Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

PyBullet / BulletRobotics: prepare for pdControlPlugin and collisionFilterPlugin

Browse Source 
Split examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.* and move to examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp and examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
This commit is contained in:
Erwin Coumans
2018-06-05 11:41:41 +10:00
parent e4cd88e24f
commit 7bd84740d7
23 changed files with 719 additions and 198 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
Extras/BulletRobotics/CMakeLists.txt
View File

@@ -9,6 +9,10 @@ INCLUDE_DIRECTORIES(
) )
SET(BulletRobotics_SRCS SET(BulletRobotics_SRCS
../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp
../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h
../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
../../examples/SharedMemory/IKTrajectoryHelper.cpp ../../examples/SharedMemory/IKTrajectoryHelper.cpp
../../examples/SharedMemory/IKTrajectoryHelper.h ../../examples/SharedMemory/IKTrajectoryHelper.h
../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp ../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
@@ -91,8 +95,6 @@ SET(BulletRobotics_SRCS
../../examples/MultiThreading/b3PosixThreadSupport.cpp ../../examples/MultiThreading/b3PosixThreadSupport.cpp
../../examples/MultiThreading/b3Win32ThreadSupport.cpp ../../examples/MultiThreading/b3Win32ThreadSupport.cpp
../../examples/MultiThreading/b3ThreadSupportInterface.cpp ../../examples/MultiThreading/b3ThreadSupportInterface.cpp
../../examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.cpp
../../examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.h
) )
IF(BUILD_CLSOCKET) IF(BUILD_CLSOCKET)
@@ -174,7 +176,8 @@ IF (INSTALL_EXTRA_LIBS)
../../examples/SharedMemory/PhysicsClientTCP_C_API.h ../../examples/SharedMemory/PhysicsClientTCP_C_API.h
../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h ../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h
../../examples/SharedMemory/SharedMemoryPublic.h ../../examples/SharedMemory/SharedMemoryPublic.h
../../examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.h ../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h
../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
DESTINATION include/bullet DESTINATION include/bullet
) )
INSTALL(TARGETS INSTALL(TARGETS

6
examples/ExampleBrowser/CMakeLists.txt
View File

@@ -175,10 +175,12 @@ SET(BulletExampleBrowser_SRCS
../SharedMemory/SharedMemoryCommands.h ../SharedMemory/SharedMemoryCommands.h
../SharedMemory/SharedMemoryPublic.h ../SharedMemory/SharedMemoryPublic.h
../SharedMemory/b3PluginManager.cpp ../SharedMemory/b3PluginManager.cpp
../SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp
../SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h
../SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
../SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
../RobotSimulator/b3RobotSimulatorClientAPI.cpp ../RobotSimulator/b3RobotSimulatorClientAPI.cpp
../RobotSimulator/b3RobotSimulatorClientAPI.h ../RobotSimulator/b3RobotSimulatorClientAPI.h
../RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.cpp
../RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.h
../BasicDemo/BasicExample.cpp ../BasicDemo/BasicExample.cpp
../BasicDemo/BasicExample.h ../BasicDemo/BasicExample.h
../InverseDynamics/InverseDynamicsExample.cpp ../InverseDynamics/InverseDynamicsExample.cpp

6
examples/ExampleBrowser/premake4.lua
View File

@@ -119,6 +119,10 @@ project "App_BulletExampleBrowser"
"../SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp", "../SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
"../SharedMemory/SharedMemoryCommands.h", "../SharedMemory/SharedMemoryCommands.h",
"../SharedMemory/SharedMemoryPublic.h", "../SharedMemory/SharedMemoryPublic.h",
"../SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp",
"../SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h",
"../SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp",
"../SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h",
"../MultiThreading/MultiThreadingExample.cpp", "../MultiThreading/MultiThreadingExample.cpp",
"../MultiThreading/b3PosixThreadSupport.cpp", "../MultiThreading/b3PosixThreadSupport.cpp",
"../MultiThreading/b3Win32ThreadSupport.cpp", "../MultiThreading/b3Win32ThreadSupport.cpp",
@@ -127,8 +131,6 @@ project "App_BulletExampleBrowser"
"../InverseDynamics/InverseDynamicsExample.h", "../InverseDynamics/InverseDynamicsExample.h",
"../RobotSimulator/b3RobotSimulatorClientAPI.cpp", "../RobotSimulator/b3RobotSimulatorClientAPI.cpp",
"../RobotSimulator/b3RobotSimulatorClientAPI.h", "../RobotSimulator/b3RobotSimulatorClientAPI.h",
"../RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.cpp",
"../RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.h",
"../BasicDemo/BasicExample.*", "../BasicDemo/BasicExample.*",
"../Tutorial/*", "../Tutorial/*",
"../ExtendedTutorials/*", "../ExtendedTutorials/*",

2
examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
View File

@@ -1,7 +1,7 @@
#include "b3RobotSimulatorClientAPI.h" #include "b3RobotSimulatorClientAPI.h"
#include "../SharedMemory/PhysicsClientC_API.h" #include "../SharedMemory/PhysicsClientC_API.h"
#include "b3RobotSimulatorClientAPI_InternalData.h" #include "../SharedMemory/b3RobotSimulatorClientAPI_InternalData.h"
#ifdef BT_ENABLE_ENET #ifdef BT_ENABLE_ENET
#include "../SharedMemory/PhysicsClientUDP_C_API.h" #include "../SharedMemory/PhysicsClientUDP_C_API.h"
#endif //PHYSICS_UDP #endif //PHYSICS_UDP

2
examples/RobotSimulator/b3RobotSimulatorClientAPI.h
View File

@@ -1,7 +1,7 @@
#ifndef B3_ROBOT_SIMULATOR_CLIENT_API_GUI_H #ifndef B3_ROBOT_SIMULATOR_CLIENT_API_GUI_H
#define B3_ROBOT_SIMULATOR_CLIENT_API_GUI_H #define B3_ROBOT_SIMULATOR_CLIENT_API_GUI_H
#include "b3RobotSimulatorClientAPI_NoGUI.h" #include "../SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h"
///The b3RobotSimulatorClientAPI_GUI is pretty much the C++ version of pybullet ///The b3RobotSimulatorClientAPI_GUI is pretty much the C++ version of pybullet

8
examples/RobotSimulator/premake4.lua
View File

@@ -1,6 +1,10 @@
myfiles = myfiles =
{ {
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h",
"../../examples/SharedMemory/IKTrajectoryHelper.cpp", "../../examples/SharedMemory/IKTrajectoryHelper.cpp",
"../../examples/SharedMemory/IKTrajectoryHelper.h", "../../examples/SharedMemory/IKTrajectoryHelper.h",
"../../examples/ExampleBrowser/InProcessExampleBrowser.cpp", "../../examples/ExampleBrowser/InProcessExampleBrowser.cpp",
@@ -191,8 +195,6 @@ if not _OPTIONS["no-enet"] then
"RobotSimulatorMain.cpp", "RobotSimulatorMain.cpp",
"b3RobotSimulatorClientAPI.cpp", "b3RobotSimulatorClientAPI.cpp",
"b3RobotSimulatorClientAPI.h", "b3RobotSimulatorClientAPI.h",
"b3RobotSimulatorClientAPI_NoGUI.cpp",
"b3RobotSimulatorClientAPI_NoGUI.h",
"MinitaurSetup.cpp", "MinitaurSetup.cpp",
"MinitaurSetup.h", "MinitaurSetup.h",
myfiles myfiles
@@ -283,8 +285,6 @@ project ("App_VRGloveHandSimulator")
"VRGloveSimulatorMain.cpp", "VRGloveSimulatorMain.cpp",
"b3RobotSimulatorClientAPI.cpp", "b3RobotSimulatorClientAPI.cpp",
"b3RobotSimulatorClientAPI.h", "b3RobotSimulatorClientAPI.h",
"b3RobotSimulatorClientAPI_NoGUI.cpp",
"b3RobotSimulatorClientAPI_NoGUI.h",
myfiles myfiles
} }

22
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -45,6 +45,9 @@
#include "../Extras/Serialize/BulletFileLoader/btBulletFile.h" #include "../Extras/Serialize/BulletFileLoader/btBulletFile.h"
#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h" #include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
#ifdef STATIC_PD_CONTROL_PLUGIN
#include "plugins/pdControlPlugin/pdControlPlugin.h"
#endif //STATIC_PD_CONTROL_PLUGIN
#ifdef STATIC_LINK_VR_PLUGIN #ifdef STATIC_LINK_VR_PLUGIN
#include "plugins/vrSyncPlugin/vrSyncPlugin.h" #include "plugins/vrSyncPlugin/vrSyncPlugin.h"
@@ -1647,7 +1650,7 @@ struct PhysicsServerCommandProcessorInternalData
btVector3 m_hitPos; btVector3 m_hitPos;
btScalar m_oldPickingDist; btScalar m_oldPickingDist;
bool m_prevCanSleep; bool m_prevCanSleep;
int m_pdControlPlugin;
#ifdef B3_ENABLE_TINY_AUDIO #ifdef B3_ENABLE_TINY_AUDIO
b3SoundEngine m_soundEngine; b3SoundEngine m_soundEngine;
#endif #endif
@@ -1679,7 +1682,8 @@ struct PhysicsServerCommandProcessorInternalData
m_verboseOutput(false), m_verboseOutput(false),
m_pickedBody(0), m_pickedBody(0),
m_pickedConstraint(0), m_pickedConstraint(0),
m_pickingMultiBodyPoint2Point(0) m_pickingMultiBodyPoint2Point(0),
m_pdControlPlugin(-1)
{ {
{ {
@@ -1688,6 +1692,13 @@ struct PhysicsServerCommandProcessorInternalData
m_pluginManager.registerStaticLinkedPlugin("vrSyncPlugin", initPlugin_vrSyncPlugin, exitPlugin_vrSyncPlugin, executePluginCommand_vrSyncPlugin, preTickPluginCallback_vrSyncPlugin, 0, 0); m_pluginManager.registerStaticLinkedPlugin("vrSyncPlugin", initPlugin_vrSyncPlugin, exitPlugin_vrSyncPlugin, executePluginCommand_vrSyncPlugin, preTickPluginCallback_vrSyncPlugin, 0, 0);
#endif //STATIC_LINK_VR_PLUGIN #endif //STATIC_LINK_VR_PLUGIN
#ifdef STATIC_PD_CONTROL_PLUGIN
{
m_pdControlPlugin = m_pluginManager.registerStaticLinkedPlugin("pdControlPlugin", initPlugin_pdControlPlugin, exitPlugin_pdControlPlugin, executePluginCommand_pdControlPlugin, preTickPluginCallback_pdControlPlugin, postTickPluginCallback_pdControlPlugin, 0);
}
#endif //STATIC_PD_CONTROL_PLUGIN
#ifndef SKIP_STATIC_TINYRENDERER_PLUGIN #ifndef SKIP_STATIC_TINYRENDERER_PLUGIN
int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("tinyRendererPlugin", initPlugin_tinyRendererPlugin, exitPlugin_tinyRendererPlugin, executePluginCommand_tinyRendererPlugin,0,0,getRenderInterface_tinyRendererPlugin); int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("tinyRendererPlugin", initPlugin_tinyRendererPlugin, exitPlugin_tinyRendererPlugin, executePluginCommand_tinyRendererPlugin,0,0,getRenderInterface_tinyRendererPlugin);
m_pluginManager.selectPluginRenderer(renderPluginId); m_pluginManager.selectPluginRenderer(renderPluginId);
@@ -4949,6 +4960,13 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
switch (clientCmd.m_sendDesiredStateCommandArgument.m_controlMode) switch (clientCmd.m_sendDesiredStateCommandArgument.m_controlMode)
{ {
/* case CONTROL_MODE_PD:
{
b3PluginArguments args;
m_data->m_pluginManager.executePluginCommand(pdControlPlugin, args);
//#p.executePluginCommand(plugin ,"r2d2.urdf", [1,2,3],[50.0,3.3])
}
*/
case CONTROL_MODE_TORQUE: case CONTROL_MODE_TORQUE:
{ {
if (m_data->m_verboseOutput) if (m_data->m_verboseOutput)

0
examples/RobotSimulator/b3RobotSimulatorClientAPI_InternalData.h → examples/SharedMemory/b3RobotSimulatorClientAPI_InternalData.h
View File

214
examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.cpp → examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
View File

@@ -1,20 +1,10 @@
#include "b3RobotSimulatorClientAPI_NoGUI.h" #include "b3RobotSimulatorClientAPI_NoDirect.h"
#include "../SharedMemory/PhysicsClientC_API.h" #include "PhysicsClientC_API.h"
#include "b3RobotSimulatorClientAPI_InternalData.h" #include "b3RobotSimulatorClientAPI_InternalData.h"
#ifdef BT_ENABLE_ENET #include "SharedMemoryPublic.h"
#include "../SharedMemory/PhysicsClientUDP_C_API.h"
#endif //PHYSICS_UDP
#ifdef BT_ENABLE_CLSOCKET
#include "../SharedMemory/PhysicsClientTCP_C_API.h"
#endif //PHYSICS_TCP
#include "../SharedMemory/PhysicsDirectC_API.h"
#include "../SharedMemory/SharedMemoryPublic.h"
#include "Bullet3Common/b3Logging.h" #include "Bullet3Common/b3Logging.h"
static void scalarToDouble3(btScalar a[3], double b[3]) static void scalarToDouble3(btScalar a[3], double b[3])
@@ -34,18 +24,18 @@ static void scalarToDouble4(btScalar a[4], double b[4])
} }
b3RobotSimulatorClientAPI_NoGUI::b3RobotSimulatorClientAPI_NoGUI() b3RobotSimulatorClientAPI_NoDirect::b3RobotSimulatorClientAPI_NoDirect()
{ {
m_data = new b3RobotSimulatorClientAPI_InternalData(); m_data = new b3RobotSimulatorClientAPI_InternalData();
} }
b3RobotSimulatorClientAPI_NoGUI::~b3RobotSimulatorClientAPI_NoGUI() b3RobotSimulatorClientAPI_NoDirect::~b3RobotSimulatorClientAPI_NoDirect()
{ {
delete m_data; delete m_data;
} }
bool b3RobotSimulatorClientAPI_NoGUI::connect(int mode, const std::string& hostName, int portOrKey) bool b3RobotSimulatorClientAPI_NoDirect::connect(int mode, const std::string& hostName, int portOrKey)
{ {
if (m_data->m_physicsClientHandle) if (m_data->m_physicsClientHandle)
{ {
@@ -53,7 +43,6 @@ bool b3RobotSimulatorClientAPI_NoGUI::connect(int mode, const std::string& hostN
return false; return false;
} }
b3PhysicsClientHandle sm = 0; b3PhysicsClientHandle sm = 0;
int udpPort = 1234; int udpPort = 1234;
int tcpPort = 6667; int tcpPort = 6667;
int key = SHARED_MEMORY_KEY; int key = SHARED_MEMORY_KEY;
@@ -64,7 +53,6 @@ bool b3RobotSimulatorClientAPI_NoGUI::connect(int mode, const std::string& hostN
case eCONNECT_DIRECT: case eCONNECT_DIRECT:
{ {
sm = b3ConnectPhysicsDirect();
break; break;
} }
case eCONNECT_SHARED_MEMORY: case eCONNECT_SHARED_MEMORY:
@@ -82,12 +70,6 @@ bool b3RobotSimulatorClientAPI_NoGUI::connect(int mode, const std::string& hostN
{ {
udpPort = portOrKey; udpPort = portOrKey;
} }
#ifdef BT_ENABLE_ENET
sm = b3ConnectPhysicsUDP(hostName.c_str(), udpPort);
#else
b3Warning("UDP is not enabled in this build");
#endif //BT_ENABLE_ENET
break; break;
} }
@@ -97,12 +79,6 @@ bool b3RobotSimulatorClientAPI_NoGUI::connect(int mode, const std::string& hostN
{ {
tcpPort = portOrKey; tcpPort = portOrKey;
} }
#ifdef BT_ENABLE_CLSOCKET
sm = b3ConnectPhysicsTCP(hostName.c_str(), tcpPort);
#else
b3Warning("TCP is not enabled in this pybullet build");
#endif //BT_ENABLE_CLSOCKET
break; break;
} }
@@ -125,12 +101,12 @@ bool b3RobotSimulatorClientAPI_NoGUI::connect(int mode, const std::string& hostN
return false; return false;
} }
bool b3RobotSimulatorClientAPI_NoGUI::isConnected() const bool b3RobotSimulatorClientAPI_NoDirect::isConnected() const
{ {
return (m_data->m_physicsClientHandle != 0); return (m_data->m_physicsClientHandle != 0);
} }
void b3RobotSimulatorClientAPI_NoGUI::setTimeOut(double timeOutInSec) void b3RobotSimulatorClientAPI_NoDirect::setTimeOut(double timeOutInSec)
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -142,19 +118,22 @@ void b3RobotSimulatorClientAPI_NoGUI::setTimeOut(double timeOutInSec)
} }
void b3RobotSimulatorClientAPI_NoGUI::disconnect() void b3RobotSimulatorClientAPI_NoDirect::disconnect()
{ {
if (!isConnected()) if (!isConnected())
{ {
b3Warning("Not connected"); b3Warning("Not connected");
return; return;
} }
#ifndef BT_DISABLE_PHYSICS_DIRECT
b3DisconnectSharedMemory(m_data->m_physicsClientHandle); b3DisconnectSharedMemory(m_data->m_physicsClientHandle);
m_data->m_physicsClientHandle = 0; m_data->m_physicsClientHandle = 0;
#endif
} }
void b3RobotSimulatorClientAPI_NoGUI::syncBodies()
void b3RobotSimulatorClientAPI_NoDirect::syncBodies()
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -171,7 +150,7 @@ void b3RobotSimulatorClientAPI_NoGUI::syncBodies()
statusType = b3GetStatusType(statusHandle); statusType = b3GetStatusType(statusHandle);
} }
void b3RobotSimulatorClientAPI_NoGUI::resetSimulation() void b3RobotSimulatorClientAPI_NoDirect::resetSimulation()
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -183,7 +162,7 @@ void b3RobotSimulatorClientAPI_NoGUI::resetSimulation()
m_data->m_physicsClientHandle, b3InitResetSimulationCommand(m_data->m_physicsClientHandle)); m_data->m_physicsClientHandle, b3InitResetSimulationCommand(m_data->m_physicsClientHandle));
} }
bool b3RobotSimulatorClientAPI_NoGUI::canSubmitCommand() const bool b3RobotSimulatorClientAPI_NoDirect::canSubmitCommand() const
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -192,7 +171,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::canSubmitCommand() const
return (b3CanSubmitCommand(m_data->m_physicsClientHandle) != 0); return (b3CanSubmitCommand(m_data->m_physicsClientHandle) != 0);
} }
void b3RobotSimulatorClientAPI_NoGUI::stepSimulation() void b3RobotSimulatorClientAPI_NoDirect::stepSimulation()
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -210,7 +189,7 @@ void b3RobotSimulatorClientAPI_NoGUI::stepSimulation()
} }
} }
void b3RobotSimulatorClientAPI_NoGUI::setGravity(const btVector3& gravityAcceleration) void b3RobotSimulatorClientAPI_NoDirect::setGravity(const btVector3& gravityAcceleration)
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -226,14 +205,14 @@ void b3RobotSimulatorClientAPI_NoGUI::setGravity(const btVector3& gravityAcceler
// btAssert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED); // btAssert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
} }
btQuaternion b3RobotSimulatorClientAPI_NoGUI::getQuaternionFromEuler(const btVector3& rollPitchYaw) btQuaternion b3RobotSimulatorClientAPI_NoDirect::getQuaternionFromEuler(const btVector3& rollPitchYaw)
{ {
btQuaternion q; btQuaternion q;
q.setEulerZYX(rollPitchYaw[2],rollPitchYaw[1],rollPitchYaw[0]); q.setEulerZYX(rollPitchYaw[2],rollPitchYaw[1],rollPitchYaw[0]);
return q; return q;
} }
btVector3 b3RobotSimulatorClientAPI_NoGUI::getEulerFromQuaternion(const btQuaternion& quat) btVector3 b3RobotSimulatorClientAPI_NoDirect::getEulerFromQuaternion(const btQuaternion& quat)
{ {
btScalar roll,pitch,yaw; btScalar roll,pitch,yaw;
quat.getEulerZYX(yaw,pitch,roll); quat.getEulerZYX(yaw,pitch,roll);
@@ -241,7 +220,7 @@ btVector3 b3RobotSimulatorClientAPI_NoGUI::getEulerFromQuaternion(const btQuater
return rpy2; return rpy2;
} }
int b3RobotSimulatorClientAPI_NoGUI::loadURDF(const std::string& fileName, const struct b3RobotSimulatorLoadUrdfFileArgs& args) int b3RobotSimulatorClientAPI_NoDirect::loadURDF(const std::string& fileName, const struct b3RobotSimulatorLoadUrdfFileArgs& args)
{ {
int robotUniqueId = -1; int robotUniqueId = -1;
@@ -279,7 +258,7 @@ int b3RobotSimulatorClientAPI_NoGUI::loadURDF(const std::string& fileName, const
return robotUniqueId; return robotUniqueId;
} }
bool b3RobotSimulatorClientAPI_NoGUI::loadMJCF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results) bool b3RobotSimulatorClientAPI_NoDirect::loadMJCF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results)
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -310,7 +289,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::loadMJCF(const std::string& fileName, b3Ro
return true; return true;
} }
bool b3RobotSimulatorClientAPI_NoGUI::loadBullet(const std::string& fileName, b3RobotSimulatorLoadFileResults& results) bool b3RobotSimulatorClientAPI_NoDirect::loadBullet(const std::string& fileName, b3RobotSimulatorLoadFileResults& results)
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -340,7 +319,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::loadBullet(const std::string& fileName, b3
return true; return true;
} }
bool b3RobotSimulatorClientAPI_NoGUI::loadSDF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results, const struct b3RobotSimulatorLoadSdfFileArgs& args) bool b3RobotSimulatorClientAPI_NoDirect::loadSDF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results, const struct b3RobotSimulatorLoadSdfFileArgs& args)
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -372,7 +351,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::loadSDF(const std::string& fileName, b3Rob
return statusOk; return statusOk;
} }
bool b3RobotSimulatorClientAPI_NoGUI::getBodyInfo(int bodyUniqueId, struct b3BodyInfo* bodyInfo) bool b3RobotSimulatorClientAPI_NoDirect::getBodyInfo(int bodyUniqueId, struct b3BodyInfo* bodyInfo)
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -384,7 +363,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getBodyInfo(int bodyUniqueId, struct b3Bod
return (result != 0); return (result != 0);
} }
bool b3RobotSimulatorClientAPI_NoGUI::getBasePositionAndOrientation(int bodyUniqueId, btVector3& basePosition, btQuaternion& baseOrientation) const bool b3RobotSimulatorClientAPI_NoDirect::getBasePositionAndOrientation(int bodyUniqueId, btVector3& basePosition, btQuaternion& baseOrientation) const
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -422,7 +401,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getBasePositionAndOrientation(int bodyUniq
return true; return true;
} }
bool b3RobotSimulatorClientAPI_NoGUI::resetBasePositionAndOrientation(int bodyUniqueId, btVector3& basePosition, btQuaternion& baseOrientation) bool b3RobotSimulatorClientAPI_NoDirect::resetBasePositionAndOrientation(int bodyUniqueId, btVector3& basePosition, btQuaternion& baseOrientation)
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -444,7 +423,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::resetBasePositionAndOrientation(int bodyUn
return true; return true;
} }
bool b3RobotSimulatorClientAPI_NoGUI::getBaseVelocity(int bodyUniqueId, btVector3& baseLinearVelocity, btVector3& baseAngularVelocity) const bool b3RobotSimulatorClientAPI_NoDirect::getBaseVelocity(int bodyUniqueId, btVector3& baseLinearVelocity, btVector3& baseAngularVelocity) const
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -478,7 +457,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getBaseVelocity(int bodyUniqueId, btVector
return true; return true;
} }
bool b3RobotSimulatorClientAPI_NoGUI::resetBaseVelocity(int bodyUniqueId, const btVector3& linearVelocity, const btVector3& angularVelocity) const bool b3RobotSimulatorClientAPI_NoDirect::resetBaseVelocity(int bodyUniqueId, const btVector3& linearVelocity, const btVector3& angularVelocity) const
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -503,7 +482,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::resetBaseVelocity(int bodyUniqueId, const
return true; return true;
} }
void b3RobotSimulatorClientAPI_NoGUI::setInternalSimFlags(int flags) void b3RobotSimulatorClientAPI_NoDirect::setInternalSimFlags(int flags)
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -519,7 +498,7 @@ void b3RobotSimulatorClientAPI_NoGUI::setInternalSimFlags(int flags)
} }
void b3RobotSimulatorClientAPI_NoGUI::setRealTimeSimulation(bool enableRealTimeSimulation) void b3RobotSimulatorClientAPI_NoDirect::setRealTimeSimulation(bool enableRealTimeSimulation)
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -537,7 +516,7 @@ void b3RobotSimulatorClientAPI_NoGUI::setRealTimeSimulation(bool enableRealTimeS
btAssert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED); btAssert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
} }
int b3RobotSimulatorClientAPI_NoGUI::getNumJoints(int bodyUniqueId) const int b3RobotSimulatorClientAPI_NoDirect::getNumJoints(int bodyUniqueId) const
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -547,7 +526,7 @@ int b3RobotSimulatorClientAPI_NoGUI::getNumJoints(int bodyUniqueId) const
return b3GetNumJoints(m_data->m_physicsClientHandle, bodyUniqueId); return b3GetNumJoints(m_data->m_physicsClientHandle, bodyUniqueId);
} }
bool b3RobotSimulatorClientAPI_NoGUI::getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo* jointInfo) bool b3RobotSimulatorClientAPI_NoDirect::getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo* jointInfo)
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -557,7 +536,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getJointInfo(int bodyUniqueId, int jointIn
return (b3GetJointInfo(m_data->m_physicsClientHandle, bodyUniqueId, jointIndex, jointInfo) != 0); return (b3GetJointInfo(m_data->m_physicsClientHandle, bodyUniqueId, jointIndex, jointInfo) != 0);
} }
int b3RobotSimulatorClientAPI_NoGUI::createConstraint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo) int b3RobotSimulatorClientAPI_NoDirect::createConstraint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo)
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -579,7 +558,7 @@ int b3RobotSimulatorClientAPI_NoGUI::createConstraint(int parentBodyIndex, int p
return -1; return -1;
} }
int b3RobotSimulatorClientAPI_NoGUI::changeConstraint(int constraintId, b3JointInfo* jointInfo) int b3RobotSimulatorClientAPI_NoDirect::changeConstraint(int constraintId, b3JointInfo* jointInfo)
{ {
if (!isConnected()) if (!isConnected())
@@ -608,7 +587,7 @@ int b3RobotSimulatorClientAPI_NoGUI::changeConstraint(int constraintId, b3JointI
return statusType; return statusType;
} }
void b3RobotSimulatorClientAPI_NoGUI::removeConstraint(int constraintId) void b3RobotSimulatorClientAPI_NoDirect::removeConstraint(int constraintId)
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -621,7 +600,7 @@ void b3RobotSimulatorClientAPI_NoGUI::removeConstraint(int constraintId)
} }
bool b3RobotSimulatorClientAPI_NoGUI::getJointState(int bodyUniqueId, int jointIndex, struct b3JointSensorState* state) bool b3RobotSimulatorClientAPI_NoDirect::getJointState(int bodyUniqueId, int jointIndex, struct b3JointSensorState* state)
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -641,7 +620,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getJointState(int bodyUniqueId, int jointI
return false; return false;
} }
bool b3RobotSimulatorClientAPI_NoGUI::getJointStates(int bodyUniqueId, b3JointStates2& state) bool b3RobotSimulatorClientAPI_NoDirect::getJointStates(int bodyUniqueId, b3JointStates2& state)
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -700,7 +679,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getJointStates(int bodyUniqueId, b3JointSt
return false; return false;
} }
bool b3RobotSimulatorClientAPI_NoGUI::resetJointState(int bodyUniqueId, int jointIndex, double targetValue) bool b3RobotSimulatorClientAPI_NoDirect::resetJointState(int bodyUniqueId, int jointIndex, double targetValue)
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -726,7 +705,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::resetJointState(int bodyUniqueId, int join
return false; return false;
} }
void b3RobotSimulatorClientAPI_NoGUI::setJointMotorControl(int bodyUniqueId, int jointIndex, const b3RobotSimulatorJointMotorArgs& args) void b3RobotSimulatorClientAPI_NoDirect::setJointMotorControl(int bodyUniqueId, int jointIndex, const b3RobotSimulatorJointMotorArgs& args)
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -781,7 +760,7 @@ void b3RobotSimulatorClientAPI_NoGUI::setJointMotorControl(int bodyUniqueId, int
} }
} }
void b3RobotSimulatorClientAPI_NoGUI::setNumSolverIterations(int numIterations) void b3RobotSimulatorClientAPI_NoDirect::setNumSolverIterations(int numIterations)
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -795,7 +774,7 @@ void b3RobotSimulatorClientAPI_NoGUI::setNumSolverIterations(int numIterations)
btAssert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED); btAssert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
} }
void b3RobotSimulatorClientAPI_NoGUI::setContactBreakingThreshold(double threshold) void b3RobotSimulatorClientAPI_NoDirect::setContactBreakingThreshold(double threshold)
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -810,7 +789,7 @@ void b3RobotSimulatorClientAPI_NoGUI::setContactBreakingThreshold(double thresho
} }
void b3RobotSimulatorClientAPI_NoGUI::setTimeStep(double timeStepInSeconds) void b3RobotSimulatorClientAPI_NoDirect::setTimeStep(double timeStepInSeconds)
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -825,7 +804,7 @@ void b3RobotSimulatorClientAPI_NoGUI::setTimeStep(double timeStepInSeconds)
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command); statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
} }
void b3RobotSimulatorClientAPI_NoGUI::setNumSimulationSubSteps(int numSubSteps) void b3RobotSimulatorClientAPI_NoDirect::setNumSimulationSubSteps(int numSubSteps)
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -839,7 +818,7 @@ void b3RobotSimulatorClientAPI_NoGUI::setNumSimulationSubSteps(int numSubSteps)
btAssert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED); btAssert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
} }
bool b3RobotSimulatorClientAPI_NoGUI::calculateInverseKinematics(const struct b3RobotSimulatorInverseKinematicArgs& args, struct b3RobotSimulatorInverseKinematicsResults& results) bool b3RobotSimulatorClientAPI_NoDirect::calculateInverseKinematics(const struct b3RobotSimulatorInverseKinematicArgs& args, struct b3RobotSimulatorInverseKinematicsResults& results)
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -892,7 +871,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::calculateInverseKinematics(const struct b3
return result; return result;
} }
bool b3RobotSimulatorClientAPI_NoGUI::getBodyJacobian(int bodyUniqueId, int linkIndex, const double* localPosition, const double* jointPositions, const double* jointVelocities, const double* jointAccelerations, double* linearJacobian, double* angularJacobian) bool b3RobotSimulatorClientAPI_NoDirect::getBodyJacobian(int bodyUniqueId, int linkIndex, const double* localPosition, const double* jointPositions, const double* jointVelocities, const double* jointAccelerations, double* linearJacobian, double* angularJacobian)
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -912,7 +891,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getBodyJacobian(int bodyUniqueId, int link
} }
bool b3RobotSimulatorClientAPI_NoGUI::getLinkState(int bodyUniqueId, int linkIndex, b3LinkState* linkState) bool b3RobotSimulatorClientAPI_NoDirect::getLinkState(int bodyUniqueId, int linkIndex, b3LinkState* linkState)
{ {
bool computeLinkVelocity = true; bool computeLinkVelocity = true;
bool computeForwardKinematics = true; bool computeForwardKinematics = true;
@@ -920,7 +899,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getLinkState(int bodyUniqueId, int linkInd
return getLinkState(bodyUniqueId, linkIndex, computeLinkVelocity, computeForwardKinematics, linkState); return getLinkState(bodyUniqueId, linkIndex, computeLinkVelocity, computeForwardKinematics, linkState);
} }
bool b3RobotSimulatorClientAPI_NoGUI::getLinkState(int bodyUniqueId, int linkIndex, int computeLinkVelocity, int computeForwardKinematics, b3LinkState* linkState) bool b3RobotSimulatorClientAPI_NoDirect::getLinkState(int bodyUniqueId, int linkIndex, int computeLinkVelocity, int computeForwardKinematics, b3LinkState* linkState)
{ {
if (!isConnected()) { if (!isConnected()) {
b3Warning("Not connected"); b3Warning("Not connected");
@@ -946,7 +925,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getLinkState(int bodyUniqueId, int linkInd
return false; return false;
} }
void b3RobotSimulatorClientAPI_NoGUI::configureDebugVisualizer(b3ConfigureDebugVisualizerEnum flag, int enable) void b3RobotSimulatorClientAPI_NoDirect::configureDebugVisualizer(b3ConfigureDebugVisualizerEnum flag, int enable)
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -958,7 +937,7 @@ void b3RobotSimulatorClientAPI_NoGUI::configureDebugVisualizer(b3ConfigureDebugV
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle); b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
} }
void b3RobotSimulatorClientAPI_NoGUI::getVREvents(b3VREventsData* vrEventsData,int deviceTypeFilter) void b3RobotSimulatorClientAPI_NoDirect::getVREvents(b3VREventsData* vrEventsData,int deviceTypeFilter)
{ {
vrEventsData->m_numControllerEvents = 0; vrEventsData->m_numControllerEvents = 0;
vrEventsData->m_controllerEvents = 0; vrEventsData->m_controllerEvents = 0;
@@ -974,7 +953,7 @@ void b3RobotSimulatorClientAPI_NoGUI::getVREvents(b3VREventsData* vrEventsData,i
b3GetVREventsData(m_data->m_physicsClientHandle, vrEventsData); b3GetVREventsData(m_data->m_physicsClientHandle, vrEventsData);
} }
void b3RobotSimulatorClientAPI_NoGUI::getKeyboardEvents(b3KeyboardEventsData* keyboardEventsData) void b3RobotSimulatorClientAPI_NoDirect::getKeyboardEvents(b3KeyboardEventsData* keyboardEventsData)
{ {
keyboardEventsData->m_numKeyboardEvents = 0; keyboardEventsData->m_numKeyboardEvents = 0;
keyboardEventsData->m_keyboardEvents = 0; keyboardEventsData->m_keyboardEvents = 0;
@@ -989,7 +968,7 @@ void b3RobotSimulatorClientAPI_NoGUI::getKeyboardEvents(b3KeyboardEventsData* ke
b3GetKeyboardEventsData(m_data->m_physicsClientHandle, keyboardEventsData); b3GetKeyboardEventsData(m_data->m_physicsClientHandle, keyboardEventsData);
} }
int b3RobotSimulatorClientAPI_NoGUI::startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const btAlignedObjectArray<int>& objectUniqueIds, int maxLogDof) int b3RobotSimulatorClientAPI_NoDirect::startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const btAlignedObjectArray<int>& objectUniqueIds, int maxLogDof)
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -1024,7 +1003,7 @@ int b3RobotSimulatorClientAPI_NoGUI::startStateLogging(b3StateLoggingType loggin
return loggingUniqueId; return loggingUniqueId;
} }
void b3RobotSimulatorClientAPI_NoGUI::stopStateLogging(int stateLoggerUniqueId) void b3RobotSimulatorClientAPI_NoDirect::stopStateLogging(int stateLoggerUniqueId)
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -1039,7 +1018,7 @@ void b3RobotSimulatorClientAPI_NoGUI::stopStateLogging(int stateLoggerUniqueId)
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle); statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
} }
void b3RobotSimulatorClientAPI_NoGUI::resetDebugVisualizerCamera(double cameraDistance, double cameraPitch, double cameraYaw, const btVector3& targetPos) void b3RobotSimulatorClientAPI_NoDirect::resetDebugVisualizerCamera(double cameraDistance, double cameraPitch, double cameraYaw, const btVector3& targetPos)
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -1060,7 +1039,7 @@ void b3RobotSimulatorClientAPI_NoGUI::resetDebugVisualizerCamera(double cameraDi
} }
} }
void b3RobotSimulatorClientAPI_NoGUI::submitProfileTiming(const std::string& profileName, int durationInMicroSeconds) void b3RobotSimulatorClientAPI_NoDirect::submitProfileTiming(const std::string& profileName, int durationInMicroSeconds)
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -1076,7 +1055,7 @@ void b3RobotSimulatorClientAPI_NoGUI::submitProfileTiming(const std::string& pr
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle); b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
} }
void b3RobotSimulatorClientAPI_NoGUI::loadSoftBody(const std::string& fileName, double scale, double mass, double collisionMargin) void b3RobotSimulatorClientAPI_NoDirect::loadSoftBody(const std::string& fileName, double scale, double mass, double collisionMargin)
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -1091,7 +1070,7 @@ void b3RobotSimulatorClientAPI_NoGUI::loadSoftBody(const std::string& fileName,
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command); b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
} }
void b3RobotSimulatorClientAPI_NoGUI::getMouseEvents(b3MouseEventsData* mouseEventsData) void b3RobotSimulatorClientAPI_NoDirect::getMouseEvents(b3MouseEventsData* mouseEventsData)
{ {
mouseEventsData->m_numMouseEvents = 0; mouseEventsData->m_numMouseEvents = 0;
mouseEventsData->m_mouseEvents = 0; mouseEventsData->m_mouseEvents = 0;
@@ -1106,7 +1085,7 @@ void b3RobotSimulatorClientAPI_NoGUI::getMouseEvents(b3MouseEventsData* mouseEve
} }
bool b3RobotSimulatorClientAPI_NoGUI::getCameraImage(int width, int height, struct b3RobotSimulatorGetCameraImageArgs args, struct b3CameraImageData &imageData) bool b3RobotSimulatorClientAPI_NoDirect::getCameraImage(int width, int height, struct b3RobotSimulatorGetCameraImageArgs args, struct b3CameraImageData &imageData)
{ {
if (!isConnected()) { if (!isConnected()) {
b3Warning("Not connected"); b3Warning("Not connected");
@@ -1172,7 +1151,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getCameraImage(int width, int height, stru
return true; return true;
} }
bool b3RobotSimulatorClientAPI_NoGUI::calculateInverseDynamics(int bodyUniqueId, double *jointPositions, double *jointVelocities, bool b3RobotSimulatorClientAPI_NoDirect::calculateInverseDynamics(int bodyUniqueId, double *jointPositions, double *jointVelocities,
double *jointAccelerations, double *jointForcesOutput) double *jointAccelerations, double *jointForcesOutput)
{ {
if (!isConnected()) { if (!isConnected()) {
@@ -1204,7 +1183,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::calculateInverseDynamics(int bodyUniqueId,
return false; return false;
} }
int b3RobotSimulatorClientAPI_NoGUI::getNumBodies() const int b3RobotSimulatorClientAPI_NoDirect::getNumBodies() const
{ {
if (!isConnected()) { if (!isConnected()) {
b3Warning("Not connected"); b3Warning("Not connected");
@@ -1213,7 +1192,7 @@ int b3RobotSimulatorClientAPI_NoGUI::getNumBodies() const
return b3GetNumBodies(m_data->m_physicsClientHandle); return b3GetNumBodies(m_data->m_physicsClientHandle);
} }
int b3RobotSimulatorClientAPI_NoGUI::getBodyUniqueId(int bodyId) const int b3RobotSimulatorClientAPI_NoDirect::getBodyUniqueId(int bodyId) const
{ {
if (!isConnected()) { if (!isConnected()) {
b3Warning("Not connected"); b3Warning("Not connected");
@@ -1222,7 +1201,7 @@ int b3RobotSimulatorClientAPI_NoGUI::getBodyUniqueId(int bodyId) const
return b3GetBodyUniqueId(m_data->m_physicsClientHandle, bodyId); return b3GetBodyUniqueId(m_data->m_physicsClientHandle, bodyId);
} }
bool b3RobotSimulatorClientAPI_NoGUI::removeBody(int bodyUniqueId) bool b3RobotSimulatorClientAPI_NoDirect::removeBody(int bodyUniqueId)
{ {
if (!isConnected()) { if (!isConnected()) {
b3Warning("Not connected"); b3Warning("Not connected");
@@ -1246,7 +1225,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::removeBody(int bodyUniqueId)
return false; return false;
} }
bool b3RobotSimulatorClientAPI_NoGUI::getDynamicsInfo(int bodyUniqueId, int linkIndex, b3DynamicsInfo *dynamicsInfo) { bool b3RobotSimulatorClientAPI_NoDirect::getDynamicsInfo(int bodyUniqueId, int linkIndex, b3DynamicsInfo *dynamicsInfo) {
if (!isConnected()) { if (!isConnected()) {
b3Warning("Not connected"); b3Warning("Not connected");
return false; return false;
@@ -1282,7 +1261,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getDynamicsInfo(int bodyUniqueId, int link
} }
bool b3RobotSimulatorClientAPI_NoGUI::changeDynamics(int bodyUniqueId, int linkIndex, struct b3RobotSimulatorChangeDynamicsArgs &args) bool b3RobotSimulatorClientAPI_NoDirect::changeDynamics(int bodyUniqueId, int linkIndex, struct b3RobotSimulatorChangeDynamicsArgs &args)
{ {
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle; b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) { if (sm == 0) {
@@ -1331,7 +1310,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::changeDynamics(int bodyUniqueId, int linkI
return true; return true;
} }
int b3RobotSimulatorClientAPI_NoGUI::addUserDebugParameter(char * paramName, double rangeMin, double rangeMax, double startValue) { int b3RobotSimulatorClientAPI_NoDirect::addUserDebugParameter(char * paramName, double rangeMin, double rangeMax, double startValue) {
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle; b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) { if (sm == 0) {
b3Warning("Not connected to physics server."); b3Warning("Not connected to physics server.");
@@ -1354,7 +1333,7 @@ int b3RobotSimulatorClientAPI_NoGUI::addUserDebugParameter(char * paramName, dou
} }
double b3RobotSimulatorClientAPI_NoGUI::readUserDebugParameter(int itemUniqueId) { double b3RobotSimulatorClientAPI_NoDirect::readUserDebugParameter(int itemUniqueId) {
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle; b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) { if (sm == 0) {
b3Warning("Not connected to physics server."); b3Warning("Not connected to physics server.");
@@ -1380,7 +1359,7 @@ double b3RobotSimulatorClientAPI_NoGUI::readUserDebugParameter(int itemUniqueId)
} }
bool b3RobotSimulatorClientAPI_NoGUI::removeUserDebugItem(int itemUniqueId) { bool b3RobotSimulatorClientAPI_NoDirect::removeUserDebugItem(int itemUniqueId) {
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle; b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) { if (sm == 0) {
b3Warning("Not connected to physics server."); b3Warning("Not connected to physics server.");
@@ -1397,7 +1376,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::removeUserDebugItem(int itemUniqueId) {
} }
int b3RobotSimulatorClientAPI_NoGUI::addUserDebugText(char *text, double *textPosition, struct b3RobotSimulatorAddUserDebugTextArgs & args) int b3RobotSimulatorClientAPI_NoDirect::addUserDebugText(char *text, double *textPosition, struct b3RobotSimulatorAddUserDebugTextArgs & args)
{ {
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle; b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) { if (sm == 0) {
@@ -1429,7 +1408,7 @@ int b3RobotSimulatorClientAPI_NoGUI::addUserDebugText(char *text, double *textPo
return -1; return -1;
} }
int b3RobotSimulatorClientAPI_NoGUI::addUserDebugText(char *text, btVector3 &textPosition, struct b3RobotSimulatorAddUserDebugTextArgs & args) int b3RobotSimulatorClientAPI_NoDirect::addUserDebugText(char *text, btVector3 &textPosition, struct b3RobotSimulatorAddUserDebugTextArgs & args)
{ {
double dposXYZ[3]; double dposXYZ[3];
dposXYZ[0] = textPosition.x(); dposXYZ[0] = textPosition.x();
@@ -1439,7 +1418,7 @@ int b3RobotSimulatorClientAPI_NoGUI::addUserDebugText(char *text, btVector3 &tex
return addUserDebugText(text, &dposXYZ[0], args); return addUserDebugText(text, &dposXYZ[0], args);
} }
int b3RobotSimulatorClientAPI_NoGUI::addUserDebugLine(double *fromXYZ, double *toXYZ, struct b3RobotSimulatorAddUserDebugLineArgs & args) int b3RobotSimulatorClientAPI_NoDirect::addUserDebugLine(double *fromXYZ, double *toXYZ, struct b3RobotSimulatorAddUserDebugLineArgs & args)
{ {
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle; b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) { if (sm == 0) {
@@ -1467,7 +1446,7 @@ int b3RobotSimulatorClientAPI_NoGUI::addUserDebugLine(double *fromXYZ, double *t
return -1; return -1;
} }
int b3RobotSimulatorClientAPI_NoGUI::addUserDebugLine(btVector3 &fromXYZ, btVector3 &toXYZ, struct b3RobotSimulatorAddUserDebugLineArgs & args) int b3RobotSimulatorClientAPI_NoDirect::addUserDebugLine(btVector3 &fromXYZ, btVector3 &toXYZ, struct b3RobotSimulatorAddUserDebugLineArgs & args)
{ {
double dfromXYZ[3]; double dfromXYZ[3];
double dtoXYZ[3]; double dtoXYZ[3];
@@ -1483,7 +1462,7 @@ int b3RobotSimulatorClientAPI_NoGUI::addUserDebugLine(btVector3 &fromXYZ, btVect
bool b3RobotSimulatorClientAPI_NoGUI::setJointMotorControlArray(int bodyUniqueId, struct b3RobotSimulatorJointMotorArrayArgs &args) bool b3RobotSimulatorClientAPI_NoDirect::setJointMotorControlArray(int bodyUniqueId, struct b3RobotSimulatorJointMotorArrayArgs &args)
{ {
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle; b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) { if (sm == 0) {
@@ -1565,7 +1544,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::setJointMotorControlArray(int bodyUniqueId
} }
bool b3RobotSimulatorClientAPI_NoGUI::setPhysicsEngineParameter(struct b3RobotSimulatorSetPhysicsEngineParameters &args) bool b3RobotSimulatorClientAPI_NoDirect::setPhysicsEngineParameter(struct b3RobotSimulatorSetPhysicsEngineParameters &args)
{ {
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle; b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) { if (sm == 0) {
@@ -1636,7 +1615,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::setPhysicsEngineParameter(struct b3RobotSi
} }
bool b3RobotSimulatorClientAPI_NoGUI::applyExternalForce(int objectUniqueId, int linkIndex, double *force, double *position, int flags) bool b3RobotSimulatorClientAPI_NoDirect::applyExternalForce(int objectUniqueId, int linkIndex, double *force, double *position, int flags)
{ {
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle; b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) { if (sm == 0) {
@@ -1652,7 +1631,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::applyExternalForce(int objectUniqueId, int
return true; return true;
} }
bool b3RobotSimulatorClientAPI_NoGUI::applyExternalForce(int objectUniqueId, int linkIndex, btVector3 &force, btVector3 &position, int flags) bool b3RobotSimulatorClientAPI_NoDirect::applyExternalForce(int objectUniqueId, int linkIndex, btVector3 &force, btVector3 &position, int flags)
{ {
double dforce[3]; double dforce[3];
double dposition[3]; double dposition[3];
@@ -1669,7 +1648,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::applyExternalForce(int objectUniqueId, int
} }
bool b3RobotSimulatorClientAPI_NoGUI::applyExternalTorque(int objectUniqueId, int linkIndex, double *torque, int flags) bool b3RobotSimulatorClientAPI_NoDirect::applyExternalTorque(int objectUniqueId, int linkIndex, double *torque, int flags)
{ {
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle; b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) { if (sm == 0) {
@@ -1685,7 +1664,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::applyExternalTorque(int objectUniqueId, in
return true; return true;
} }
bool b3RobotSimulatorClientAPI_NoGUI::applyExternalTorque(int objectUniqueId, int linkIndex, btVector3 &torque, int flags) bool b3RobotSimulatorClientAPI_NoDirect::applyExternalTorque(int objectUniqueId, int linkIndex, btVector3 &torque, int flags)
{ {
double dtorque[3]; double dtorque[3];
@@ -1697,7 +1676,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::applyExternalTorque(int objectUniqueId, in
} }
bool b3RobotSimulatorClientAPI_NoGUI::enableJointForceTorqueSensor(int bodyUniqueId, int jointIndex, bool enable) bool b3RobotSimulatorClientAPI_NoDirect::enableJointForceTorqueSensor(int bodyUniqueId, int jointIndex, bool enable)
{ {
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle; b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) { if (sm == 0) {
@@ -1723,7 +1702,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::enableJointForceTorqueSensor(int bodyUniq
return false; return false;
} }
bool b3RobotSimulatorClientAPI_NoGUI::getDebugVisualizerCamera(struct b3OpenGLVisualizerCameraInfo *cameraInfo) bool b3RobotSimulatorClientAPI_NoDirect::getDebugVisualizerCamera(struct b3OpenGLVisualizerCameraInfo *cameraInfo)
{ {
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle; b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) { if (sm == 0) {
@@ -1744,7 +1723,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getDebugVisualizerCamera(struct b3OpenGLVi
return false; return false;
} }
bool b3RobotSimulatorClientAPI_NoGUI::getContactPoints(struct b3RobotSimulatorGetContactPointsArgs &args, struct b3ContactInformation *contactInfo) bool b3RobotSimulatorClientAPI_NoDirect::getContactPoints(struct b3RobotSimulatorGetContactPointsArgs &args, struct b3ContactInformation *contactInfo)
{ {
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle; b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) { if (sm == 0) {
@@ -1780,7 +1759,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getContactPoints(struct b3RobotSimulatorGe
return false; return false;
} }
bool b3RobotSimulatorClientAPI_NoGUI::getClosestPoints(struct b3RobotSimulatorGetContactPointsArgs &args, double distance, struct b3ContactInformation *contactInfo) bool b3RobotSimulatorClientAPI_NoDirect::getClosestPoints(struct b3RobotSimulatorGetContactPointsArgs &args, double distance, struct b3ContactInformation *contactInfo)
{ {
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle; b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) { if (sm == 0) {
@@ -1815,7 +1794,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getClosestPoints(struct b3RobotSimulatorGe
} }
bool b3RobotSimulatorClientAPI_NoGUI::getOverlappingObjects(double *aabbMin, double *aabbMax, struct b3AABBOverlapData *overlapData) bool b3RobotSimulatorClientAPI_NoDirect::getOverlappingObjects(double *aabbMin, double *aabbMax, struct b3AABBOverlapData *overlapData)
{ {
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle; b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) { if (sm == 0) {
@@ -1834,7 +1813,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getOverlappingObjects(double *aabbMin, dou
} }
bool b3RobotSimulatorClientAPI_NoGUI::getOverlappingObjects(btVector3 &aabbMin, btVector3 &aabbMax, struct b3AABBOverlapData *overlapData) bool b3RobotSimulatorClientAPI_NoDirect::getOverlappingObjects(btVector3 &aabbMin, btVector3 &aabbMax, struct b3AABBOverlapData *overlapData)
{ {
double daabbMin[3]; double daabbMin[3];
double daabbMax[3]; double daabbMax[3];
@@ -1852,7 +1831,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getOverlappingObjects(btVector3 &aabbMin,
bool b3RobotSimulatorClientAPI_NoGUI::getAABB(int bodyUniqueId, int linkIndex, double *aabbMin, double *aabbMax) bool b3RobotSimulatorClientAPI_NoDirect::getAABB(int bodyUniqueId, int linkIndex, double *aabbMin, double *aabbMax)
{ {
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle; b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) { if (sm == 0) {
@@ -1891,7 +1870,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getAABB(int bodyUniqueId, int linkIndex, d
return false; return false;
} }
bool b3RobotSimulatorClientAPI_NoGUI::getAABB(int bodyUniqueId, int linkIndex, btVector3 &aabbMin, btVector3 &aabbMax) bool b3RobotSimulatorClientAPI_NoDirect::getAABB(int bodyUniqueId, int linkIndex, btVector3 &aabbMin, btVector3 &aabbMax)
{ {
double daabbMin[3]; double daabbMin[3];
double daabbMax[3]; double daabbMax[3];
@@ -1910,7 +1889,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getAABB(int bodyUniqueId, int linkIndex, b
} }
int b3RobotSimulatorClientAPI_NoGUI::createCollisionShape(int shapeType, struct b3RobotSimulatorCreateCollisionShapeArgs &args) int b3RobotSimulatorClientAPI_NoDirect::createCollisionShape(int shapeType, struct b3RobotSimulatorCreateCollisionShapeArgs &args)
{ {
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle; b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) { if (sm == 0) {
@@ -1962,7 +1941,7 @@ int b3RobotSimulatorClientAPI_NoGUI::createCollisionShape(int shapeType, struct
return -1; return -1;
} }
int b3RobotSimulatorClientAPI_NoGUI::createMultiBody(struct b3RobotSimulatorCreateMultiBodyArgs &args) int b3RobotSimulatorClientAPI_NoDirect::createMultiBody(struct b3RobotSimulatorCreateMultiBodyArgs &args)
{ {
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle; b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) { if (sm == 0) {
@@ -2035,7 +2014,7 @@ int b3RobotSimulatorClientAPI_NoGUI::createMultiBody(struct b3RobotSimulatorCrea
return -1; return -1;
} }
int b3RobotSimulatorClientAPI_NoGUI::getNumConstraints() const int b3RobotSimulatorClientAPI_NoDirect::getNumConstraints() const
{ {
if (!isConnected()) { if (!isConnected()) {
b3Warning("Not connected"); b3Warning("Not connected");
@@ -2044,7 +2023,7 @@ int b3RobotSimulatorClientAPI_NoGUI::getNumConstraints() const
return b3GetNumUserConstraints(m_data->m_physicsClientHandle); return b3GetNumUserConstraints(m_data->m_physicsClientHandle);
} }
int b3RobotSimulatorClientAPI_NoGUI::getConstraintUniqueId(int serialIndex) int b3RobotSimulatorClientAPI_NoDirect::getConstraintUniqueId(int serialIndex)
{ {
if (!isConnected()) { if (!isConnected()) {
b3Warning("Not connected"); b3Warning("Not connected");
@@ -2057,17 +2036,24 @@ int b3RobotSimulatorClientAPI_NoGUI::getConstraintUniqueId(int serialIndex)
void b3RobotSimulatorClientAPI_NoGUI::setGuiHelper(struct GUIHelperInterface* guiHelper) void b3RobotSimulatorClientAPI_NoDirect::setGuiHelper(struct GUIHelperInterface* guiHelper)
{ {
m_data->m_guiHelper = guiHelper; m_data->m_guiHelper = guiHelper;
} }
struct GUIHelperInterface* b3RobotSimulatorClientAPI_NoGUI::getGuiHelper()
struct GUIHelperInterface* b3RobotSimulatorClientAPI_NoDirect::getGuiHelper()
{ {
return m_data->m_guiHelper; return m_data->m_guiHelper;
} }
bool b3RobotSimulatorClientAPI_NoGUI::getCollisionShapeData(int bodyUniqueId, int linkIndex, void b3RobotSimulatorClientAPI_NoDirect::setInternalData(struct b3RobotSimulatorClientAPI_InternalData* data)
{
*m_data = *data;
}
bool b3RobotSimulatorClientAPI_NoDirect::getCollisionShapeData(int bodyUniqueId, int linkIndex,
b3CollisionShapeInformation &collisionShapeInfo) b3CollisionShapeInformation &collisionShapeInfo)
{ {
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle; b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
@@ -2092,7 +2078,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getCollisionShapeData(int bodyUniqueId, in
return true; return true;
} }
bool b3RobotSimulatorClientAPI_NoGUI::getVisualShapeData(int bodyUniqueId, b3VisualShapeInformation &visualShapeInfo) bool b3RobotSimulatorClientAPI_NoDirect::getVisualShapeData(int bodyUniqueId, b3VisualShapeInformation &visualShapeInfo)
{ {
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle; b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) { if (sm == 0) {

24
examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.h → examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
View File

@@ -1,5 +1,9 @@
#ifndef B3_ROBOT_SIMULATOR_CLIENT_API_H #ifndef B3_ROBOT_SIMULATOR_CLIENT_API_NO_DIRECT_H
#define B3_ROBOT_SIMULATOR_CLIENT_API_H #define B3_ROBOT_SIMULATOR_CLIENT_API_NO_DIRECT_H
///The b3RobotSimulatorClientAPI is pretty much the C++ version of pybullet
///as documented in the pybullet Quickstart Guide
///https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA
#include "SharedMemoryPublic.h" #include "SharedMemoryPublic.h"
#include "LinearMath/btVector3.h" #include "LinearMath/btVector3.h"
@@ -404,11 +408,7 @@ struct b3RobotSimulatorCreateMultiBodyArgs
}; };
class b3RobotSimulatorClientAPI_NoDirect
///The b3RobotSimulatorClientAPI is pretty much the C++ version of pybullet
///as documented in the pybullet Quickstart Guide
///https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA
class b3RobotSimulatorClientAPI_NoGUI
{ {
protected: protected:
@@ -416,8 +416,8 @@ protected:
public: public:
b3RobotSimulatorClientAPI_NoGUI(); b3RobotSimulatorClientAPI_NoDirect();
virtual ~b3RobotSimulatorClientAPI_NoGUI(); virtual ~b3RobotSimulatorClientAPI_NoDirect();
bool connect(int mode, const std::string& hostName = "localhost", int portOrKey = -1); bool connect(int mode, const std::string& hostName = "localhost", int portOrKey = -1);
@@ -580,6 +580,10 @@ public:
bool getVisualShapeData(int bodyUniqueId, b3VisualShapeInformation &visualShapeInfo); bool getVisualShapeData(int bodyUniqueId, b3VisualShapeInformation &visualShapeInfo);
virtual void setInternalData(struct b3RobotSimulatorClientAPI_InternalData* data);
}; };
#endif //B3_ROBOT_SIMULATOR_CLIENT_API_H
#endif //B3_ROBOT_SIMULATOR_CLIENT_API_NO_DIRECT_H

112
examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp Normal file
View File

@@ -0,0 +1,112 @@
#include "b3RobotSimulatorClientAPI_NoGUI.h"
#include "PhysicsClientC_API.h"
#include "b3RobotSimulatorClientAPI_InternalData.h"
#ifdef BT_ENABLE_ENET
#include "PhysicsClientUDP_C_API.h"
#endif //PHYSICS_UDP
#ifdef BT_ENABLE_CLSOCKET
#include "PhysicsClientTCP_C_API.h"
#endif //PHYSICS_TCP
#ifndef BT_DISABLE_PHYSICS_DIRECT
#include "PhysicsDirectC_API.h"
#endif //BT_DISABLE_PHYSICS_DIRECT
#include "SharedMemoryPublic.h"
#include "Bullet3Common/b3Logging.h"
b3RobotSimulatorClientAPI_NoGUI::b3RobotSimulatorClientAPI_NoGUI()
{
}
b3RobotSimulatorClientAPI_NoGUI::~b3RobotSimulatorClientAPI_NoGUI()
{
}
bool b3RobotSimulatorClientAPI_NoGUI::connect(int mode, const std::string& hostName, int portOrKey)
{
if (m_data->m_physicsClientHandle)
{
b3Warning("Already connected, disconnect first.");
return false;
}
b3PhysicsClientHandle sm = 0;
int udpPort = 1234;
int tcpPort = 6667;
int key = SHARED_MEMORY_KEY;
bool connected = false;
switch (mode)
{
case eCONNECT_DIRECT:
{
#ifndef BT_DISABLE_PHYSICS_DIRECT
sm = b3ConnectPhysicsDirect();
#endif //BT_DISABLE_PHYSICS_DIRECT
break;
}
case eCONNECT_SHARED_MEMORY:
{
if (portOrKey >= 0)
{
key = portOrKey;
}
sm = b3ConnectSharedMemory(key);
break;
}
case eCONNECT_UDP:
{
if (portOrKey >= 0)
{
udpPort = portOrKey;
}
#ifdef BT_ENABLE_ENET
sm = b3ConnectPhysicsUDP(hostName.c_str(), udpPort);
#else
b3Warning("UDP is not enabled in this build");
#endif //BT_ENABLE_ENET
break;
}
case eCONNECT_TCP:
{
if (portOrKey >= 0)
{
tcpPort = portOrKey;
}
#ifdef BT_ENABLE_CLSOCKET
sm = b3ConnectPhysicsTCP(hostName.c_str(), tcpPort);
#else
b3Warning("TCP is not enabled in this pybullet build");
#endif //BT_ENABLE_CLSOCKET
break;
}
default:
{
b3Warning("connectPhysicsServer unexpected argument");
}
};
if (sm)
{
m_data->m_physicsClientHandle = sm;
if (!b3CanSubmitCommand(m_data->m_physicsClientHandle))
{
disconnect();
return false;
}
return true;
}
return false;
}

22
examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h Normal file
View File

@@ -0,0 +1,22 @@
#ifndef B3_ROBOT_SIMULATOR_CLIENT_API_H
#define B3_ROBOT_SIMULATOR_CLIENT_API_H
#include "b3RobotSimulatorClientAPI_NoDirect.h"
///The b3RobotSimulatorClientAPI is pretty much the C++ version of pybullet
///as documented in the pybullet Quickstart Guide
///https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA
class b3RobotSimulatorClientAPI_NoGUI : public b3RobotSimulatorClientAPI_NoDirect
{
public:
b3RobotSimulatorClientAPI_NoGUI();
virtual ~b3RobotSimulatorClientAPI_NoGUI();
bool connect(int mode, const std::string& hostName = "localhost", int portOrKey = -1);
};
#endif //B3_ROBOT_SIMULATOR_CLIENT_API_H

98
examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp Normal file
View File

@@ -0,0 +1,98 @@
//tinyRendererPlugin implements the TinyRenderer as a plugin
//it is statically linked when using preprocessor #define STATIC_LINK_VR_PLUGIN
//otherwise you can dynamically load it using pybullet.loadPlugin
#include "collisionFilterPlugin.h"
#include "../../SharedMemoryPublic.h"
#include "../b3PluginContext.h"
#include <stdio.h>
struct MyClass
{
int m_testData;
MyClass()
:m_testData(42)
{
}
virtual ~MyClass()
{
}
};
B3_SHARED_API int initPlugin_testPlugin(struct b3PluginContext* context)
{
MyClass* obj = new MyClass();
context->m_userPointer = obj;
printf("hi!\n");
return SHARED_MEMORY_MAGIC_NUMBER;
}
B3_SHARED_API int preTickPluginCallback_testPlugin(struct b3PluginContext* context)
{
//apply pd control here, apply forces using the PD gains
return 0;
}
B3_SHARED_API int postTickPluginCallback_testPlugin(struct b3PluginContext* context)
{
MyClass* obj = (MyClass* )context->m_userPointer;
obj->m_testData++;
return 0;
}
B3_SHARED_API int executePluginCommand_testPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
{
//set the PD gains
printf("text argument:%s\n",arguments->m_text);
printf("int args: [");
for (int i=0;i<arguments->m_numInts;i++)
{
printf("%d", arguments->m_ints[i]);
if ((i+1)<arguments->m_numInts)
{
printf(",");
}
}
printf("]\nfloat args: [");
for (int i=0;i<arguments->m_numFloats;i++)
{
printf("%f", arguments->m_floats[i]);
if ((i+1)<arguments->m_numFloats)
{
printf(",");
}
}
printf("]\n");
MyClass* obj = (MyClass*) context->m_userPointer;
b3SharedMemoryStatusHandle statusHandle;
int statusType = -1;
int bodyUniqueId = -1;
b3SharedMemoryCommandHandle command =
b3LoadUrdfCommandInit(context->m_physClient, arguments->m_text);
statusHandle = b3SubmitClientCommandAndWaitStatus(context->m_physClient, command);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_URDF_LOADING_COMPLETED)
{
bodyUniqueId = b3GetStatusBodyIndex(statusHandle);
}
return bodyUniqueId;
}
B3_SHARED_API void exitPlugin_testPlugin(struct b3PluginContext* context)
{
MyClass* obj = (MyClass*) context->m_userPointer;
delete obj;
context->m_userPointer = 0;
printf("bye!\n");
}

25
examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.h Normal file
View File

@@ -0,0 +1,25 @@
#ifndef COLLISION_FILTER_PLUGIN_H
#define COLLISION_FILTER_PLUGIN_H
#include "../b3PluginAPI.h"
#ifdef __cplusplus
extern "C"
{
#endif
//the following 3 APIs are required
B3_SHARED_API int initPlugin_collisionFilterPlugin(struct b3PluginContext* context);
B3_SHARED_API void exitPlugin_collisionFilterPlugin(struct b3PluginContext* context);
B3_SHARED_API int executePluginCommand_collisionFilterPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
//all the APIs below are optional
B3_SHARED_API int preTickPluginCallback_collisionFilterPlugin(struct b3PluginContext* context);
B3_SHARED_API int postTickPluginCallback_collisionFilterPlugin(struct b3PluginContext* context);
#ifdef __cplusplus
};
#endif
#endif//#define COLLISION_FILTER_PLUGIN_H

42
examples/SharedMemory/plugins/collisionFilterPlugin/premake4.lua Normal file
View File

@@ -0,0 +1,42 @@
project ("pybullet_collisionFilterPlugin")
language "C++"
kind "SharedLib"
includedirs {".","../../../../src", "../../../../examples",
"../../../ThirdPartyLibs"}
defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
hasCL = findOpenCL("clew")
links{"BulletFileLoader", "Bullet3Common", "LinearMath"}
if os.is("MacOSX") then
-- targetextension {"so"}
links{"Cocoa.framework","Python"}
end
files {
"collisionFilterPlugin.cpp",
"../../PhysicsClient.cpp",
"../../PhysicsClient.h",
"../../PhysicsClientSharedMemory.cpp",
"../../PhysicsClientSharedMemory.h",
"../../PhysicsClientSharedMemory_C_API.cpp",
"../../PhysicsClientSharedMemory_C_API.h",
"../../PhysicsClientC_API.cpp",
"../../PhysicsClientC_API.h",
"../../Win32SharedMemory.cpp",
"../../Win32SharedMemory.h",
"../../PosixSharedMemory.cpp",
"../../PosixSharedMemory.h",
"../../../Utils/b3Clock.cpp",
"../../../Utils/b3Clock.h",
"../../../Utils/b3ResourcePath.cpp",
"../../../Utils/b3ResourcePath.h",
}

162
examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp Normal file
View File

@@ -0,0 +1,162 @@
#include "pdControlPlugin.h"
#include "../../SharedMemoryPublic.h"
#include "../b3PluginContext.h"
#include <stdio.h>
#include "LinearMath/btScalar.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "../../b3RobotSimulatorClientAPI_NoDirect.h"
#include "../../b3RobotSimulatorClientAPI_InternalData.h"
struct MyPDControl
{
int m_objectUniqueId;
int m_linkIndex;
btScalar m_desiredPosition;
btScalar m_desiredVelocity;
btScalar m_kd;
btScalar m_kp;
btScalar m_maxForce;
};
struct MyPDControlContainer
{
int m_testData;
btAlignedObjectArray<MyPDControl> m_controllers;
b3RobotSimulatorClientAPI_NoDirect m_api;
MyPDControlContainer()
:m_testData(42)
{
}
virtual ~MyPDControlContainer()
{
}
};
B3_SHARED_API int initPlugin_pdControlPlugin(struct b3PluginContext* context)
{
MyPDControlContainer* obj = new MyPDControlContainer();
b3RobotSimulatorClientAPI_InternalData data;
data.m_physicsClientHandle = context->m_physClient;
data.m_guiHelper = 0;
obj->m_api.setInternalData(&data);
context->m_userPointer = obj;
return SHARED_MEMORY_MAGIC_NUMBER;
}
B3_SHARED_API int preTickPluginCallback_pdControlPlugin(struct b3PluginContext* context)
{
//apply pd control here, apply forces using the PD gains
MyPDControlContainer* obj = (MyPDControlContainer*)context->m_userPointer;
for (int i = 0; i < obj->m_controllers.size(); i++)
{
const MyPDControl& pdControl = obj->m_controllers[i];
//compute torque
//apply torque
}
//for each registered pd controller, execute PD control
return 0;
}
B3_SHARED_API int postTickPluginCallback_pdControlPlugin(struct b3PluginContext* context)
{
MyPDControlContainer* obj = (MyPDControlContainer* )context->m_userPointer;
obj->m_testData++;
return 0;
}
B3_SHARED_API int executePluginCommand_pdControlPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
{
MyPDControlContainer* obj = (MyPDControlContainer*)context->m_userPointer;
int numObj = obj->m_api.getNumBodies();
printf("numObj = %d\n", numObj);
//protocol:
//first int is the type of command
//second int is body unique id
//third int is link index
if (arguments->m_numInts != 3)
return -1;
switch (arguments->m_ints[0])
{
case eAddPDControl:
{
if (arguments->m_numFloats < 5)
return -1;
MyPDControl controller;
controller.m_desiredPosition = arguments->m_floats[0];
controller.m_desiredVelocity = arguments->m_floats[1];
controller.m_kd = arguments->m_floats[2];
controller.m_kp = arguments->m_floats[3];
controller.m_maxForce = arguments->m_floats[4];
controller.m_objectUniqueId = arguments->m_ints[1];
controller.m_linkIndex = arguments->m_ints[2];
obj->m_controllers.push_back(controller);
}
case eSetPDControl:
{
if (arguments->m_numFloats < 5)
return -1;
MyPDControl controller;
controller.m_desiredPosition = arguments->m_floats[0];
controller.m_desiredVelocity = arguments->m_floats[1];
controller.m_kd = arguments->m_floats[2];
controller.m_kp = arguments->m_floats[3];
controller.m_maxForce = arguments->m_floats[4];
controller.m_objectUniqueId = arguments->m_ints[1];
controller.m_linkIndex = arguments->m_ints[2];
for (int i = 0; i < obj->m_controllers.size(); i++)
{
if (obj->m_controllers[i].m_objectUniqueId == controller.m_objectUniqueId && obj->m_controllers[i].m_linkIndex == controller.m_linkIndex)
{
obj->m_controllers[i] = controller;
break;
}
}
break;
}
case eRemovePDControl:
{
MyPDControl controller;
controller.m_objectUniqueId = arguments->m_ints[1];
controller.m_linkIndex = arguments->m_ints[2];
for (int i = 0; i < obj->m_controllers.size(); i++)
{
if (obj->m_controllers[i].m_objectUniqueId == controller.m_objectUniqueId && obj->m_controllers[i].m_linkIndex == controller.m_linkIndex)
{
obj->m_controllers.removeAtIndex(i);
break;
}
}
break;
}
default:
{
return -1;
}
}
int result = 42;
return result;
}
B3_SHARED_API void exitPlugin_pdControlPlugin(struct b3PluginContext* context)
{
MyPDControlContainer* obj = (MyPDControlContainer*) context->m_userPointer;
delete obj;
context->m_userPointer = 0;
}

33
examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h Normal file
View File

@@ -0,0 +1,33 @@
#ifndef PID_CONTROL_PLUGIN_H
#define PID_CONTROL_PLUGIN_H
#include "../b3PluginAPI.h"
#ifdef __cplusplus
extern "C"
{
#endif
//the following 3 APIs are required
B3_SHARED_API int initPlugin_pdControlPlugin(struct b3PluginContext* context);
B3_SHARED_API void exitPlugin_pdControlPlugin(struct b3PluginContext* context);
B3_SHARED_API int executePluginCommand_pdControlPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
///
enum PDControlCommandEnum
{
eAddPDControl = 1,
eSetPDControl = 2,
eRemovePDControl = 4,
};
//all the APIs below are optional
B3_SHARED_API int preTickPluginCallback_pdControlPlugin(struct b3PluginContext* context);
B3_SHARED_API int postTickPluginCallback_pdControlPlugin(struct b3PluginContext* context);
#ifdef __cplusplus
};
#endif
#endif//#define PID_CONTROL_PLUGIN_H

44
examples/SharedMemory/plugins/pdControlPlugin/premake4.lua Normal file
View File

@@ -0,0 +1,44 @@
project ("pybullet_pdControlPlugin")
language "C++"
kind "SharedLib"
includedirs {".","../../../../src", "../../../../examples",
"../../../ThirdPartyLibs"}
defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
hasCL = findOpenCL("clew")
links{"BulletFileLoader", "Bullet3Common", "LinearMath"}
if os.is("MacOSX") then
-- targetextension {"so"}
links{"Cocoa.framework","Python"}
end
files {
"pdControlPlugin.cpp",
"../../b3RobotSimulatorClientAPI_NoDirect.cpp",
"../../b3RobotSimulatorClientAPI_NoDirect.h",
"../../PhysicsClient.cpp",
"../../PhysicsClient.h",
"../../PhysicsClientSharedMemory.cpp",
"../../PhysicsClientSharedMemory.h",
"../../PhysicsClientSharedMemory_C_API.cpp",
"../../PhysicsClientSharedMemory_C_API.h",
"../../PhysicsClientC_API.cpp",
"../../PhysicsClientC_API.h",
"../../Win32SharedMemory.cpp",
"../../Win32SharedMemory.h",
"../../PosixSharedMemory.cpp",
"../../PosixSharedMemory.h",
"../../../Utils/b3Clock.cpp",
"../../../Utils/b3Clock.h",
"../../../Utils/b3ResourcePath.cpp",
"../../../Utils/b3ResourcePath.h",
}

56
examples/SharedMemory/plugins/testPlugin/testplugin.cpp
View File

@@ -29,7 +29,7 @@ struct MyClass
} }
}; };
B3_SHARED_API int initPlugin(struct b3PluginContext* context) B3_SHARED_API int initPlugin_testPlugin(struct b3PluginContext* context)
{ {
MyClass* obj = new MyClass(); MyClass* obj = new MyClass();
context->m_userPointer = obj; context->m_userPointer = obj;
@@ -39,67 +39,23 @@ B3_SHARED_API int initPlugin(struct b3PluginContext* context)
} }
B3_SHARED_API int preTickPluginCallback(struct b3PluginContext* context) B3_SHARED_API int preTickPluginCallback_testPlugin(struct b3PluginContext* context)
{ {
MyClass* obj = (MyClass* )context->m_userPointer;
{
b3SharedMemoryCommandHandle commandHandle = b3RequestVREventsCommandInit(context->m_physClient);
int deviceTypeFilter = VR_DEVICE_CONTROLLER;
b3VREventsSetDeviceTypeFilter(commandHandle, deviceTypeFilter);
b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(context->m_physClient, commandHandle);
int statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_REQUEST_VR_EVENTS_DATA_COMPLETED)
{
struct b3VREventsData vrEvents;
int i = 0;
b3GetVREventsData(context->m_physClient, &vrEvents);
if (vrEvents.m_numControllerEvents)
{
//this is only for a test, normally you wouldn't print to the console at each simulation substep!
printf("got %d VR controller events!\n", vrEvents.m_numControllerEvents);
}
}
}
{
b3KeyboardEventsData keyboardEventsData;
b3SharedMemoryCommandHandle commandHandle = b3RequestKeyboardEventsCommandInit(context->m_physClient);
b3SubmitClientCommandAndWaitStatus(context->m_physClient, commandHandle);
b3GetKeyboardEventsData(context->m_physClient, &keyboardEventsData);
if (keyboardEventsData.m_numKeyboardEvents)
{
//this is only for a test, normally you wouldn't print to the console at each simulation substep!
printf("got %d keyboard events\n", keyboardEventsData.m_numKeyboardEvents);
}
}
{
b3MouseEventsData mouseEventsData;
b3SharedMemoryCommandHandle commandHandle = b3RequestMouseEventsCommandInit(context->m_physClient);
b3SubmitClientCommandAndWaitStatus(context->m_physClient, commandHandle);
b3GetMouseEventsData(context->m_physClient, &mouseEventsData);
if (mouseEventsData.m_numMouseEvents)
{
//this is only for a test, normally you wouldn't print to the console at each simulation substep!
printf("got %d mouse events\n", mouseEventsData.m_numMouseEvents);
}
}
return 0; return 0;
} }
B3_SHARED_API int postTickPluginCallback(struct b3PluginContext* context) B3_SHARED_API int postTickPluginCallback_testPlugin(struct b3PluginContext* context)
{ {
MyClass* obj = (MyClass* )context->m_userPointer; MyClass* obj = (MyClass* )context->m_userPointer;
obj->m_testData++; obj->m_testData++;
return 0; return 0;
} }
B3_SHARED_API int executePluginCommand(struct b3PluginContext* context, const struct b3PluginArguments* arguments) B3_SHARED_API int executePluginCommand_testPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
{ {
printf("text argument:%s\n",arguments->m_text); printf("text argument:%s\n",arguments->m_text);
printf("int args: ["); printf("int args: [");
for (int i=0;i<arguments->m_numInts;i++) for (int i=0;i<arguments->m_numInts;i++)
@@ -140,7 +96,7 @@ B3_SHARED_API int executePluginCommand(struct b3PluginContext* context, const st
} }
B3_SHARED_API void exitPlugin(struct b3PluginContext* context) B3_SHARED_API void exitPlugin_testPlugin(struct b3PluginContext* context)
{ {
MyClass* obj = (MyClass*) context->m_userPointer; MyClass* obj = (MyClass*) context->m_userPointer;
delete obj; delete obj;

11
examples/SharedMemory/plugins/testPlugin/testplugin.h
View File

@@ -9,14 +9,13 @@ extern "C"
#endif #endif
//initPlugin, exitPlugin and executePluginCommand are required, otherwise plugin won't load //initPlugin, exitPlugin and executePluginCommand are required, otherwise plugin won't load
B3_SHARED_API int initPlugin(struct b3PluginContext* context); B3_SHARED_API int initPlugin_testPlugin(struct b3PluginContext* context);
B3_SHARED_API void exitPlugin(struct b3PluginContext* context); B3_SHARED_API void exitPlugin_testPlugin(struct b3PluginContext* context);
B3_SHARED_API int executePluginCommand(struct b3PluginContext* context, const struct b3PluginArguments* arguments); B3_SHARED_API int executePluginCommand_testPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
//all the APIs below are optional //all the APIs below are optional
B3_SHARED_API int preTickPluginCallback(struct b3PluginContext* context); B3_SHARED_API int preTickPluginCallback_testPlugin(struct b3PluginContext* context);
B3_SHARED_API int postTickPluginCallback(struct b3PluginContext* context); B3_SHARED_API int postTickPluginCallback_testPlugin(struct b3PluginContext* context);
B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface(struct b3PluginContext* context);
#ifdef __cplusplus #ifdef __cplusplus

3
examples/SharedMemory/premake4.lua
View File

@@ -465,4 +465,7 @@ include "plugins/testPlugin"
include "plugins/vrSyncPlugin" include "plugins/vrSyncPlugin"
include "plugins/tinyRendererPlugin" include "plugins/tinyRendererPlugin"
include "plugins/pdControlPlugin"
include "plugins/collisionFilterPlugin"

2
examples/pybullet/examples/renderPlugin.py
View File

@@ -1,7 +1,7 @@
import pybullet as p import pybullet as p
p.connect(p.GUI) p.connect(p.GUI)
plugin = p.loadPlugin("e:/develop/bullet3/bin/pybullet_tinyRendererPlugin_vs2010_x64_debug.dll","_tinyRendererPlugin") plugin = p.loadPlugin("d:/develop/bullet3/bin/pybullet_testplugin_vs2010_x64_debug.dll","_testPlugin")
print("plugin=",plugin) print("plugin=",plugin)
p.loadURDF("r2d2.urdf") p.loadURDF("r2d2.urdf")

10
examples/pybullet/examples/testPlugin.py Normal file
View File

@@ -0,0 +1,10 @@
import pybullet as p
p.connect(p.GUI)
plugin = p.loadPlugin("D:/develop/bullet3/bin/pybullet_testplugin_vs2010_x64_debug.dll","_testPlugin")
print("plugin=",plugin)
p.executePluginCommand(plugin ,"r2d2.urdf", [1,2,3],[50.0,3.3])
while (1):
p.getCameraImage(320,200)
p.stepSimulation()