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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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70
examples/SharedMemory/PhysicsClientC_API.h
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@@ -1,55 +1,68 @@
#ifndef PHYSICS_CLIENT_C_API_H
#define PHYSICS_CLIENT_C_API_H
#include "SharedMemoryBlock.h"
//#include "SharedMemoryBlock.h"
#include "SharedMemoryPublic.h"
#define B3_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name
B3_DECLARE_HANDLE(b3PhysicsClientHandle);
B3_DECLARE_HANDLE(b3PhysicsRobotHandle);
B3_DECLARE_HANDLE(b3SharedMemoryCommandHandle);
B3_DECLARE_HANDLE(b3SharedMemoryStatusHandle);
#ifdef __cplusplus
extern "C" {
#endif
///make sure to start the server first!
b3PhysicsClientHandle b3ConnectSharedMemory();
b3PhysicsClientHandle b3ConnectSharedMemory(int key);
void b3DisconnectSharedMemory(b3PhysicsClientHandle physClient);
int b3ProcessServerStatus(b3PhysicsClientHandle physClient, struct SharedMemoryStatus* status);
b3SharedMemoryStatusHandle b3ProcessServerStatus(b3PhysicsClientHandle physClient);
int b3GetStatusType(b3SharedMemoryStatusHandle statusHandle);
int b3CanSubmitCommand(b3PhysicsClientHandle physClient);
int b3SubmitClientCommand(b3PhysicsClientHandle physClient, struct SharedMemoryCommand* command);
int b3SubmitClientCommand(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle);
int b3GetNumJoints(b3PhysicsClientHandle physClient);
void b3GetJointInfo(b3PhysicsClientHandle physClient, int linkIndex, struct b3JointInfo* info);
int b3InitPhysicsParamCommand(struct SharedMemoryCommand* command);
int b3PhysicsParamSetGravity(struct SharedMemoryCommand* command, double gravx,double gravy, double gravz);
int b3PhysicsParamSetTimeStep(struct SharedMemoryCommand* command, double timeStep);
b3SharedMemoryCommandHandle b3InitRequestDebugLinesCommand(b3PhysicsClientHandle physClient, int debugMode);
void b3GetDebugLines(b3PhysicsClientHandle physClient, struct b3DebugLines* lines);
int b3InitStepSimulationCommand(struct SharedMemoryCommand* command);
b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient);
int b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz);
int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double timeStep);
int b3InitResetSimulationCommand(struct SharedMemoryCommand* command);
b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient);
int b3LoadUrdfCommandInit(struct SharedMemoryCommand* command, const char* urdfFileName);
b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHandle physClient);
b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName);
///all those commands are optional, except for the *Init
int b3LoadUrdfCommandSetStartPosition(struct SharedMemoryCommand* command, double startPosX,double startPosY,double startPosZ);
int b3LoadUrdfCommandSetStartOrientation(struct SharedMemoryCommand* command, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
int b3LoadUrdfCommandSetUseMultiBody(struct SharedMemoryCommand* command, int useMultiBody);
int b3LoadUrdfCommandSetUseFixedBase(struct SharedMemoryCommand* command, int useFixedBase);
int b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ);
int b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase);
///Set joint control variables such as desired position/angle, desired velocity,
///applied joint forces, dependent on the control mode (CONTROL_MODE_VELOCITY or CONTROL_MODE_TORQUE)
int b3JointControlCommandInit(struct SharedMemoryCommand* command, int controlMode);
b3SharedMemoryCommandHandle b3JointControlCommandInit(b3PhysicsClientHandle physClient, int controlMode);
///Only use when controlMode is CONTROL_MODE_POSITION_VELOCITY_PD
int b3JointControlSetDesiredPosition(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
int b3JointControlSetKp(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
int b3JointControlSetKd(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
//Only use when controlMode is CONTROL_MODE_VELOCITY
int b3JointControlSetDesiredVelocity(struct SharedMemoryCommand* command, int dofIndex, double value);
int b3JointControlSetMaximumForce(struct SharedMemoryCommand* command, int dofIndex, double value);
int b3JointControlSetDesiredVelocity(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
int b3JointControlSetMaximumForce(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
///Only use if when controlMode is CONTROL_MODE_TORQUE,
int b3JointControlSetDesiredForceTorque(struct SharedMemoryCommand* command, int dofIndex, double value);
int b3JointControlSetDesiredForceTorque(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
///the creation of collision shapes and rigid bodies etc is likely going to change,
@@ -57,19 +70,20 @@ int b3JointControlSetDesiredForceTorque(struct SharedMemoryCommand* command, int
//create a box of size (1,1,1) at world origin (0,0,0) at orientation quat (0,0,0,1)
//after that, you can optionally adjust the initial position, orientation and size
int b3CreateBoxShapeCommandInit(struct SharedMemoryCommand* command);
int b3CreateBoxCommandSetStartPosition(struct SharedMemoryCommand* command, double startPosX,double startPosY,double startPosZ);
int b3CreateBoxCommandSetStartOrientation(struct SharedMemoryCommand* command, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
int b3CreateBoxCommandSetHalfExtents(struct SharedMemoryCommand* command, double halfExtentsX,double halfExtentsY,double halfExtentsZ);
b3SharedMemoryCommandHandle b3CreateBoxShapeCommandInit(b3PhysicsClientHandle physClient);
int b3CreateBoxCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ);
int b3CreateBoxCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
int b3CreateBoxCommandSetHalfExtents(b3SharedMemoryCommandHandle commandHandle, double halfExtentsX,double halfExtentsY,double halfExtentsZ);
int b3CreateSensorCommandInit(struct SharedMemoryCommand* command);
int b3CreateSensorEnable6DofJointForceTorqueSensor(struct SharedMemoryCommand* command, int dofIndex, int enable);
int b3CreateSensorEnableIMUForLink(struct SharedMemoryCommand* command, int linkIndex, int enable);
b3SharedMemoryCommandHandle b3CreateSensorCommandInit(b3PhysicsClientHandle physClient);
int b3CreateSensorEnable6DofJointForceTorqueSensor(b3SharedMemoryCommandHandle commandHandle, int dofIndex, int enable);
int b3CreateSensorEnableIMUForLink(b3SharedMemoryCommandHandle commandHandle, int linkIndex, int enable);
int b3RequestActualStateCommandInit(struct SharedMemoryCommand* command);
b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandle physClient);
#ifdef __cplusplus
}
#endif