX_COLLISION_SHAPE,
	CMD_CREATE_RIGID_BODY,
	CMD_DELETE_RIGID_BODY,
	CMD_CREATE_SENSOR,  ///enable or disable joint feedback for force/torque sensors
	CMD_INIT_POSE,
	CMD_SEND_PHYSICS_SIMULATION_PARAMETERS,
	CMD_SEND_DESIRED_STATE,  //todo: reconsider naming, for example SET_JOINT_CONTROL_VARIABLE?
	CMD_REQUEST_ACTUAL_STATE,
	CMD_REQUEST_DEBUG_LINES,
	CMD_REQUEST_BODY_INFO,
	CMD_REQUEST_INTERNAL_DATA,
	CMD_STEP_FORWARD_SIMULATION,
	CMD_RESET_SIMULATION,
	CMD_PICK_BODY,
	CMD_MOVE_PICKED_BODY,
	CMD_REMOVE_PICKING_CONSTRAINT_BODY,
	CMD_REQUEST_CAMERA_IMAGE_DATA,
	CMD_APPLY_EXTERNAL_FORCE,
	CMD_CALCULATE_INVERSE_DYNAMICS,
	CMD_CALCULATE_INVERSE_KINEMATICS,
	CMD_CALCULATE_JACOBIAN,
	CMD_CALCULATE_MASS_MATRIX,
	CMD_USER_CONSTRAINT,
	CMD_REQUEST_CONTACT_POINT_INFORMATION,
	CMD_REQUEST_RAY_CAST_INTERSECTIONS,

	CMD_REQUEST_AABB_OVERLAP,

	CMD_SAVE_WORLD,
	CMD_REQUEST_VISUAL_SHAPE_INFO,
	CMD_UPDATE_VISUAL_SHAPE,
	CMD_LOAD_TEXTURE,
	CMD_SET_SHADOW,
	CMD_USER_DEBUG_DRAW,
	CMD_REQUEST_VR_EVENTS_DATA,
	CMD_SET_VR_CAMERA_STATE,
	CMD_SYNC_BODY_INFO,
	CMD_STATE_LOGGING,
	CMD_CONFIGURE_OPENGL_VISUALIZER,
	CMD_REQUEST_KEYBOARD_EVENTS_DATA,
	CMD_REQUEST_OPENGL_VISUALIZER_CAMERA,
	CMD_REMOVE_BODY,
	CMD_CHANGE_DYNAMICS_INFO,
	CMD_GET_DYNAMICS_INFO,
	CMD_PROFILE_TIMING,
	CMD_CREATE_COLLISION_SHAPE,
	CMD_CREATE_VISUAL_SHAPE,
	CMD_CREATE_MULTI_BODY,
	CMD_REQUEST_COLLISION_INFO,
	CMD_REQUEST_MOUSE_EVENTS_DATA,
	CMD_CHANGE_TEXTURE,
	CMD_SET_ADDITIONAL_SEARCH_PATH,
	CMD_CUSTOM_COMMAND,
	CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS,
	CMD_SAVE_STATE,
	CMD_RESTORE_STATE,
	CMD_REQUEST_COLLISION_SHAPE_INFO,

	CMD_SYNC_USER_DATA,
	CMD_REQUEST_USER_DATA,
	CMD_ADD_USER_DATA,
	CMD_REMOVE_USER_DATA,
	CMD_COLLISION_FILTER,

	//don't go beyond this command!
	CMD_MAX_CLIENT_COMMANDS,
};

enum EnumSharedMemoryServerStatus
{
	CMD_SHARED_MEMORY_NOT_INITIALIZED = 0,
	CMD_WAITING_FOR_CLIENT_COMMAND,
	//CMD_CLIENT_COMMAND_COMPLETED is a generic 'completed' status that doesn't need special handling on the client
	CMD_CLIENT_COMMAND_COMPLETED,
	//the server will skip unknown command and report a status 'CMD_UNKNOWN_COMMAND_FLUSHED'
	CMD_UNKNOWN_COMMAND_FLUSHED,
	CMD_SDF_LOADING_COMPLETED,
	CMD_SDF_LOADING_FAILED,
	CMD_URDF_LOADING_COMPLETED,
	CMD_URDF_LOADING_FAILED,
	CMD_BULLET_LOADING_COMPLETED,
	CMD_BULLET_LOADING_FAILED,
	CMD_BULLET_SAVING_COMPLETED,
	CMD_BULLET_SAVING_FAILED,
	CMD_MJCF_LOADING_COMPLETED,
	CMD_MJCF_LOADING_FAILED,
	CMD_REQUEST_INTERNAL_DATA_COMPLETED,
	CMD_REQUEST_INTERNAL_DATA_FAILED,
	CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED,
	CMD_BULLET_DATA_STREAM_RECEIVED_FAILED,
	CMD_BOX_COLLISION_SHAPE_CREATION_COMPLETED,
	CMD_RIGID_BODY_CREATION_COMPLETED,
	CMD_SET_JOINT_FEEDBACK_COMPLETED,
	CMD_ACTUAL_STATE_UPDATE_COMPLETED,
	CMD_ACTUAL_STATE_UPDATE_FAILED,
	CMD_DEBUG_LINES_COMPLETED,
	CMD_DEBUG_LINES_OVERFLOW_FAILED,
	CMD_DESIRED_STATE_RECEIVED_COMPLETED,
	CMD_STEP_FORWARD_SIMULATION_COMPLETED,
	CMD_RESET_SIMULATION_COMPLETED,
	CMD_CAMERA_IMAGE_COMPLETED,
	CMD_CAMERA_IMAGE_FAILED,
	CMD_BODY_INFO_COMPLETED,
	CMD_BODY_INFO_FAILED,
	CMD_INVALID_STATUS,
	CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED,
	CMD_CALCULATED_INVERSE_DYNAMICS_FAILED,
	CMD_CALCULATED_JACOBIAN_COMPLETED,
	CMD_CALCULATED_JACOBIAN_FAILED,
	CMD_CALCULATED_MASS_MATRIX_COMPLETED,
	CMD_CALCULATED_MASS_MATRIX_FAILED,
	CMD_CONTACT_POINT_INFORMATION_COMPLETED,
	CMD_CONTACT_POINT_INFORMATION_FAILED,
	CMD_REQUEST_AABB_OVERLAP_COMPLETED,
	CMD_REQUEST_AABB_OVERLAP_FAILED,
	CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED,
	CMD_CALCULATE_INVERSE_KINEMATICS_FAILED,
	CMD_SAVE_WORLD_COMPLETED,
	CMD_SAVE_WORLD_FAILED,
	CMD_VISUAL_SHAPE_INFO_COMPLETED,
	CMD_VISUAL_SHAPE_INFO_FAILED,
	CMD_VISUAL_SHAPE_UPDATE_COMPLETED,
	CMD_VISUAL_SHAPE_UPDATE_FAILED,
	CMD_LOAD_TEXTURE_COMPLETED,
	CMD_LOAD_TEXTURE_FAILED,
	CMD_USER_DEBUG_DRAW_COMPLETED,
	CMD_USER_DEBUG_DRAW_PARAMETER_COMPLETED,
	CMD_USER_DEBUG_DRAW_FAILED,
	CMD_USER_CONSTRAINT_COMPLETED,
	CMD_USER_CONSTRAINT_INFO_COMPLETED,
	CMD_USER_CONSTRAINT_REQUEST_STATE_COMPLETED,
	CMD_REMOVE_USER_CONSTRAINT_COMPLETED,
	CMD_CHANGE_USER_CONSTRAINT_COMPLETED,
	CMD_REMOVE_USER_CONSTRAINT_FAILED,
	CMD_CHANGE_USER_CONSTRAINT_FAILED,
	CMD_USER_CONSTRAINT_FAILED,
	CMD_REQUEST_VR_EVENTS_DATA_COMPLETED,
	CMD_REQUEST_RAY_CAST_INTERSECTIONS_COMPLETED,
	CMD_SYNC_BODY_INFO_COMPLETED,
	CMD_SYNC_BODY_INFO_FAILED,
	CMD_STATE_LOGGING_COMPLETED,
	CMD_STATE_LOGGING_START_COMPLETED,
	CMD_STATE_LOGGING_FAILED,
	CMD_REQUEST_KEYBOARD_EVENTS_DATA_COMPLETED,
	CMD_REQUEST_KEYBOARD_EVENTS_DATA_FAILED,
	CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_FAILED,
	CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_COMPLETED,
	CMD_REMOVE_BODY_COMPLETED,
	CMD_REMOVE_BODY_FAILED,
	CMD_GET_DYNAMICS_INFO_COMPLETED,
	CMD_GET_DYNAMICS_INFO_FAILED,
	CMD_CREATE_COLLISION_SHAPE_FAILED,
	CMD_CREATE_COLLISION_SHAPE_COMPLETED,
	CMD_CREATE_VISUAL_SHAPE_FAILED,
	CMD_CREATE_VISUAL_SHAPE_COMPLETED,
	CMD_CREATE_MULTI_BODY_FAILED,
	CMD_CREATE_MULTI_BODY_COMPLETED,
	CMD_REQUEST_COLLISION_INFO_COMPLETED,
	CMD_REQUEST_COLLISION_INFO_FAILED,
	CMD_REQUEST_MOUSE_EVENTS_DATA_COMPLETED,
	CMD_CHANGE_TEXTURE_COMMAND_FAILED,
	CMD_CUSTOM_COMMAND_COMPLETED,
	CMD_CUSTOM_COMMAND_FAILED,
	CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS_COMPLETED,
	CMD_SAVE_STATE_FAILED,
	CMD_SAVE_STATE_COMPLETED,
	CMD_RESTORE_STATE_FAILED,
	CMD_RESTORE_STATE_COMPLETED,
	CMD_COLLISION_SHAPE_INFO_COMPLETED,
	CMD_COLLISION_SHAPE_INFO_FAILED,
	CMD_LOAD_SOFT_BODY_FAILED,
	CMD_LOAD_SOFT_BODY_COMPLETED,

	CMD_SYNC_USER_DATA_COMPLETED,
	CMD_SYNC_USER_DATA_FAILED,
	CMD_REQUEST_USER_DATA_COMPLETED,
	CMD_REQUEST_USER_DATA_FAILED,
	CMD_ADD_USER_DATA_COMPLETED,
	CMD_ADD_USER_DATA_FAILED,
	CMD_REMOVE_USER_DATA_COMPLETED,
	CMD_REMOVE_USER_DATA_FAILED,
	//don't go beyond 'CMD_MAX_SERVER_COMMANDS!
	CMD_MAX_SERVER_COMMANDS
};

enum JointInfoFlags
{
	JOINT_HAS_MOTORIZED_POWER = 1,
};

enum
{
	COLLISION_SHAPE_TYPE_BOX = 1,
	COLLISION_SHAPE_TYPE_CYLINDER_X,
	COLLISION_SHAPE_TYPE_CYLINDER_Y,
	COLLISION_SHAPE_TYPE_CYLINDER_Z,
	COLLISION_SHAPE_TYPE_CAPSULE_X,
	COLLISION_SHAPE_TYPE_CAPSULE_Y,
	COLLISION_SHAPE_TYPE_CAPSULE_Z,
	COLLISION_SHAPE_TYPE_SPHERE
};

// copied from btMultiBodyLink.h
enum JointType
{
	eRevoluteType = 0,
	ePrismaticType = 1,
	eSphericalType = 2,
	ePlanarType = 3,
	eFixedType = 4,
	ePoint2PointType = 5,
	eGearType = 6
};

enum b3JointInfoFlags
{
	eJointChangeMaxForce = 1,
	eJointChangeChildFramePosition = 2,
	eJointChangeChildFrameOrientation = 4,
};

struct b3JointInfo
{
	char m_linkName[1024];
	char m_jointName[1024];
	int m_jointType;
	int m_qIndex;
	int m_uIndex;
	int m_jointIndex;
	int m_flags;
	double m_jointDamping;
	double m_jointFriction;
	double m_jointLowerLimit;
	double m_jointUpperLimit;
	double m_jointMaxForce;
	double m_jointMaxVelocity;
	double m_parentFrame[7];  // position and orientation (quaternion)
	double m_childFrame[7];   // ^^^
	double m_jointAxis[3];    // joint axis in parent local frame
	int m_parentIndex;
	int m_qSize;
	int m_uSize;
};

enum UserDataValueType
{
	// Data represents generic byte array.
	USER_DATA_VALUE_TYPE_BYTES = 0,
	// Data represents C-string
	USER_DATA_VALUE_TYPE_STRING = 1,
};

struct b3UserDataValue
{
	int m_type;
	int m_length;
	const char* m_data1;
};

struct b3UserConstraint
{
	int m_parentBodyIndex;
	int m_parentJointIndex;
	int m_childBodyIndex;
	int m_childJointIndex;
	double m_parentFrame[7];
	double m_childFrame[7];
	double m_jointAxis[3];
	int m_jointType;
	double m_maxAppliedForce;
	int m_userConstraintUniqueId;
	double m_gearRatio;
	int m_gearAuxLink;
	double m_relativePositionTarget;
	double m_erp;
};

struct b3BodyInfo
{
	char m_baseName[1024];
	char m_bodyName[1024];  // for btRigidBody, it does not have a base, but can still have a body name from urdf
};

enum DynamicsActivationState
{
	eActivationStateEnableSleeping = 1,
	eActivationStateDisableSleeping = 2,
	eActivationStateWakeUp = 4,
	eActivationStateSleep = 8,
	eActivationStateEnableWakeup = 16,
	eActivationStateDisableWakeup = 32,
};

struct b3DynamicsInfo
{
	double m_mass;
	double m_localInertialDiagonal[3];
	double m_localInertialFrame[7];
	double m_lateralFrictionCoeff;

	double m_rollingFrictionCoeff;
	double m_spinningFrictionCoeff;
	double m_restitution;
	double m_contactStiffness;
	double m_contactDamping;
	int m_activationState;
	double m_angularDamping;
	double m_linearDamping;
	double m_ccdSweptSphereRadius;
	double m_contactProcessingThreshold;
	int m_frictionAnchor;
};

// copied from btMultiBodyLink.h
enum SensorType
{
	eSensorForceTorqueType = 1,
};

struct b3JointSensorState
{
	double m_jointPosition;
	double m_jointVelocity;
	double m_jointForceTorque[6]; /* note to roboticists: this is NOT the motor torque/force, but the spatial reaction force vector at joint */
	double m_jointMotorTorque;
};

struct b3JointSensorState2
{
	double m_jointPosition[4];
	double m_jointVelocity[3];
	double m_jointReactionForceTorque[6]; /* note to roboticists: this is NOT the motor torque/force, but the spatial reaction force vector at joint */
	double m_jointMotorTorqueMultiDof[3];
	int m_qDofSize;
	int m_uDofSize;
};

struct b3DebugLines
{
	int m_numDebugLines;
	const float* m_linesFrom;   //float x,y,z times 'm_numDebugLines'.
	const float* m_linesTo;     //float x,y,z times 'm_numDebugLines'.
	const float* m_linesColor;  //float red,green,blue times 'm_numDebugLines'.
};

struct b3OverlappingObject
{
	int m_objectUniqueId;
	int m_linkIndex;
};

struct b3AABBOverlapData
{
	int m_numOverlappingObjects;
	struct b3OverlappingObject* m_overlappingObjects;
};

struct b3CameraImageData
{
	int m_pixelWidth;
	int m_pixelHeight;
	const unsigned char* m_rgbColorData;  //3*m_pixelWidth*m_pixelHeight bytes
	const float* m_depthValues;           //m_pixelWidth*m_pixelHeight floats
	const int* m_segmentationMaskValues;  //m_pixelWidth*m_pixelHeight ints
};

struct b3OpenGLVisualizerCameraInfo
{
	int m_width;
	int m_height;
	float m_viewMatrix[16];
	float m_projectionMatrix[16];

	float m_camUp[3];
	float m_camForward[3];

	float m_horizontal[3];
	float m_vertical[3];

	float m_yaw;
	float m_pitch;
	float m_dist;
	float m_target[3];
};

struct b3UserConstraintState
{
	double m_appliedConstraintForces[6];
	int m_numDofs;
};

enum b3VREventType
{
	VR_CONTROLLER_MOVE_EVENT = 1,
	VR_CONTROLLER_BUTTON_EVENT = 2,
	VR_HMD_MOVE_EVENT = 4,
	VR_GENERIC_TRACKER_MOVE_EVENT = 8,
};

#define MAX_VR_ANALOG_AXIS 5
#define MAX_VR_BUTTONS 64
#define MAX_VR_CONTROLLERS 8

#define MAX_KEYBOARD_EVENTS 256
#define MAX_MOUSE_EVENTS 256

#define MAX_SDF_BODIES 512
#define MAX_USER_DATA_KEY_LENGTH 256

enum b3VRButtonInfo
{
	eButtonIsDown = 1,
	eButtonTriggered = 2,
	eButtonReleased = 4,
};

enum eVRDeviceTypeEnums
{
	VR_DEVICE_CONTROLLER = 1,
	VR_DEVICE_HMD = 2,
	VR_DEVICE_GENERIC_TRACKER = 4,
};

enum EVRCameraFlags
{
	VR_CAMERA_TRACK_OBJECT_ORIENTATION = 1,
};

struct b3VRControllerEvent
{
	int m_controllerId;  //valid for VR_CONTROLLER_MOVE_EVENT and VR_CONTROLLER_BUTTON_EVENT
	int m_deviceType;
	int m_numMoveEvents;
	int m_numButtonEvents;

	float m_pos[4];  //valid for VR_CONTROLLER_MOVE_EVENT and VR_CONTROLLER_BUTTON_EVENT
	float m_orn[4];  //valid for VR_CONTROLLER_MOVE_EVENT and VR_CONTROLLER_BUTTON_EVENT

	float m_analogAxis;                             //valid if VR_CONTROLLER_MOVE_EVENT
	float m_auxAnalogAxis[MAX_VR_ANALOG_AXIS * 2];  //store x,y per axis, only valid if VR_CONTROLLER_MOVE_EVENT
	int m_buttons[MAX_VR_BUTTONS];                  //valid if VR_CONTROLLER_BUTTON_EVENT, see b3VRButtonInfo
};

struct b3VREventsData
{
	int m_numControllerEvents;
	struct b3VRControllerEvent* m_controllerEvents;
};

struct b3KeyboardEvent
{
	int m_keyCode;   //ascii
	int m_keyState;  // see b3VRButtonInfo
};

struct b3KeyboardEventsData
{
	int m_numKeyboardEvents;
	struct b3KeyboardEvent* m_keyboardEvents;
};

enum eMouseEventTypeEnums
{
	MOUSE_MOVE_EVENT = 1,
	MOUSE_BUTTON_EVENT = 2,
};

struct b3MouseEvent
{
	int m_eventType;
	float m_mousePosX;
	float m_mousePosY;
	int m_buttonIndex;
	int m_buttonState;
};

struct b3MouseEventsData
{
	int m_numMouseEvents;
	struct b3MouseEvent* m_mouseEvents;
};

enum b3NotificationType
{
	SIMULATION_RESET = 0,
	BODY_ADDED = 1,
	BODY_REMOVED = 2,
	USER_DATA_ADDED = 3,
	USER_DATA_REMOVED = 4,
	LINK_DYNAMICS_CHANGED = 5,
	VISUAL_SHAPE_CHANGED = 6,
	TRANSFORM_CHANGED = 7,
	SIMULATION_STEPPED = 8,
};

struct b3BodyNotificationArgs
{
	int m_bodyUniqueId;
};

struct b3UserDataNotificationArgs
{
	int m_bodyUniqueId;
	int m_linkIndex;
	int m_visualShapeIndex;
	int m_userDataId;
	char m_key[MAX_USER_DATA_KEY_LENGTH];
};

struct b3LinkNotificationArgs
{
	int m_bodyUniqueId;
	int m_linkIndex;
};

struct b3VisualShapeNotificationArgs
{
	int m_bodyUniqueId;
	int m_linkIndex;
	int m_visualShapeIndex;
};

struct b3TransformChangeNotificationArgs
{
	int m_bodyUniqueId;
	int m_linkIndex;
	double m_worldPosition[3];
	double m_worldRotation[4];
	double m_localScaling[3];
};

struct b3Notification
{
	int m_notificationType;
	union {
		struct b3BodyNotificationArgs m_bodyArgs;
		struct b3UserDataNotificationArgs m_userDataArgs;
		struct b3LinkNotificationArgs m_linkArgs;
		struct b3VisualShapeNotificationArgs m_visualShapeArgs;
		struct b3TransformChangeNotificationArgs m_transformChangeArgs;
	};
};

struct b3ContactPointData
{
	//todo: expose some contact flags, such as telling which fields below are valid
	int m_contactFlags;
	int m_bodyUniqueIdA;
	int m_bodyUniqueIdB;
	int m_linkIndexA;
	int m_linkIndexB;
	double m_positionOnAInWS[3];       //contact point location on object A, in world space coordinates
	double m_positionOnBInWS[3];       //contact point location on object A, in world space coordinates
	double m_contactNormalOnBInWS[3];  //the separating contact normal, pointing from object B towards object A
	double m_contactDistance;          //negative number is penetration, positive is distance.

	double m_normalForce;

	double m_linearFrictionForce1;
	double m_linearFrictionForce2;
	double m_linearFrictionDirection1[3];
	double m_linearFrictionDirection2[3];
};

enum
{
	CONTACT_QUERY_MODE_REPORT_EXISTING_CONTACT_POINTS = 0,
	CONTACT_QUERY_MODE_COMPUTE_CLOSEST_POINTS = 1,
};

enum b3StateLoggingType
{
	STATE_LOGGING_MINITAUR = 0,
	STATE_LOGGING_GENERIC_ROBOT = 1,
	STATE_LOGGING_VR_CONTROLLERS = 2,
	STATE_LOGGING_VIDEO_MP4 = 3,
	STATE_LOGGING_COMMANDS = 4,
	STATE_LOGGING_CONTACT_POINTS = 5,
	STATE_LOGGING_PROFILE_TIMINGS = 6,
	STATE_LOGGING_ALL_COMMANDS = 7,
	STATE_REPLAY_ALL_COMMANDS = 8,
	STATE_LOGGING_CUSTOM_TIMER = 9,
};

struct b3ContactInformation
{
	int m_numContactPoints;
	struct b3ContactPointData* m_contactPointData;
};

struct b3RayData
{
	double m_rayFromPosition[3];
	double m_rayToPosition[3];
};

struct b3RayHitInfo
{
	double m_hitFraction;
	int m_hitObjectUniqueId;
	int m_hitObjectLinkIndex;
	double m_hitPositionWorld[3];
	double m_hitNormalWorld[3];
};

struct b3RaycastInformation
{
	int m_numRayHits;
	struct b3RayHitInfo* m_rayHits;
};

typedef union {
	struct b3RayData a;
	struct b3RayHitInfo b;
} RAY_DATA_UNION;

#define MAX_RAY_INTERSECTION_BATCH_SIZE 256

#ifdef __APPLE__
#define MAX_RAY_INTERSECTION_BATCH_SIZE_STREAMING (4 * 1024)
#else
#define MAX_RAY_INTERSECTION_BATCH_SIZE_STREAMING (16 * 1024)
#endif

#define MAX_RAY_HITS MAX_RAY_INTERSECTION_BATCH_SIZE
#define VISUAL_SHAPE_MAX_PATH_LEN 1024

enum b3VisualShapeDataFlags
{
	eVISUAL_SHAPE_DATA_TEXTURE_UNIQUE_IDS = 1,
};

struct b3VisualShapeData
{
	int m_objectUniqueId;
	int m_linkIndex;
	int m_visualGeometryType;  //box primitive, sphere primitive, triangle mesh
	double m_dimensions[3];    //meaning depends on m_visualGeometryType
	char m_meshAssetFileName[VISUAL_SHAPE_MAX_PATH_LEN];
	double m_localVisualFrame[7];  //pos[3], orn[4]
								   //todo: add more data if necessary (material color etc, although material can be in asset file .obj file)
	double m_rgbaColor[4];
	int m_tinyRendererTextureId;
	int m_textureUniqueId;
	int m_openglTextureId;
};

struct b3VisualShapeInformation
{
	int m_numVisualShapes;
	struct b3VisualShapeData* m_visualShapeData;
};

struct b3CollisionShapeData
{
	int m_objectUniqueId;
	int m_linkIndex;
	int m_collisionGeometryType;      //GEOM_BOX, GEOM_SPHERE etc
	double m_dimensions[3];           //meaning depends on m_visualGeometryType GEOM_BOX: extents, GEOM_SPHERE: radius, GEOM_CAPSULE+GEOM_CYLINDER:length, radius, GEOM_MESH: mesh scale
	double m_localCollisionFrame[7];  //pos[3], orn[4]
	char m_meshAssetFileName[VISUAL_SHAPE_MAX_PATH_LEN];
};

struct b3CollisionShapeInformation
{
	int m_numCollisionShapes;
	struct b3CollisionShapeData* m_collisionShapeData;
};

enum eLinkStateFlags
{
	ACTUAL_STATE_COMPUTE_LINKVELOCITY = 1,
	ACTUAL_STATE_COMPUTE_FORWARD_KINEMATICS = 2,
};

///b3LinkState provides extra information such as the Cartesian world coordinates
///center of mass (COM) of the link, relative to the world reference frame.
///Orientation is a quaternion x,y,z,w
///Note: to compute the URDF link frame (which equals the joint frame at joint position 0)
///use URDF link frame = link COM frame * inertiaFrame.inverse()
struct b3LinkState
{
	//m_worldPosition and m_worldOrientation of the Center Of Mass (COM)
	double m_worldPosition[3];
	double m_worldOrientation[4];

	double m_localInertialPosition[3];
	double m_localInertialOrientation[4];

	///world position and orientation of the (URDF) link frame
	double m_worldLinkFramePosition[3];
	double m_worldLinkFrameOrientation[4];

	double m_worldLinearVelocity[3];   //only valid when ACTUAL_STATE_COMPUTE_LINKVELOCITY is set (b3RequestActualStateCommandComputeLinkVelocity)
	double m_worldAngularVelocity[3];  //only valid when ACTUAL_STATE_COMPUTE_LINKVELOCITY is set (b3RequestActualStateCommandComputeLinkVelocity)

	double m_worldAABBMin[3];  //world space bounding minium and maximum box corners.
	double m_worldAABBMax[3];
};

//todo: discuss and decide about control mode and combinations
enum
{
	//    POSITION_CONTROL=0,
	CONTROL_MODE_VELOCITY = 0,
	CONTROL_MODE_TORQUE,
	CONTROL_MODE_POSITION_VELOCITY_PD,
	CONTROL_MODE_PD,  // The standard PD control implemented as soft constraint.
};

///flags for b3ApplyExternalTorque and b3ApplyExternalForce
enum EnumExternalForceFlags
{
	EF_LINK_FRAME = 1,
	EF_WORLD_FRAME = 2,
};

///flags to pick the renderer for synthetic camera
enum EnumRenderer
{
	ER_TINY_RENDERER = (1 << 16),
	ER_BULLET_HARDWARE_OPENGL = (1 << 17),
	//ER_FIRE_RAYS=(1<<18),
};

enum EnumRendererAuxFlags
{
	ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX = 1,
	ER_USE_PROJECTIVE_TEXTURE = 2,
	ER_NO_SEGMENTATION_MASK = 4,
};

///flags to pick the IK solver and other options
enum EnumCalculateInverseKinematicsFlags
{
	IK_DLS = 0,
	IK_SDLS = 1,  //TODO: can add other IK solvers
	IK_HAS_TARGET_POSITION = 16,
	IK_HAS_TARGET_ORIENTATION = 32,
	IK_HAS_NULL_SPACE_VELOCITY = 64,
	IK_HAS_JOINT_DAMPING = 128,
	IK_HAS_CURRENT_JOINT_POSITIONS = 256,
	IK_HAS_MAX_ITERATIONS = 512,
	IK_HAS_RESIDUAL_THRESHOLD = 1024,
};

enum b3ConfigureDebugVisualizerEnum
{
	COV_ENABLE_GUI = 1,
	COV_ENABLE_SHADOWS,
	COV_ENABLE_WIREFRAME,
	COV_ENABLE_VR_TELEPORTING,
	COV_ENABLE_VR_PICKING,
	COV_ENABLE_VR_RENDER_CONTROLLERS,
	COV_ENABLE_RENDERING,
	COV_ENABLE_SYNC_RENDERING_INTERNAL,
	COV_ENABLE_KEYBOARD_SHORTCUTS,
	COV_ENABLE_MOUSE_PICKING,
	COV_ENABLE_Y_AXIS_UP,
	COV_ENABLE_TINY_RENDERER,
	COV_ENABLE_RGB_BUFFER_PREVIEW,
	COV_ENABLE_DEPTH_BUFFER_PREVIEW,
	COV_ENABLE_SEGMENTATION_MARK_PREVIEW,
	COV_ENABLE_PLANAR_REFLECTION,
	COV_ENABLE_SINGLE_STEP_RENDERING,
};

enum b3AddUserDebugItemEnum
{
	DEB_DEBUG_TEXT_ALWAYS_FACE_CAMERA = 1,
	DEB_DEBUG_TEXT_USE_TRUE_TYPE_FONTS = 2,
	DEB_DEBUG_TEXT_HAS_TRACKING_OBJECT = 4,
};

enum eCONNECT_METHOD
{
	eCONNECT_GUI = 1,
	eCONNECT_DIRECT = 2,
	eCONNECT_SHARED_MEMORY = 3,
	eCONNECT_UDP = 4,
	eCONNECT_TCP = 5,
	eCONNECT_EXISTING_EXAMPLE_BROWSER = 6,
	eCONNECT_GUI_SERVER = 7,
	eCONNECT_GUI_MAIN_THREAD = 8,
	eCONNECT_SHARED_MEMORY_SERVER = 9,
	eCONNECT_DART = 10,
	eCONNECT_MUJOCO = 11,
	eCONNECT_GRPC = 12,
	eCONNECT_PHYSX=13,
};

enum eURDF_Flags
{
	URDF_USE_INERTIA_FROM_FILE = 2,  //sync with URDF2Bullet.h 'ConvertURDFFlags'
	URDF_USE_SELF_COLLISION = 8,     //see CUF_USE_SELF_COLLISION
	URDF_USE_SELF_COLLISION_EXCLUDE_PARENT = 16,
	URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS = 32,
	URDF_RESERVED = 64,
	URDF_USE_IMPLICIT_CYLINDER = 128,
	URDF_GLOBAL_VELOCITIES_MB = 256,
	MJCF_COLORS_FROM_FILE = 512,
	URDF_ENABLE_CACHED_GRAPHICS_SHAPES = 1024,
	URDF_ENABLE_SLEEPING = 2048,
	URDF_INITIALIZE_SAT_FEATURES = 4096,
	URDF_USE_SELF_COLLISION_INCLUDE_PARENT = 8192,
	URDF_PARSE_SENSORS = 16384,
	URDF_USE_MATERIAL_COLORS_FROM_MTL = 32768,
	URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL = 65536,
	URDF_MAINTAIN_LINK_ORDER = 131072,
	URDF_ENABLE_WAKEUP = 262144,
};

enum eUrdfGeomTypes  //sync with UrdfParser UrdfGeomTypes
{
	GEOM_SPHERE = 2,
	GEOM_BOX,
	GEOM_CYLINDER,
	GEOM_MESH,
	GEOM_PLANE,
	GEOM_CAPSULE,  //non-standard URDF?
	GEOM_UNKNOWN,
};

enum eUrdfCollisionFlags
{
	GEOM_FORCE_CONCAVE_TRIMESH = 1,
	GEOM_CONCAVE_INTERNAL_EDGE = 2,
};

enum eUrdfVisualFlags
{
	GEOM_VISUAL_HAS_RGBA_COLOR = 1,
	GEOM_VISUAL_HAS_SPECULAR_COLOR = 2,
};

enum eStateLoggingFlags
{
	STATE_LOG_JOINT_MOTOR_TORQUES = 1,
	STATE_LOG_JOINT_USER_TORQUES = 2,
	STATE_LOG_JOINT_TORQUES = STATE_LOG_JOINT_MOTOR_TORQUES + STATE_LOG_JOINT_USER_TORQUES,
};

enum eJointFeedbackModes
{
	JOINT_FEEDBACK_IN_WORLD_SPACE = 1,
	JOINT_FEEDBACK_IN_JOINT_FRAME = 2,
};

#define B3_MAX_PLUGIN_ARG_SIZE 128
#define B3_MAX_PLUGIN_ARG_TEXT_LEN 1024

struct b3PluginArguments
{
	char m_text[B3_MAX_PLUGIN_ARG_TEXT_LEN];
	int m_numInts;
	int m_ints[B3_MAX_PLUGIN_ARG_SIZE];
	int m_numFloats;
	double m_floats[B3_MAX_PLUGIN_ARG_SIZE];
};

struct b3PhysicsSimulationParameters
{
	double m_deltaTime;
	double m_gravityAcceleration[3];
	int m_numSimulationSubSteps;
	int m_numSolverIterations;
	int m_useRealTimeSimulation;
	int m_useSplitImpulse;
	double m_splitImpulsePenetrationThreshold;
	double m_contactBreakingThreshold;
	int m_internalSimFlags;
	double m_defaultContactERP;
	int m_collisionFilterMode;
	int m_enableFileCaching;
	double m_restitutionVelocityThreshold;
	double m_defaultNonContactERP;
	double m_frictionERP;
	double m_defaultGlobalCFM;
	double m_frictionCFM;
	int m_enableConeFriction;
	int m_deterministicOverlappingPairs;
	double m_allowedCcdPenetration;
	int m_jointFeedbackMode;
	double m_solverResidualThreshold;
	double m_contactSlop;
	int m_enableSAT;
	int m_constraintSolverType;
	int m_minimumSolverIslandSize;
};

enum eConstraintSolverTypes
{
	eConstraintSolverLCP_SI = 1,
	eConstraintSolverLCP_PGS,
	eConstraintSolverLCP_DANTZIG,
	eConstraintSolverLCP_LEMKE,
	eConstraintSolverLCP_NNCG,
	eConstraintSolverLCP_BLOCK_PGS,
};

enum eFileIOActions
{
	eAddFileIOAction = 1024,//avoid collision with eFileIOTypes
	eRemoveFileIOAction,
};


enum eFileIOTypes
{
	ePosixFileIO = 1,
	eZipFileIO,
	eCNSFileIO,
	eInMemoryFileIO,
};


//limits for vertices/indices in PyBullet::createCollisionShape
//Make sure the data fits in SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE
//(numVertices*sizeof(double)*3 + numIndices*sizeof(int)) < SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE


#ifdef __APPLE__
#define B3_MAX_NUM_VERTICES 8192
#define B3_MAX_NUM_INDICES 32768
#else
#define B3_MAX_NUM_VERTICES 131072
#define B3_MAX_NUM_INDICES 524288
#endif


#endif  //SHARED_MEMORY_PUBLIC_H
