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Move from b3Vector3 to btVector3 to support double precision in examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI API.

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This commit is contained in:
Erwin Coumans
2018-05-27 10:42:33 +10:00
parent e79ae13cde
commit 57b3e0d221
8 changed files with 147 additions and 147 deletions
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94
examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.h
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@@ -2,22 +2,22 @@
#define B3_ROBOT_SIMULATOR_CLIENT_API_H
#include "SharedMemoryPublic.h"
#include "Bullet3Common/b3Vector3.h"
#include "Bullet3Common/b3Quaternion.h"
#include "Bullet3Common/b3Transform.h"
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btQuaternion.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btAlignedObjectArray.h"
#include <string>
struct b3RobotSimulatorLoadUrdfFileArgs
{
b3Vector3 m_startPosition;
b3Quaternion m_startOrientation;
btVector3 m_startPosition;
btQuaternion m_startOrientation;
bool m_forceOverrideFixedBase;
bool m_useMultiBody;
int m_flags;
b3RobotSimulatorLoadUrdfFileArgs(const b3Vector3& startPos, const b3Quaternion& startOrn)
b3RobotSimulatorLoadUrdfFileArgs(const btVector3& startPos, const btQuaternion& startOrn)
: m_startPosition(startPos),
m_startOrientation(startOrn),
m_forceOverrideFixedBase(false),
@@ -27,8 +27,8 @@ struct b3RobotSimulatorLoadUrdfFileArgs
}
b3RobotSimulatorLoadUrdfFileArgs()
: m_startPosition(b3MakeVector3(0, 0, 0)),
m_startOrientation(b3Quaternion(0, 0, 0, 1)),
: m_startPosition(btVector3(0, 0, 0)),
m_startOrientation(btQuaternion(0, 0, 0, 1)),
m_forceOverrideFixedBase(false),
m_useMultiBody(true),
m_flags(0)
@@ -50,7 +50,7 @@ struct b3RobotSimulatorLoadSdfFileArgs
struct b3RobotSimulatorLoadFileResults
{
b3AlignedObjectArray<int> m_uniqueObjectIds;
btAlignedObjectArray<int> m_uniqueObjectIds;
b3RobotSimulatorLoadFileResults()
{
}
@@ -96,11 +96,11 @@ struct b3RobotSimulatorInverseKinematicArgs
int m_endEffectorLinkIndex;
int m_flags;
int m_numDegreeOfFreedom;
b3AlignedObjectArray<double> m_lowerLimits;
b3AlignedObjectArray<double> m_upperLimits;
b3AlignedObjectArray<double> m_jointRanges;
b3AlignedObjectArray<double> m_restPoses;
b3AlignedObjectArray<double> m_jointDamping;
btAlignedObjectArray<double> m_lowerLimits;
btAlignedObjectArray<double> m_upperLimits;
btAlignedObjectArray<double> m_jointRanges;
btAlignedObjectArray<double> m_restPoses;
btAlignedObjectArray<double> m_jointDamping;
b3RobotSimulatorInverseKinematicArgs()
: m_bodyUniqueId(-1),
@@ -121,7 +121,7 @@ struct b3RobotSimulatorInverseKinematicArgs
struct b3RobotSimulatorInverseKinematicsResults
{
int m_bodyUniqueId;
b3AlignedObjectArray<double> m_calculatedJointPositions;
btAlignedObjectArray<double> m_calculatedJointPositions;
};
struct b3JointStates2
@@ -129,10 +129,10 @@ struct b3JointStates2
int m_bodyUniqueId;
int m_numDegreeOfFreedomQ;
int m_numDegreeOfFreedomU;
b3Transform m_rootLocalInertialFrame;
b3AlignedObjectArray<double> m_actualStateQ;
b3AlignedObjectArray<double> m_actualStateQdot;
b3AlignedObjectArray<double> m_jointReactionForces;
btTransform m_rootLocalInertialFrame;
btAlignedObjectArray<double> m_actualStateQ;
btAlignedObjectArray<double> m_actualStateQdot;
btAlignedObjectArray<double> m_jointReactionForces;
};
@@ -322,11 +322,11 @@ struct b3RobotSimulatorCreateCollisionShapeArgs
{
int m_shapeType;
double m_radius;
b3Vector3 m_halfExtents;
btVector3 m_halfExtents;
double m_height;
char* m_fileName;
b3Vector3 m_meshScale;
b3Vector3 m_planeNormal;
btVector3 m_meshScale;
btVector3 m_planeNormal;
int m_flags;
b3RobotSimulatorCreateCollisionShapeArgs()
: m_shapeType(-1),
@@ -355,22 +355,22 @@ struct b3RobotSimulatorCreateMultiBodyArgs
double m_baseMass;
int m_baseCollisionShapeIndex;
int m_baseVisualShapeIndex;
b3Vector3 m_basePosition;
b3Quaternion m_baseOrientation;
b3Vector3 m_baseInertialFramePosition;
b3Quaternion m_baseInertialFrameOrientation;
btVector3 m_basePosition;
btQuaternion m_baseOrientation;
btVector3 m_baseInertialFramePosition;
btQuaternion m_baseInertialFrameOrientation;
int m_numLinks;
double *m_linkMasses;
int *m_linkCollisionShapeIndices;
int *m_linkVisualShapeIndices;
b3Vector3 *m_linkPositions;
b3Quaternion *m_linkOrientations;
b3Vector3 *m_linkInertialFramePositions;
b3Quaternion *m_linkInertialFrameOrientations;
btVector3 *m_linkPositions;
btQuaternion *m_linkOrientations;
btVector3 *m_linkInertialFramePositions;
btQuaternion *m_linkInertialFrameOrientations;
int *m_linkParentIndices;
int *m_linkJointTypes;
b3Vector3 *m_linkJointAxes;
btVector3 *m_linkJointAxes;
int m_useMaximalCoordinates;
@@ -422,8 +422,8 @@ public:
void resetSimulation();
b3Quaternion getQuaternionFromEuler(const b3Vector3& rollPitchYaw);
b3Vector3 getEulerFromQuaternion(const b3Quaternion& quat);
btQuaternion getQuaternionFromEuler(const btVector3& rollPitchYaw);
btVector3 getEulerFromQuaternion(const btQuaternion& quat);
int loadURDF(const std::string& fileName, const struct b3RobotSimulatorLoadUrdfFileArgs& args = b3RobotSimulatorLoadUrdfFileArgs());
bool loadSDF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results, const struct b3RobotSimulatorLoadSdfFileArgs& args = b3RobotSimulatorLoadSdfFileArgs());
@@ -432,11 +432,11 @@ public:
bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo* bodyInfo);
bool getBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation) const;
bool resetBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation);
bool getBasePositionAndOrientation(int bodyUniqueId, btVector3& basePosition, btQuaternion& baseOrientation) const;
bool resetBasePositionAndOrientation(int bodyUniqueId, btVector3& basePosition, btQuaternion& baseOrientation);
bool getBaseVelocity(int bodyUniqueId, b3Vector3& baseLinearVelocity, b3Vector3& baseAngularVelocity) const;
bool resetBaseVelocity(int bodyUniqueId, const b3Vector3& linearVelocity, const b3Vector3& angularVelocity) const;
bool getBaseVelocity(int bodyUniqueId, btVector3& baseLinearVelocity, btVector3& baseAngularVelocity) const;
bool resetBaseVelocity(int bodyUniqueId, const btVector3& linearVelocity, const btVector3& angularVelocity) const;
int getNumJoints(int bodyUniqueId) const;
@@ -468,7 +468,7 @@ public:
void setInternalSimFlags(int flags);
void setGravity(const b3Vector3& gravityAcceleration);
void setGravity(const btVector3& gravityAcceleration);
void setTimeStep(double timeStepInSeconds);
void setNumSimulationSubSteps(int numSubSteps);
@@ -482,9 +482,9 @@ public:
bool getLinkState(int bodyUniqueId, int linkIndex, b3LinkState* linkState);
void configureDebugVisualizer(enum b3ConfigureDebugVisualizerEnum flag, int enable);
void resetDebugVisualizerCamera(double cameraDistance, double cameraPitch, double cameraYaw, const b3Vector3& targetPos);
void resetDebugVisualizerCamera(double cameraDistance, double cameraPitch, double cameraYaw, const btVector3& targetPos);
int startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const b3AlignedObjectArray<int>& objectUniqueIds=b3AlignedObjectArray<int>(), int maxLogDof = -1);
int startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const btAlignedObjectArray<int>& objectUniqueIds=btAlignedObjectArray<int>(), int maxLogDof = -1);
void stopStateLogging(int stateLoggerUniqueId);
void getVREvents(b3VREventsData* vrEventsData, int deviceTypeFilter);
@@ -520,11 +520,11 @@ public:
int addUserDebugText(char *text, double *textPosition, struct b3RobotSimulatorAddUserDebugTextArgs &args);
int addUserDebugText(char *text, b3Vector3 &textPosition, struct b3RobotSimulatorAddUserDebugTextArgs &args);
int addUserDebugText(char *text, btVector3 &textPosition, struct b3RobotSimulatorAddUserDebugTextArgs &args);
int addUserDebugLine(double *fromXYZ, double *toXYZ, struct b3RobotSimulatorAddUserDebugLineArgs &args);
int addUserDebugLine(b3Vector3 &fromXYZ, b3Vector3 &toXYZ, struct b3RobotSimulatorAddUserDebugLineArgs &args);
int addUserDebugLine(btVector3 &fromXYZ, btVector3 &toXYZ, struct b3RobotSimulatorAddUserDebugLineArgs &args);
bool setJointMotorControlArray(int bodyUniqueId, struct b3RobotSimulatorJointMotorArrayArgs &args);
@@ -532,11 +532,11 @@ public:
bool applyExternalForce(int objectUniqueId, int linkIndex, double *force, double *position, int flags);
bool applyExternalForce(int objectUniqueId, int linkIndex, b3Vector3 &force, b3Vector3 &position, int flags);
bool applyExternalForce(int objectUniqueId, int linkIndex, btVector3 &force, btVector3 &position, int flags);
bool applyExternalTorque(int objectUniqueId, int linkIndex, double *torque, int flags);
bool applyExternalTorque(int objectUniqueId, int linkIndex, b3Vector3 &torque, int flags);
bool applyExternalTorque(int objectUniqueId, int linkIndex, btVector3 &torque, int flags);
bool enableJointForceTorqueSensor(int bodyUniqueId, int linkIndex, bool enable);
@@ -548,11 +548,11 @@ public:
bool getOverlappingObjects(double *aabbMin, double *aabbMax, struct b3AABBOverlapData *overlapData);
bool getOverlappingObjects(b3Vector3 &aabbMin, b3Vector3 &aabbMax, struct b3AABBOverlapData *overlapData);
bool getOverlappingObjects(btVector3 &aabbMin, btVector3 &aabbMax, struct b3AABBOverlapData *overlapData);
bool getAABB(int bodyUniqueId, int linkIndex, double *aabbMin, double *aabbMax);
bool getAABB(int bodyUniqueId, int linkIndex, b3Vector3 &aabbMin, b3Vector3 &aabbMax);
bool getAABB(int bodyUniqueId, int linkIndex, btVector3 &aabbMin, btVector3 &aabbMax);
int createCollisionShape(int shapeType, struct b3RobotSimulatorCreateCollisionShapeArgs &args);