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Quick first prototype/test to integrate pybullet into Unity,

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see readme.txt for details.
This commit is contained in:
erwincoumans
2017-09-20 23:18:18 -07:00
parent ae8f12e8ba
commit 6a7efac4c3
10 changed files with 3324 additions and 76 deletions
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20
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -53,7 +53,7 @@ b3SharedMemoryCommandHandle b3SaveWorldCommandInit(b3PhysicsClientHandle physCli
return (b3SharedMemoryCommandHandle) command; return (b3SharedMemoryCommandHandle) command;
} }
b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName) B3_SHARED_API b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName)
{ {
PhysicsClient* cl = (PhysicsClient* ) physClient; PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl); b3Assert(cl);
@@ -212,7 +212,7 @@ int b3LoadBunnySetCollisionMargin(b3SharedMemoryCommandHandle commandHandle, dou
return 0; return 0;
} }
int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody) B3_SHARED_API int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody)
{ {
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command); b3Assert(command);
@@ -223,7 +223,7 @@ int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle,
return 0; return 0;
} }
int b3LoadUrdfCommandSetGlobalScaling(b3SharedMemoryCommandHandle commandHandle, double globalScaling) B3_SHARED_API int b3LoadUrdfCommandSetGlobalScaling(b3SharedMemoryCommandHandle commandHandle, double globalScaling)
{ {
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command); b3Assert(command);
@@ -259,7 +259,7 @@ int b3LoadSdfCommandSetUseGlobalScaling(b3SharedMemoryCommandHandle commandHandl
int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase) B3_SHARED_API int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase)
{ {
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command); b3Assert(command);
@@ -273,7 +273,7 @@ int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle,
return -1; return -1;
} }
int b3LoadUrdfCommandSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags) B3_SHARED_API int b3LoadUrdfCommandSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags)
{ {
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command); b3Assert(command);
@@ -286,7 +286,7 @@ int b3LoadUrdfCommandSetFlags(b3SharedMemoryCommandHandle commandHandle, int fla
return 0; return 0;
} }
int b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ) B3_SHARED_API int b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ)
{ {
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command); b3Assert(command);
@@ -305,7 +305,7 @@ int b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle,
return -1; return -1;
} }
int b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW) B3_SHARED_API int b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW)
{ {
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command); b3Assert(command);
@@ -495,7 +495,7 @@ int b3PhysicsParamSetDefaultFrictionERP(b3SharedMemoryCommandHandle commandHandl
} }
b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient) B3_SHARED_API b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient)
{ {
PhysicsClient* cl = (PhysicsClient* ) physClient; PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl); b3Assert(cl);
@@ -507,7 +507,7 @@ b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle ph
return (b3SharedMemoryCommandHandle) command; return (b3SharedMemoryCommandHandle) command;
} }
b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHandle physClient) B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHandle physClient)
{ {
PhysicsClient* cl = (PhysicsClient* ) physClient; PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl); b3Assert(cl);
@@ -1631,7 +1631,7 @@ int b3SubmitClientCommand(b3PhysicsClientHandle physClient, const b3SharedMemory
#include "../Utils/b3Clock.h" #include "../Utils/b3Clock.h"
b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHandle physClient, const b3SharedMemoryCommandHandle commandHandle) B3_SHARED_API b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHandle physClient, const b3SharedMemoryCommandHandle commandHandle)
{ {
B3_PROFILE("b3SubmitClientCommandAndWaitStatus"); B3_PROFILE("b3SubmitClientCommandAndWaitStatus");
b3Clock clock; b3Clock clock;

112
examples/SharedMemory/PhysicsClientC_API.h
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@@ -10,6 +10,10 @@ B3_DECLARE_HANDLE(b3PhysicsClientHandle);
B3_DECLARE_HANDLE(b3SharedMemoryCommandHandle); B3_DECLARE_HANDLE(b3SharedMemoryCommandHandle);
B3_DECLARE_HANDLE(b3SharedMemoryStatusHandle); B3_DECLARE_HANDLE(b3SharedMemoryStatusHandle);
#ifdef _WIN32
#define B3_SHARED_API __declspec(dllexport)
#endif
///There are several connection methods, see following header files: ///There are several connection methods, see following header files:
#include "PhysicsClientSharedMemory_C_API.h" #include "PhysicsClientSharedMemory_C_API.h"
@@ -39,7 +43,7 @@ void b3DisconnectSharedMemory(b3PhysicsClientHandle physClient);
int b3CanSubmitCommand(b3PhysicsClientHandle physClient); int b3CanSubmitCommand(b3PhysicsClientHandle physClient);
///blocking submit command and wait for status ///blocking submit command and wait for status
b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle); B3_SHARED_API b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle);
///In general it is better to use b3SubmitClientCommandAndWaitStatus. b3SubmitClientCommand is a non-blocking submit ///In general it is better to use b3SubmitClientCommandAndWaitStatus. b3SubmitClientCommand is a non-blocking submit
///command, which requires checking for the status manually, using b3ProcessServerStatus. Also, before sending the ///command, which requires checking for the status manually, using b3ProcessServerStatus. Also, before sending the
@@ -67,7 +71,7 @@ int b3GetStatusActualState(b3SharedMemoryStatusHandle statusHandle,
b3SharedMemoryCommandHandle b3RequestCollisionInfoCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId); b3SharedMemoryCommandHandle b3RequestCollisionInfoCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId);
int b3GetStatusAABB(b3SharedMemoryStatusHandle statusHandle, int linkIndex, double aabbMin[3], double aabbMax[3]); int b3GetStatusAABB(b3SharedMemoryStatusHandle statusHandle, int linkIndex, double aabbMin[/*3*/], double aabbMax[/*3*/]);
///If you re-connected to an existing server, or server changed otherwise, sync the body info and user constraints etc. ///If you re-connected to an existing server, or server changed otherwise, sync the body info and user constraints etc.
b3SharedMemoryCommandHandle b3InitSyncBodyInfoCommand(b3PhysicsClientHandle physClient); b3SharedMemoryCommandHandle b3InitSyncBodyInfoCommand(b3PhysicsClientHandle physClient);
@@ -111,8 +115,8 @@ int b3GetStatusUserConstraintUniqueId(b3SharedMemoryStatusHandle statusHandle);
///change parameters of an existing user constraint ///change parameters of an existing user constraint
b3SharedMemoryCommandHandle b3InitChangeUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId); b3SharedMemoryCommandHandle b3InitChangeUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId);
int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHandle commandHandle, double jointChildPivot[3]); int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHandle commandHandle, double jointChildPivot[/*3*/]);
int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle commandHandle, double jointChildFrameOrn[4]); int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle commandHandle, double jointChildFrameOrn[/*4*/]);
int b3InitChangeUserConstraintSetMaxForce(b3SharedMemoryCommandHandle commandHandle, double maxAppliedForce); int b3InitChangeUserConstraintSetMaxForce(b3SharedMemoryCommandHandle commandHandle, double maxAppliedForce);
int b3InitChangeUserConstraintSetGearRatio(b3SharedMemoryCommandHandle commandHandle, double gearRatio); int b3InitChangeUserConstraintSetGearRatio(b3SharedMemoryCommandHandle commandHandle, double gearRatio);
int b3InitChangeUserConstraintSetGearAuxLink(b3SharedMemoryCommandHandle commandHandle, int gearAuxLink); int b3InitChangeUserConstraintSetGearAuxLink(b3SharedMemoryCommandHandle commandHandle, int gearAuxLink);
@@ -135,18 +139,18 @@ void b3GetDebugLines(b3PhysicsClientHandle physClient, struct b3DebugLines* l
///configure the 3D OpenGL debug visualizer (enable/disable GUI widgets, shadows, position camera etc) ///configure the 3D OpenGL debug visualizer (enable/disable GUI widgets, shadows, position camera etc)
b3SharedMemoryCommandHandle b3InitConfigureOpenGLVisualizer(b3PhysicsClientHandle physClient); b3SharedMemoryCommandHandle b3InitConfigureOpenGLVisualizer(b3PhysicsClientHandle physClient);
void b3ConfigureOpenGLVisualizerSetVisualizationFlags(b3SharedMemoryCommandHandle commandHandle, int flag, int enabled); void b3ConfigureOpenGLVisualizerSetVisualizationFlags(b3SharedMemoryCommandHandle commandHandle, int flag, int enabled);
void b3ConfigureOpenGLVisualizerSetViewMatrix(b3SharedMemoryCommandHandle commandHandle, float cameraDistance, float cameraPitch, float cameraYaw, const float cameraTargetPosition[3]); void b3ConfigureOpenGLVisualizerSetViewMatrix(b3SharedMemoryCommandHandle commandHandle, float cameraDistance, float cameraPitch, float cameraYaw, const float cameraTargetPosition[/*3*/]);
b3SharedMemoryCommandHandle b3InitRequestOpenGLVisualizerCameraCommand(b3PhysicsClientHandle physClient); b3SharedMemoryCommandHandle b3InitRequestOpenGLVisualizerCameraCommand(b3PhysicsClientHandle physClient);
int b3GetStatusOpenGLVisualizerCamera(b3SharedMemoryStatusHandle statusHandle, struct b3OpenGLVisualizerCameraInfo* camera); int b3GetStatusOpenGLVisualizerCamera(b3SharedMemoryStatusHandle statusHandle, struct b3OpenGLVisualizerCameraInfo* camera);
/// Add/remove user-specific debug lines and debug text messages /// Add/remove user-specific debug lines and debug text messages
b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3PhysicsClientHandle physClient, double fromXYZ[3], double toXYZ[3], double colorRGB[3], double lineWidth, double lifeTime); b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3PhysicsClientHandle physClient, double fromXYZ[/*3*/], double toXYZ[/*3*/], double colorRGB[/*3*/], double lineWidth, double lifeTime);
b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle physClient, const char* txt, double positionXYZ[3], double colorRGB[3], double textSize, double lifeTime); b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle physClient, const char* txt, double positionXYZ[/*3*/], double colorRGB[/*3*/], double textSize, double lifeTime);
void b3UserDebugTextSetOptionFlags(b3SharedMemoryCommandHandle commandHandle, int optionFlags); void b3UserDebugTextSetOptionFlags(b3SharedMemoryCommandHandle commandHandle, int optionFlags);
void b3UserDebugTextSetOrientation(b3SharedMemoryCommandHandle commandHandle, double orientation[4]); void b3UserDebugTextSetOrientation(b3SharedMemoryCommandHandle commandHandle, double orientation[/*4*/]);
void b3UserDebugItemSetParentObject(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex); void b3UserDebugItemSetParentObject(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex);
@@ -158,7 +162,7 @@ b3SharedMemoryCommandHandle b3InitUserDebugDrawRemove(b3PhysicsClientHandle phys
b3SharedMemoryCommandHandle b3InitUserDebugDrawRemoveAll(b3PhysicsClientHandle physClient); b3SharedMemoryCommandHandle b3InitUserDebugDrawRemoveAll(b3PhysicsClientHandle physClient);
b3SharedMemoryCommandHandle b3InitDebugDrawingCommand(b3PhysicsClientHandle physClient); b3SharedMemoryCommandHandle b3InitDebugDrawingCommand(b3PhysicsClientHandle physClient);
void b3SetDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex, double objectColorRGB[3]); void b3SetDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex, double objectColorRGB[/*3*/]);
void b3RemoveDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex); void b3RemoveDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex);
///All debug items unique Ids are positive: a negative unique Id means failure. ///All debug items unique Ids are positive: a negative unique Id means failure.
@@ -167,10 +171,10 @@ int b3GetDebugItemUniqueId(b3SharedMemoryStatusHandle statusHandle);
///request an image from a simulated camera, using a software renderer. ///request an image from a simulated camera, using a software renderer.
b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient); b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient);
void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command, float viewMatrix[16], float projectionMatrix[16]); void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command, float viewMatrix[/*16*/], float projectionMatrix[/*16*/]);
void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle command, int width, int height ); void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle command, int width, int height );
void b3RequestCameraImageSetLightDirection(b3SharedMemoryCommandHandle commandHandle, const float lightDirection[3]); void b3RequestCameraImageSetLightDirection(b3SharedMemoryCommandHandle commandHandle, const float lightDirection[/*3*/]);
void b3RequestCameraImageSetLightColor(b3SharedMemoryCommandHandle commandHandle, const float lightColor[3]); void b3RequestCameraImageSetLightColor(b3SharedMemoryCommandHandle commandHandle, const float lightColor[/*3*/]);
void b3RequestCameraImageSetLightDistance(b3SharedMemoryCommandHandle commandHandle, float lightDistance); void b3RequestCameraImageSetLightDistance(b3SharedMemoryCommandHandle commandHandle, float lightDistance);
void b3RequestCameraImageSetLightAmbientCoeff(b3SharedMemoryCommandHandle commandHandle, float lightAmbientCoeff); void b3RequestCameraImageSetLightAmbientCoeff(b3SharedMemoryCommandHandle commandHandle, float lightAmbientCoeff);
void b3RequestCameraImageSetLightDiffuseCoeff(b3SharedMemoryCommandHandle commandHandle, float lightDiffuseCoeff); void b3RequestCameraImageSetLightDiffuseCoeff(b3SharedMemoryCommandHandle commandHandle, float lightDiffuseCoeff);
@@ -180,19 +184,19 @@ void b3RequestCameraImageSelectRenderer(b3SharedMemoryCommandHandle commandHandl
void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData); void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData);
///compute a view matrix, helper function for b3RequestCameraImageSetCameraMatrices ///compute a view matrix, helper function for b3RequestCameraImageSetCameraMatrices
void b3ComputeViewMatrixFromPositions(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], float viewMatrix[16]); void b3ComputeViewMatrixFromPositions(const float cameraPosition[/*3*/], const float cameraTargetPosition[/*3*/], const float cameraUp[/*3*/], float viewMatrix[/*16*/]);
void b3ComputeViewMatrixFromYawPitchRoll(const float cameraTargetPosition[3], float distance, float yaw, float pitch, float roll, int upAxis, float viewMatrix[16]); void b3ComputeViewMatrixFromYawPitchRoll(const float cameraTargetPosition[/*3*/], float distance, float yaw, float pitch, float roll, int upAxis, float viewMatrix[/*16*/]);
void b3ComputePositionFromViewMatrix(const float viewMatrix[16], float cameraPosition[3], float cameraTargetPosition[3], float cameraUp[3]); void b3ComputePositionFromViewMatrix(const float viewMatrix[/*16*/], float cameraPosition[/*3*/], float cameraTargetPosition[/*3*/], float cameraUp[/*3*/]);
///compute a projection matrix, helper function for b3RequestCameraImageSetCameraMatrices ///compute a projection matrix, helper function for b3RequestCameraImageSetCameraMatrices
void b3ComputeProjectionMatrix(float left, float right, float bottom, float top, float nearVal, float farVal, float projectionMatrix[16]); void b3ComputeProjectionMatrix(float left, float right, float bottom, float top, float nearVal, float farVal, float projectionMatrix[/*16*/]);
void b3ComputeProjectionMatrixFOV(float fov, float aspect, float nearVal, float farVal, float projectionMatrix[16]); void b3ComputeProjectionMatrixFOV(float fov, float aspect, float nearVal, float farVal, float projectionMatrix[/*16*/]);
/* obsolete, please use b3ComputeViewProjectionMatrices */ /* obsolete, please use b3ComputeViewProjectionMatrices */
void b3RequestCameraImageSetViewMatrix(b3SharedMemoryCommandHandle command, const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3]); void b3RequestCameraImageSetViewMatrix(b3SharedMemoryCommandHandle command, const float cameraPosition[/*3*/], const float cameraTargetPosition[/*3*/], const float cameraUp[/*3*/]);
/* obsolete, please use b3ComputeViewProjectionMatrices */ /* obsolete, please use b3ComputeViewProjectionMatrices */
void b3RequestCameraImageSetViewMatrix2(b3SharedMemoryCommandHandle commandHandle, const float cameraTargetPosition[3], float distance, float yaw, float pitch, float roll, int upAxis); void b3RequestCameraImageSetViewMatrix2(b3SharedMemoryCommandHandle commandHandle, const float cameraTargetPosition[/*3*/], float distance, float yaw, float pitch, float roll, int upAxis);
/* obsolete, please use b3ComputeViewProjectionMatrices */ /* obsolete, please use b3ComputeViewProjectionMatrices */
void b3RequestCameraImageSetProjectionMatrix(b3SharedMemoryCommandHandle command, float left, float right, float bottom, float top, float nearVal, float farVal); void b3RequestCameraImageSetProjectionMatrix(b3SharedMemoryCommandHandle command, float left, float right, float bottom, float top, float nearVal, float farVal);
/* obsolete, please use b3ComputeViewProjectionMatrices */ /* obsolete, please use b3ComputeViewProjectionMatrices */
@@ -217,7 +221,7 @@ void b3SetClosestDistanceThreshold(b3SharedMemoryCommandHandle commandHandle, do
void b3GetClosestPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointInfo); void b3GetClosestPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointInfo);
///get all the bodies that touch a given axis aligned bounding box specified in world space (min and max coordinates) ///get all the bodies that touch a given axis aligned bounding box specified in world space (min and max coordinates)
b3SharedMemoryCommandHandle b3InitAABBOverlapQuery(b3PhysicsClientHandle physClient, const double aabbMin[3],const double aabbMax[3]); b3SharedMemoryCommandHandle b3InitAABBOverlapQuery(b3PhysicsClientHandle physClient, const double aabbMin[/*3*/],const double aabbMax[/*3*/]);
void b3GetAABBOverlapResults(b3PhysicsClientHandle physClient, struct b3AABBOverlapData* data); void b3GetAABBOverlapResults(b3PhysicsClientHandle physClient, struct b3AABBOverlapData* data);
//request visual shape information //request visual shape information
@@ -230,8 +234,8 @@ int b3GetStatusTextureUniqueId(b3SharedMemoryStatusHandle statusHandle);
b3SharedMemoryCommandHandle b3CreateChangeTextureCommandInit(b3PhysicsClientHandle physClient, int textureUniqueId, int width, int height, const char* rgbPixels); b3SharedMemoryCommandHandle b3CreateChangeTextureCommandInit(b3PhysicsClientHandle physClient, int textureUniqueId, int width, int height, const char* rgbPixels);
b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId); b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId);
void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle commandHandle, double rgbaColor[4]); void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle commandHandle, double rgbaColor[/*4*/]);
void b3UpdateVisualShapeSpecularColor(b3SharedMemoryCommandHandle commandHandle, double specularColor[3]); void b3UpdateVisualShapeSpecularColor(b3SharedMemoryCommandHandle commandHandle, double specularColor[/*3*/]);
b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient); b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient);
@@ -262,20 +266,20 @@ int b3PhysicsParamSetRestitutionVelocityThreshold(b3SharedMemoryCommandHandle co
int b3PhysicsParamSetInternalSimFlags(b3SharedMemoryCommandHandle commandHandle, int flags); int b3PhysicsParamSetInternalSimFlags(b3SharedMemoryCommandHandle commandHandle, int flags);
b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient); B3_SHARED_API b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient);
b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHandle physClient); B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHandle physClient);
///Load a robot from a URDF file. Status type will CMD_URDF_LOADING_COMPLETED. ///Load a robot from a URDF file. Status type will CMD_URDF_LOADING_COMPLETED.
///Access the robot from the unique body index, through b3GetStatusBodyIndex(statusHandle); ///Access the robot from the unique body index, through b3GetStatusBodyIndex(statusHandle);
b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName); B3_SHARED_API b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName);
int b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ); B3_SHARED_API int b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ);
int b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW); B3_SHARED_API int b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody); B3_SHARED_API int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase); B3_SHARED_API int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase);
int b3LoadUrdfCommandSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags); B3_SHARED_API int b3LoadUrdfCommandSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags);
int b3LoadUrdfCommandSetGlobalScaling(b3SharedMemoryCommandHandle commandHandle, double globalScaling); B3_SHARED_API int b3LoadUrdfCommandSetGlobalScaling(b3SharedMemoryCommandHandle commandHandle, double globalScaling);
@@ -300,10 +304,10 @@ int b3GetStatusJacobian(b3SharedMemoryStatusHandle statusHandle, double* linearJ
///compute the joint positions to move the end effector to a desired target using inverse kinematics ///compute the joint positions to move the end effector to a desired target using inverse kinematics
b3SharedMemoryCommandHandle b3CalculateInverseKinematicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex); b3SharedMemoryCommandHandle b3CalculateInverseKinematicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex);
void b3CalculateInverseKinematicsAddTargetPurePosition(b3SharedMemoryCommandHandle commandHandle, int endEffectorLinkIndex, const double targetPosition[3]); void b3CalculateInverseKinematicsAddTargetPurePosition(b3SharedMemoryCommandHandle commandHandle, int endEffectorLinkIndex, const double targetPosition[/*3*/]);
void b3CalculateInverseKinematicsAddTargetPositionWithOrientation(b3SharedMemoryCommandHandle commandHandle, int endEffectorLinkIndex, const double targetPosition[3], const double targetOrientation[4]); void b3CalculateInverseKinematicsAddTargetPositionWithOrientation(b3SharedMemoryCommandHandle commandHandle, int endEffectorLinkIndex, const double targetPosition[/*3*/], const double targetOrientation[/*4*/]);
void b3CalculateInverseKinematicsPosWithNullSpaceVel(b3SharedMemoryCommandHandle commandHandle, int numDof, int endEffectorLinkIndex, const double targetPosition[3], const double* lowerLimit, const double* upperLimit, const double* jointRange, const double* restPose); void b3CalculateInverseKinematicsPosWithNullSpaceVel(b3SharedMemoryCommandHandle commandHandle, int numDof, int endEffectorLinkIndex, const double targetPosition[/*3*/], const double* lowerLimit, const double* upperLimit, const double* jointRange, const double* restPose);
void b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(b3SharedMemoryCommandHandle commandHandle, int numDof, int endEffectorLinkIndex, const double targetPosition[3], const double targetOrientation[4], const double* lowerLimit, const double* upperLimit, const double* jointRange, const double* restPose); void b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(b3SharedMemoryCommandHandle commandHandle, int numDof, int endEffectorLinkIndex, const double targetPosition[/*3*/], const double targetOrientation[/*4*/], const double* lowerLimit, const double* upperLimit, const double* jointRange, const double* restPose);
void b3CalculateInverseKinematicsSetJointDamping(b3SharedMemoryCommandHandle commandHandle, int numDof, const double* jointDampingCoeff); void b3CalculateInverseKinematicsSetJointDamping(b3SharedMemoryCommandHandle commandHandle, int numDof, const double* jointDampingCoeff);
int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle statusHandle, int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle statusHandle,
int* bodyUniqueId, int* bodyUniqueId,
@@ -345,14 +349,14 @@ int b3JointControlSetDesiredForceTorque(b3SharedMemoryCommandHandle commandHandl
b3SharedMemoryCommandHandle b3CreateCollisionShapeCommandInit(b3PhysicsClientHandle physClient); b3SharedMemoryCommandHandle b3CreateCollisionShapeCommandInit(b3PhysicsClientHandle physClient);
int b3CreateCollisionShapeAddSphere(b3SharedMemoryCommandHandle commandHandle,double radius); int b3CreateCollisionShapeAddSphere(b3SharedMemoryCommandHandle commandHandle,double radius);
int b3CreateCollisionShapeAddBox(b3SharedMemoryCommandHandle commandHandle,double halfExtents[3]); int b3CreateCollisionShapeAddBox(b3SharedMemoryCommandHandle commandHandle,double halfExtents[/*3*/]);
int b3CreateCollisionShapeAddCapsule(b3SharedMemoryCommandHandle commandHandle,double radius, double height); int b3CreateCollisionShapeAddCapsule(b3SharedMemoryCommandHandle commandHandle,double radius, double height);
int b3CreateCollisionShapeAddCylinder(b3SharedMemoryCommandHandle commandHandle,double radius, double height); int b3CreateCollisionShapeAddCylinder(b3SharedMemoryCommandHandle commandHandle,double radius, double height);
int b3CreateCollisionShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, double planeNormal[3], double planeConstant); int b3CreateCollisionShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, double planeNormal[/*3*/], double planeConstant);
int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle commandHandle,const char* fileName, double meshScale[3]); int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle commandHandle,const char* fileName, double meshScale[/*3*/]);
void b3CreateCollisionSetFlag(b3SharedMemoryCommandHandle commandHandle,int shapeIndex, int flags); void b3CreateCollisionSetFlag(b3SharedMemoryCommandHandle commandHandle,int shapeIndex, int flags);
void b3CreateCollisionShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle,int shapeIndex, double childPosition[3], double childOrientation[4]); void b3CreateCollisionShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle,int shapeIndex, double childPosition[/*3*/], double childOrientation[/*4*/]);
int b3GetStatusCollisionShapeUniqueId(b3SharedMemoryStatusHandle statusHandle); int b3GetStatusCollisionShapeUniqueId(b3SharedMemoryStatusHandle statusHandle);
@@ -360,17 +364,17 @@ b3SharedMemoryCommandHandle b3CreateVisualShapeCommandInit(b3PhysicsClientHandle
int b3GetStatusVisualShapeUniqueId(b3SharedMemoryStatusHandle statusHandle); int b3GetStatusVisualShapeUniqueId(b3SharedMemoryStatusHandle statusHandle);
b3SharedMemoryCommandHandle b3CreateMultiBodyCommandInit(b3PhysicsClientHandle physClient); b3SharedMemoryCommandHandle b3CreateMultiBodyCommandInit(b3PhysicsClientHandle physClient);
int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandle, double mass, int collisionShapeUnique, int visualShapeUniqueId, double basePosition[3], double baseOrientation[4] , double baseInertialFramePosition[3], double baseInertialFrameOrientation[4]); int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandle, double mass, int collisionShapeUnique, int visualShapeUniqueId, double basePosition[/*3*/], double baseOrientation[/*4*/] , double baseInertialFramePosition[/*3*/], double baseInertialFrameOrientation[/*4*/]);
int b3CreateMultiBodyLink(b3SharedMemoryCommandHandle commandHandle, double linkMass, double linkCollisionShapeIndex, int b3CreateMultiBodyLink(b3SharedMemoryCommandHandle commandHandle, double linkMass, double linkCollisionShapeIndex,
double linkVisualShapeIndex, double linkVisualShapeIndex,
double linkPosition[3], double linkPosition[/*3*/],
double linkOrientation[4], double linkOrientation[/*4*/],
double linkInertialFramePosition[3], double linkInertialFramePosition[/*3*/],
double linkInertialFrameOrientation[4], double linkInertialFrameOrientation[/*4*/],
int linkParentIndex, int linkParentIndex,
int linkJointType, int linkJointType,
double linkJointAxis[3]); double linkJointAxis[/*3*/]);
//useMaximalCoordinates are disabled by default, enabling them is experimental and not fully supported yet //useMaximalCoordinates are disabled by default, enabling them is experimental and not fully supported yet
@@ -397,8 +401,8 @@ int b3CreateBoxCommandSetColorRGBA(b3SharedMemoryCommandHandle commandHandle, do
b3SharedMemoryCommandHandle b3CreatePoseCommandInit(b3PhysicsClientHandle physClient, int bodyIndex); b3SharedMemoryCommandHandle b3CreatePoseCommandInit(b3PhysicsClientHandle physClient, int bodyIndex);
int b3CreatePoseCommandSetBasePosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ); int b3CreatePoseCommandSetBasePosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ);
int b3CreatePoseCommandSetBaseOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW); int b3CreatePoseCommandSetBaseOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
int b3CreatePoseCommandSetBaseLinearVelocity(b3SharedMemoryCommandHandle commandHandle, double linVel[3]); int b3CreatePoseCommandSetBaseLinearVelocity(b3SharedMemoryCommandHandle commandHandle, double linVel[/*3*/]);
int b3CreatePoseCommandSetBaseAngularVelocity(b3SharedMemoryCommandHandle commandHandle, double angVel[3]); int b3CreatePoseCommandSetBaseAngularVelocity(b3SharedMemoryCommandHandle commandHandle, double angVel[/*3*/]);
int b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle commandHandle, int numJointPositions, const double* jointPositions); int b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle commandHandle, int numJointPositions, const double* jointPositions);
int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, double jointPosition); int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, double jointPosition);
@@ -434,7 +438,7 @@ b3SharedMemoryCommandHandle b3CreateRaycastCommandInit(b3PhysicsClientHandle phy
double rayToWorldX, double rayToWorldY, double rayToWorldZ); double rayToWorldX, double rayToWorldY, double rayToWorldZ);
b3SharedMemoryCommandHandle b3CreateRaycastBatchCommandInit(b3PhysicsClientHandle physClient); b3SharedMemoryCommandHandle b3CreateRaycastBatchCommandInit(b3PhysicsClientHandle physClient);
void b3RaycastBatchAddRay(b3SharedMemoryCommandHandle commandHandle, const double rayFromWorld[3], const double rayToWorld[3]); void b3RaycastBatchAddRay(b3SharedMemoryCommandHandle commandHandle, const double rayFromWorld[/*3*/], const double rayToWorld[/*3*/]);
void b3GetRaycastInformation(b3PhysicsClientHandle physClient, struct b3RaycastInformation* raycastInfo); void b3GetRaycastInformation(b3PhysicsClientHandle physClient, struct b3RaycastInformation* raycastInfo);
@@ -442,8 +446,8 @@ void b3GetRaycastInformation(b3PhysicsClientHandle physClient, struct b3RaycastI
/// Apply external force at the body (or link) center of mass, in world space/Cartesian coordinates. /// Apply external force at the body (or link) center of mass, in world space/Cartesian coordinates.
b3SharedMemoryCommandHandle b3ApplyExternalForceCommandInit(b3PhysicsClientHandle physClient); b3SharedMemoryCommandHandle b3ApplyExternalForceCommandInit(b3PhysicsClientHandle physClient);
void b3ApplyExternalForce(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double force[3], const double position[3], int flags); void b3ApplyExternalForce(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double force[/*3*/], const double position[/*3*/], int flags);
void b3ApplyExternalTorque(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double torque[3], int flags); void b3ApplyExternalTorque(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double torque[/*3*/], int flags);
///experiments of robots interacting with non-rigid objects (such as btSoftBody) ///experiments of robots interacting with non-rigid objects (such as btSoftBody)
b3SharedMemoryCommandHandle b3LoadBunnyCommandInit(b3PhysicsClientHandle physClient); b3SharedMemoryCommandHandle b3LoadBunnyCommandInit(b3PhysicsClientHandle physClient);
@@ -458,8 +462,8 @@ void b3VREventsSetDeviceTypeFilter(b3SharedMemoryCommandHandle commandHandle, in
void b3GetVREventsData(b3PhysicsClientHandle physClient, struct b3VREventsData* vrEventsData); void b3GetVREventsData(b3PhysicsClientHandle physClient, struct b3VREventsData* vrEventsData);
b3SharedMemoryCommandHandle b3SetVRCameraStateCommandInit(b3PhysicsClientHandle physClient); b3SharedMemoryCommandHandle b3SetVRCameraStateCommandInit(b3PhysicsClientHandle physClient);
int b3SetVRCameraRootPosition(b3SharedMemoryCommandHandle commandHandle, double rootPos[3]); int b3SetVRCameraRootPosition(b3SharedMemoryCommandHandle commandHandle, double rootPos[/*3*/]);
int b3SetVRCameraRootOrientation(b3SharedMemoryCommandHandle commandHandle, double rootOrn[4]); int b3SetVRCameraRootOrientation(b3SharedMemoryCommandHandle commandHandle, double rootOrn[/*4*/]);
int b3SetVRCameraTrackingObject(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId); int b3SetVRCameraTrackingObject(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId);
int b3SetVRCameraTrackingObjectFlag(b3SharedMemoryCommandHandle commandHandle, int flag); int b3SetVRCameraTrackingObjectFlag(b3SharedMemoryCommandHandle commandHandle, int flag);
@@ -493,8 +497,8 @@ double b3GetTimeOut(b3PhysicsClientHandle physClient);
b3SharedMemoryCommandHandle b3SetAdditionalSearchPath(b3PhysicsClientHandle physClient, char* path); b3SharedMemoryCommandHandle b3SetAdditionalSearchPath(b3PhysicsClientHandle physClient, char* path);
void b3MultiplyTransforms(const double posA[3], const double ornA[4], const double posB[3], const double ornB[4], double outPos[3], double outOrn[4]); void b3MultiplyTransforms(const double posA[/*3*/], const double ornA[/*4*/], const double posB[/*3*/], const double ornB[/*4*/], double outPos[/*3*/], double outOrn[/*4*/]);
void b3InvertTransform(const double pos[3], const double orn[4], double outPos[3], double outOrn[4]); void b3InvertTransform(const double pos[/*3*/], const double orn[/*4*/], double outPos[/*3*/], double outOrn[/*4*/]);
#ifdef __cplusplus #ifdef __cplusplus
} }

2
examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp
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@@ -2,7 +2,7 @@
#include "PhysicsClientSharedMemory.h" #include "PhysicsClientSharedMemory.h"
b3PhysicsClientHandle b3ConnectSharedMemory(int key) B3_SHARED_API b3PhysicsClientHandle b3ConnectSharedMemory(int key)
{ {
PhysicsClientSharedMemory* cl = new PhysicsClientSharedMemory(); PhysicsClientSharedMemory* cl = new PhysicsClientSharedMemory();
cl->setSharedMemoryKey(key); cl->setSharedMemoryKey(key);

2
examples/SharedMemory/PhysicsClientSharedMemory_C_API.h
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@@ -7,7 +7,7 @@
extern "C" { extern "C" {
#endif #endif
b3PhysicsClientHandle b3ConnectSharedMemory(int key); B3_SHARED_API b3PhysicsClientHandle b3ConnectSharedMemory(int key);
#ifdef __cplusplus #ifdef __cplusplus
} }

10
examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
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@@ -83,7 +83,7 @@ public:
}; };
b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThread(int argc, char* argv[]) B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThread(int argc, char* argv[])
{ {
InProcessPhysicsClientSharedMemoryMainThread* cl = new InProcessPhysicsClientSharedMemoryMainThread(argc, argv, 1); InProcessPhysicsClientSharedMemoryMainThread* cl = new InProcessPhysicsClientSharedMemoryMainThread(argc, argv, 1);
cl->setSharedMemoryKey(SHARED_MEMORY_KEY+1); cl->setSharedMemoryKey(SHARED_MEMORY_KEY+1);
@@ -91,7 +91,7 @@ b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThread(int arg
return (b3PhysicsClientHandle ) cl; return (b3PhysicsClientHandle ) cl;
} }
b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThreadSharedMemory(int argc, char* argv[]) B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThreadSharedMemory(int argc, char* argv[])
{ {
InProcessPhysicsClientSharedMemoryMainThread* cl = new InProcessPhysicsClientSharedMemoryMainThread(argc, argv, 0); InProcessPhysicsClientSharedMemoryMainThread* cl = new InProcessPhysicsClientSharedMemoryMainThread(argc, argv, 0);
cl->setSharedMemoryKey(SHARED_MEMORY_KEY+1); cl->setSharedMemoryKey(SHARED_MEMORY_KEY+1);
@@ -133,7 +133,7 @@ public:
}; };
b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnect(int argc, char* argv[]) B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnect(int argc, char* argv[])
{ {
InProcessPhysicsClientSharedMemory* cl = new InProcessPhysicsClientSharedMemory(argc, argv, 1); InProcessPhysicsClientSharedMemory* cl = new InProcessPhysicsClientSharedMemory(argc, argv, 1);
@@ -141,7 +141,7 @@ b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnect(int argc, char* a
cl->connect(); cl->connect();
return (b3PhysicsClientHandle ) cl; return (b3PhysicsClientHandle ) cl;
} }
b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectSharedMemory(int argc, char* argv[]) B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectSharedMemory(int argc, char* argv[])
{ {
InProcessPhysicsClientSharedMemory* cl = new InProcessPhysicsClientSharedMemory(argc, argv, 0); InProcessPhysicsClientSharedMemory* cl = new InProcessPhysicsClientSharedMemory(argc, argv, 0);
@@ -248,7 +248,7 @@ int b3InProcessMouseButtonCallback(b3PhysicsClientHandle clientHandle, int butto
} }
b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect(void* guiHelperPtr) B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect(void* guiHelperPtr)
{ {
GUIHelperInterface* guiHelper = (GUIHelperInterface*) guiHelperPtr; GUIHelperInterface* guiHelper = (GUIHelperInterface*) guiHelperPtr;
InProcessPhysicsClientExistingExampleBrowser* cl = new InProcessPhysicsClientExistingExampleBrowser(guiHelper); InProcessPhysicsClientExistingExampleBrowser* cl = new InProcessPhysicsClientExistingExampleBrowser(guiHelper);

10
examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h
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@@ -10,13 +10,13 @@ extern "C" {
///think more about naming. The b3ConnectPhysicsLoopback ///think more about naming. The b3ConnectPhysicsLoopback
b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnect(int argc, char* argv[]); B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnect(int argc, char* argv[]);
b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectSharedMemory(int argc, char* argv[]); B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectSharedMemory(int argc, char* argv[]);
b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThread(int argc, char* argv[]); B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThread(int argc, char* argv[]);
b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThreadSharedMemory(int argc, char* argv[]); B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThreadSharedMemory(int argc, char* argv[]);
b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect(void* guiHelperPtr); B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect(void* guiHelperPtr);
///ignore the following APIs, they are for internal use for example browser ///ignore the following APIs, they are for internal use for example browser
void b3InProcessRenderSceneInternal(b3PhysicsClientHandle clientHandle); void b3InProcessRenderSceneInternal(b3PhysicsClientHandle clientHandle);

3113
examples/pybullet/unity3d/autogen/NativeMethods.cs Normal file
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86
examples/pybullet/unity3d/examples/NewBehaviourScript.cs Normal file
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@@ -0,0 +1,86 @@
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using UnityEngine.UI;
using System.Runtime.InteropServices;
using System;
[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
public class NewBehaviourScript : MonoBehaviour {
[System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint = "b3ConnectSharedMemory")]
public static extern System.IntPtr b3ConnectSharedMemory(int key);
[System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint = "b3CreateInProcessPhysicsServerAndConnect")]
public static extern System.IntPtr b3CreateInProcessPhysicsServerAndConnect(int argc, ref System.IntPtr argv);
[System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint = "b3InitStepSimulationCommand")]
public static extern System.IntPtr b3InitStepSimulationCommand(IntPtr physClient);
[System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint = "b3LoadUrdfCommandInit")]
public static extern System.IntPtr b3LoadUrdfCommandInit(IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string urdfFileName);
[System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint = "b3InitResetSimulationCommand")]
public static extern System.IntPtr b3InitResetSimulationCommand(IntPtr physClient);
[System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint = "b3SubmitClientCommandAndWaitStatus")]
public static extern System.IntPtr b3SubmitClientCommandAndWaitStatus(IntPtr physClient, IntPtr commandHandle);
[DllImport("TestCppPlug.dll")]
static extern int Add(int a, int b);
[DllImport("TestCppPlug.dll")]
static extern int CallMe(Action<int> action);
[DllImport("TestCppPlug.dll")]
static extern IntPtr CreateSharedAPI(int id);
[DllImport("TestCppPlug.dll")]
static extern int GetMyIdPlusTen(IntPtr api);
[DllImport("TestCppPlug.dll")]
static extern void DeleteSharedAPI(IntPtr api);
private void IWasCalled(int value)
{
text.text = value.ToString();
}
Text text;
IntPtr sharedAPI;
IntPtr pybullet;
// Use this for initialization
void Start () {
text = GetComponent<Text>();
CallMe(IWasCalled);
sharedAPI = CreateSharedAPI(30);
IntPtr pybullet = b3ConnectSharedMemory(12347);
IntPtr cmd = b3InitResetSimulationCommand(pybullet);
IntPtr status = b3SubmitClientCommandAndWaitStatus(pybullet, cmd);
cmd = b3LoadUrdfCommandInit(pybullet, "plane.urdf");
status = b3SubmitClientCommandAndWaitStatus(pybullet, cmd);
//IntPtr clientPtr = b3CreateInProcessPhysicsServerAndConnect(0, ref ptr);
}
// Update is called once per frame
void Update () {
IntPtr cmd = b3InitStepSimulationCommand(pybullet);
IntPtr status = b3SubmitClientCommandAndWaitStatus(pybullet, cmd);
//System.IO.Directory.GetCurrentDirectory().ToString();//
//text.text = Add(4, 5).ToString();
text.text = UnityEngine.Random.Range(0f, 1f).ToString();// GetMyIdPlusTen(sharedAPI).ToString();
}
void OnDestroy()
{
DeleteSharedAPI(sharedAPI);
}
}

12
examples/pybullet/unity3d/examples/NewBehaviourScript.cs.meta Normal file
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@@ -0,0 +1,12 @@
fileFormatVersion: 2
guid: 6197b3a0389e92c47b7d8698e5f61f06
timeCreated: 1505961790
licenseType: Free
MonoImporter:
serializedVersion: 2
defaultReferences: []
executionOrder: 0
icon: {instanceID: 0}
userData:
assetBundleName:
assetBundleVariant:

33
examples/pybullet/unity3d/readme.txt Normal file
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@@ -0,0 +1,33 @@
Quick prototype to connect Unity 3D to pybullet
Generate C# Native Methods using the Microsoft PInvoke Signature Toolkit:
sigimp.exe /lang:cs e:\develop\bullet3\examples\SharedMemory\PhysicsClientC_API.h
Add some #define B3_SHARED_API __declspec(dllexport) to the exported methods,
replace [3], [4], [16] by [] to get sigimp.exe working.
This generates autogen/NativeMethods.cs
Then put pybullet.dll in the right location, so Unity finds it.
NewBehaviourScript.cs is a 1 evening prototype that works within Unity 3D:
Create a connection to pybullet, reset the world, load a urdf at startup.
Step the simulation each Update.
Now the real work can start, converting Unity objects to pybullet,
pybullet robots to Unity, synchronizing the transforms each Update.
void Start () {
IntPtr pybullet = b3ConnectSharedMemory(12347);
IntPtr cmd = b3InitResetSimulationCommand(pybullet);
IntPtr status = b3SubmitClientCommandAndWaitStatus(pybullet, cmd);
cmd = b3LoadUrdfCommandInit(pybullet, "plane.urdf");
status = b3SubmitClientCommandAndWaitStatus(pybullet, cmd);
}
void Update ()
{
IntPtr cmd = b3InitStepSimulationCommand(pybullet);
IntPtr status = b3SubmitClientCommandAndWaitStatus(pybullet, cmd);
}