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exposed a few more methods in the C++ b3RobotSimulatorClientAPI (_NoDirect base class)

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This commit is contained in:
erwincoumans
2018-06-09 19:40:12 -07:00
parent 7ac3e263ab
commit 3eebcd40ca
4 changed files with 246 additions and 52 deletions
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134
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
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@@ -200,39 +200,50 @@ struct b3RobotSimulatorGetCameraImageArgs
}
};
struct b3RobotSimulatorSetPhysicsEngineParameters
{
double m_fixedTimeStep;
int m_numSolverIterations;
int m_useSplitImpulse;
double m_splitImpulsePenetrationThreshold;
int m_numSubSteps;
int m_collisionFilterMode;
double m_contactBreakingThreshold;
int m_maxNumCmdPer1ms;
int m_enableFileCaching;
double m_restitutionVelocityThreshold;
double m_erp;
double m_contactERP;
double m_frictionERP;
double m_solverResidualThreshold;
struct b3RobotSimulatorSetPhysicsEngineParameters : b3PhysicsSimulationParameters
{
b3RobotSimulatorSetPhysicsEngineParameters()
: m_fixedTimeStep(-1),
m_numSolverIterations(-1),
m_useSplitImpulse(-1),
m_splitImpulsePenetrationThreshold(-1),
m_numSubSteps(-1),
m_collisionFilterMode(-1),
m_contactBreakingThreshold(-1),
m_maxNumCmdPer1ms(-1),
m_enableFileCaching(-1),
m_restitutionVelocityThreshold(-1),
m_erp(-1),
m_contactERP(-1),
m_frictionERP(-1),
m_solverResidualThreshold(-1)
{}
{
m_deltaTime=-1;
m_gravityAcceleration[3];
m_numSimulationSubSteps;
m_numSolverIterations=-1;
m_useRealTimeSimulation = -1;
m_useSplitImpulse = -1;
m_splitImpulsePenetrationThreshold =-1;
m_contactBreakingThreshold = -1;
m_internalSimFlags = -1;
m_defaultContactERP = -1;
m_collisionFilterMode = -1;
m_enableFileCaching = -1;
m_restitutionVelocityThreshold = -1;
m_defaultNonContactERP = -1;
m_frictionERP = -1;
m_defaultGlobalCFM = -1;
m_frictionCFM = -1;
m_enableConeFriction = -1;
m_deterministicOverlappingPairs = -1;
m_allowedCcdPenetration = -1;
m_jointFeedbackMode = -1;
m_solverResidualThreshold = -1;
m_contactSlop = -1;
m_collisionFilterMode=-1;
m_contactBreakingThreshold=-1;
m_enableFileCaching=-1;
m_restitutionVelocityThreshold=-1;
m_frictionERP=-1;
m_solverResidualThreshold=-1;
}
};
struct b3RobotSimulatorChangeDynamicsArgs
@@ -410,6 +421,54 @@ struct b3RobotSimulatorCreateMultiBodyArgs
};
struct b3RobotJointInfo : public b3JointInfo
{
b3RobotJointInfo()
{
m_linkName[0] = 0;
m_jointName[0] = 0;
m_jointType = eFixedType;
m_qIndex = -1;
m_uIndex = -1;
m_jointIndex = -1;
m_flags = 0;
m_jointDamping = 0;
m_jointFriction = 0;
m_jointLowerLimit = 1;
m_jointUpperLimit = -1;
m_jointMaxForce = 500;
m_jointMaxVelocity = 100;
m_parentIndex = -1;
//position
m_parentFrame[0] = 0;
m_parentFrame[1] = 0;
m_parentFrame[2] = 0;
//orientation quaternion [x,y,z,w]
m_parentFrame[3] = 0;
m_parentFrame[4] = 0;
m_parentFrame[5] = 0;
m_parentFrame[6] = 1;
//position
m_childFrame[0] = 0;
m_childFrame[1] = 0;
m_childFrame[2] = 0;
//orientation quaternion [x,y,z,w]
m_childFrame[3] = 0;
m_childFrame[4] = 0;
m_childFrame[5] = 0;
m_childFrame[6] = 1;
m_jointAxis[0] = 0;
m_jointAxis[1] = 0;
m_jointAxis[2] = 1;
}
};
class b3RobotSimulatorClientAPI_NoDirect
{
protected:
@@ -441,7 +500,10 @@ public:
bool loadSDF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results, const struct b3RobotSimulatorLoadSdfFileArgs& args = b3RobotSimulatorLoadSdfFileArgs());
bool loadMJCF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results);
bool loadBullet(const std::string& fileName, b3RobotSimulatorLoadFileResults& results);
bool saveBullet(const std::string& fileName);
bool savePythonWorld(const std::string& fileName);
bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo* bodyInfo);
bool getBasePositionAndOrientation(int bodyUniqueId, btVector3& basePosition, btQuaternion& baseOrientation) const;
@@ -457,9 +519,11 @@ public:
int createConstraint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo);
int changeConstraint(int constraintId, b3JointInfo* jointInfo);
void removeConstraint(int constraintId);
bool getConstraintInfo(int constraintUniqueId, struct b3UserConstraint& constraintInfo);
bool getJointState(int bodyUniqueId, int jointIndex, struct b3JointSensorState* state);
bool getJointStates(int bodyUniqueId, b3JointStates2& state);
@@ -540,7 +604,9 @@ public:
bool setJointMotorControlArray(int bodyUniqueId, struct b3RobotSimulatorJointMotorArrayArgs &args);
bool setPhysicsEngineParameter(struct b3RobotSimulatorSetPhysicsEngineParameters &args);
bool setPhysicsEngineParameter(const struct b3RobotSimulatorSetPhysicsEngineParameters&args);
bool getPhysicsEngineParameters(struct b3RobotSimulatorSetPhysicsEngineParameters&args);
bool applyExternalForce(int objectUniqueId, int linkIndex, double *force, double *position, int flags);