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another step closer to useable shared memory C API

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(force/torque sensor needs new API)
in a nutshell, users of shared memory physics API should not
directly poke into shared memory, not fill 'SharedMemorCommand'
nor read SharedMemoryStatus directly. The C-API declares 'handles' for those,
to avoid it from happening.
This commit is contained in:
=
2015-09-16 23:09:10 -07:00
parent 4041748f55
commit 003a42478b
16 changed files with 671 additions and 489 deletions
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223
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2,10 +2,19 @@
#include "PhysicsClient.h"
#include "Bullet3Common/b3Scalar.h"
#include <string.h>
#include "SharedMemoryCommands.h"
int b3LoadUrdfCommandInit(struct SharedMemoryCommand* command, const char* urdfFileName)
b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName)
{
b3Assert(command);
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_LOAD_URDF;
int len = strlen(urdfFileName);
if (len<MAX_URDF_FILENAME_LENGTH)
@@ -17,14 +26,26 @@ int b3LoadUrdfCommandInit(struct SharedMemoryCommand* command, const char* urdfF
}
command->m_updateFlags = URDF_ARGS_FILE_NAME;
return 0;
return (b3SharedMemoryCommandHandle) command;
}
int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_LOAD_URDF);
command->m_updateFlags |=URDF_ARGS_USE_FIXED_BASE;
command->m_urdfArguments.m_useFixedBase = useFixedBase;
return 0;
}
int b3LoadUrdfCommandSetStartPosition(struct SharedMemoryCommand* command, double startPosX,double startPosY,double startPosZ)
int b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_LOAD_URDF);
command->m_urdfArguments.m_initialPosition[0] = startPosX;
@@ -33,8 +54,10 @@ int b3LoadUrdfCommandSetStartPosition(struct SharedMemoryCommand* command, doubl
command->m_updateFlags|=URDF_ARGS_INITIAL_POSITION;
return 0;
}
int b3LoadUrdfCommandSetStartOrientation(struct SharedMemoryCommand* command, double startOrnX,double startOrnY,double startOrnZ, double startOrnW)
int b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_LOAD_URDF);
command->m_urdfArguments.m_initialOrientation[0] = startOrnX;
@@ -45,16 +68,21 @@ int b3LoadUrdfCommandSetStartOrientation(struct SharedMemoryCommand* command, do
return 0;
}
int b3InitPhysicsParamCommand(struct SharedMemoryCommand* command)
b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient)
{
b3Assert(command);
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_SEND_PHYSICS_SIMULATION_PARAMETERS;
command->m_updateFlags = 0;
return 0;
return (b3SharedMemoryCommandHandle) command;
}
int b3PhysicsParamSetGravity(struct SharedMemoryCommand* command, double gravx,double gravy, double gravz)
int b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_gravityAcceleration[0] = gravx;
command->m_physSimParamArgs.m_gravityAcceleration[1] = gravy;
@@ -63,83 +91,130 @@ int b3PhysicsParamSetGravity(struct SharedMemoryCommand* command, double gra
return 0;
}
int b3PhysicsParamSetTimeStep(struct SharedMemoryCommand* command, double timeStep)
int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double timeStep)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_deltaTime = timeStep;
return 0;
}
int b3InitStepSimulationCommand(struct SharedMemoryCommand* command)
b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient)
{
b3Assert(command);
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_STEP_FORWARD_SIMULATION;
command->m_updateFlags = 0;
return 0;
return (b3SharedMemoryCommandHandle) command;
}
int b3InitResetSimulationCommand(struct SharedMemoryCommand* command)
b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHandle physClient)
{
b3Assert(command);
command->m_type = CMD_RESET_SIMULATION;
command->m_updateFlags = 0;
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_RESET_SIMULATION;
command->m_updateFlags = 0;
return 0;
return (b3SharedMemoryCommandHandle) command;
}
int b3JointControlCommandInit(struct SharedMemoryCommand* command, int controlMode)
b3SharedMemoryCommandHandle b3JointControlCommandInit( b3PhysicsClientHandle physClient, int controlMode)
{
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_SEND_DESIRED_STATE;
command->m_sendDesiredStateCommandArgument.m_controlMode = controlMode;
command->m_updateFlags = 0;
return 0;
return (b3SharedMemoryCommandHandle) command;
}
int b3JointControlSetDesiredVelocity(struct SharedMemoryCommand* command, int dofIndex, double value)
int b3JointControlSetDesiredPosition(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
command->m_sendDesiredStateCommandArgument.m_desiredStateQdot[dofIndex] = 1;
command->m_sendDesiredStateCommandArgument.m_desiredStateQ[dofIndex] = value;
return 0;
}
int b3JointControlSetKp(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
command->m_sendDesiredStateCommandArgument.m_Kp[dofIndex] = value;
return 0;
}
int b3JointControlSetKd(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
command->m_sendDesiredStateCommandArgument.m_Kd[dofIndex] = value;
return 0;
}
int b3JointControlSetDesiredVelocity(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
command->m_sendDesiredStateCommandArgument.m_desiredStateQdot[dofIndex] = value;
return 0;
}
int b3JointControlSetMaximumForce(struct SharedMemoryCommand* command, int dofIndex, double value)
int b3JointControlSetMaximumForce(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
command->m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[dofIndex] = value;
return 0;
}
int b3JointControlSetDesiredForceTorque(struct SharedMemoryCommand* command, int dofIndex, double value)
int b3JointControlSetDesiredForceTorque(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
command->m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[dofIndex] = value;
return 0;
}
int b3RequestActualStateCommandInit(struct SharedMemoryCommand* command)
b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandle physClient)
{
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type =CMD_REQUEST_ACTUAL_STATE;
return 0;
return (b3SharedMemoryCommandHandle) command;
}
int b3CreateBoxShapeCommandInit(struct SharedMemoryCommand* command)
b3SharedMemoryCommandHandle b3CreateBoxShapeCommandInit(b3PhysicsClientHandle physClient)
{
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_CREATE_BOX_COLLISION_SHAPE;
command->m_updateFlags =0;
return 0;
return (b3SharedMemoryCommandHandle) command;
}
int b3CreateBoxCommandSetStartPosition(struct SharedMemoryCommand* command, double startPosX,double startPosY,double startPosZ)
int b3CreateBoxCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CREATE_BOX_COLLISION_SHAPE);
command->m_updateFlags |=BOX_SHAPE_HAS_INITIAL_POSITION;
@@ -150,8 +225,9 @@ int b3CreateBoxCommandSetStartPosition(struct SharedMemoryCommand* command, doub
return 0;
}
int b3CreateBoxCommandSetStartOrientation(struct SharedMemoryCommand* command, double startOrnX,double startOrnY,double startOrnZ, double startOrnW)
int b3CreateBoxCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CREATE_BOX_COLLISION_SHAPE);
command->m_updateFlags |=BOX_SHAPE_HAS_INITIAL_ORIENTATION;
@@ -163,9 +239,9 @@ int b3CreateBoxCommandSetStartOrientation(struct SharedMemoryCommand* command, d
return 0;
}
int b3CreateBoxCommandSetHalfExtents(struct SharedMemoryCommand* command, double halfExtentsX,double halfExtentsY,double halfExtentsZ)
int b3CreateBoxCommandSetHalfExtents(b3SharedMemoryCommandHandle commandHandle, double halfExtentsX,double halfExtentsY,double halfExtentsZ)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CREATE_BOX_COLLISION_SHAPE);
command->m_updateFlags |=BOX_SHAPE_HAS_HALF_EXTENTS;
@@ -179,17 +255,24 @@ int b3CreateBoxCommandSetHalfExtents(struct SharedMemoryCommand* command, double
int b3CreateSensorCommandInit(struct SharedMemoryCommand* command)
b3SharedMemoryCommandHandle b3CreateSensorCommandInit(b3PhysicsClientHandle physClient)
{
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_CREATE_SENSOR;
command->m_updateFlags = 0;
command->m_createSensorArguments.m_numJointSensorChanges = 0;
return 0;
return (b3SharedMemoryCommandHandle) command;
}
int b3CreateSensorEnable6DofJointForceTorqueSensor(struct SharedMemoryCommand* command, int jointIndex, int enable)
int b3CreateSensorEnable6DofJointForceTorqueSensor(b3SharedMemoryCommandHandle commandHandle, int jointIndex, int enable)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CREATE_SENSOR);
int curIndex = command->m_createSensorArguments.m_numJointSensorChanges;
@@ -201,8 +284,9 @@ int b3CreateSensorEnable6DofJointForceTorqueSensor(struct SharedMemoryCommand* c
return 0;
}
int b3CreateSensorEnableIMUForLink(struct SharedMemoryCommand* command, int linkIndex, int enable)
int b3CreateSensorEnableIMUForLink(b3SharedMemoryCommandHandle commandHandle, int linkIndex, int enable)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CREATE_SENSOR);
int curIndex = command->m_createSensorArguments.m_numJointSensorChanges;
@@ -214,11 +298,13 @@ int b3CreateSensorEnableIMUForLink(struct SharedMemoryCommand* command, int link
}
b3PhysicsClientHandle b3ConnectSharedMemory()
b3PhysicsClientHandle b3ConnectSharedMemory(int key)
{
PhysicsClientSharedMemory* cl = new PhysicsClientSharedMemory();
///client should never create shared memory, only the server does
cl->connect();
cl->setSharedMemoryKey(key);
cl->connect();
return (b3PhysicsClientHandle ) cl;
}
@@ -228,22 +314,37 @@ void b3DisconnectSharedMemory(b3PhysicsClientHandle physClient)
delete cl;
}
int b3ProcessServerStatus(b3PhysicsClientHandle physClient, struct SharedMemoryStatus* status)
b3SharedMemoryStatusHandle b3ProcessServerStatus(b3PhysicsClientHandle physClient)
{
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
return (int)cl->processServerStatus(*status);
const SharedMemoryStatus* stat = cl->processServerStatus();
return (b3SharedMemoryStatusHandle) stat;
}
int b3GetStatusType(b3SharedMemoryStatusHandle statusHandle)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
b3Assert(status);
if (status)
{
return status->m_type;
}
return 0;
}
int b3CanSubmitCommand(b3PhysicsClientHandle physClient)
{
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
return (int)cl->canSubmitCommand();
}
int b3SubmitClientCommand(b3PhysicsClientHandle physClient, struct SharedMemoryCommand* command)
int b3SubmitClientCommand(b3PhysicsClientHandle physClient, const b3SharedMemoryCommandHandle commandHandle)
{
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
return (int)cl->submitClientCommand(*command);
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
return (int)cl->submitClientCommand(*command);
}
@@ -262,3 +363,33 @@ void b3GetJointInfo(b3PhysicsClientHandle physClient, int linkIndex, struct b3Jo
}
b3SharedMemoryCommandHandle b3InitRequestDebugLinesCommand(b3PhysicsClientHandle physClient, int debugMode)
{
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type =CMD_REQUEST_DEBUG_LINES;
command->m_requestDebugLinesArguments.m_debugMode = debugMode;
command->m_requestDebugLinesArguments.m_startingLineIndex = 0;
return (b3SharedMemoryCommandHandle) command;
}
void b3GetDebugLines(b3PhysicsClientHandle physClient, struct b3DebugLines* lines)
{
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
b3Assert(lines);
if (lines)
{
lines->m_numDebugLines = cl->getNumDebugLines();
lines->m_linesFrom = cl->getDebugLinesFrom();
lines->m_linesTo = cl->getDebugLinesTo();
lines->m_linesColor = cl->getDebugLinesColor();
}
}