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more GRPC work

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This commit is contained in:
erwincoumans
2018-09-03 23:13:15 -07:00
parent 23e84ca9b6
commit 9e2f6c7935
21 changed files with 22906 additions and 780 deletions
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7
examples/SharedMemory/PhysicsClientC_API.h
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@@ -163,6 +163,7 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetContactProcessingThreshold(b3SharedMemo
B3_SHARED_API int b3ChangeDynamicsInfoSetActivationState(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int activationState);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyUniqueId, int parentJointIndex, int childBodyUniqueId, int childJointIndex, struct b3JointInfo* info);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand2(b3SharedMemoryCommandHandle commandHandle, int parentBodyUniqueId, int parentJointIndex, int childBodyUniqueId, int childJointIndex, struct b3JointInfo* info);
///return a unique id for the user constraint, after successful creation, or -1 for an invalid constraint id
B3_SHARED_API int b3GetStatusUserConstraintUniqueId(b3SharedMemoryStatusHandle statusHandle);
@@ -199,6 +200,7 @@ B3_SHARED_API void b3GetDebugLines(b3PhysicsClientHandle physClient, struct b
///configure the 3D OpenGL debug visualizer (enable/disable GUI widgets, shadows, position camera etc)
B3_SHARED_API b3SharedMemoryCommandHandle b3InitConfigureOpenGLVisualizer(b3PhysicsClientHandle physClient);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitConfigureOpenGLVisualizer2(b3SharedMemoryCommandHandle commandHandle);
B3_SHARED_API void b3ConfigureOpenGLVisualizerSetVisualizationFlags(b3SharedMemoryCommandHandle commandHandle, int flag, int enabled);
B3_SHARED_API void b3ConfigureOpenGLVisualizerSetViewMatrix(b3SharedMemoryCommandHandle commandHandle, float cameraDistance, float cameraPitch, float cameraYaw, const float cameraTargetPosition[/*3*/]);
@@ -234,6 +236,7 @@ B3_SHARED_API int b3GetDebugItemUniqueId(b3SharedMemoryStatusHandle statusHandle
///request an image from a simulated camera, using a software renderer.
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestCameraImage2(b3SharedMemoryCommandHandle commandHandle);
B3_SHARED_API void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle commandHandle, float viewMatrix[/*16*/], float projectionMatrix[/*16*/]);
B3_SHARED_API void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle commandHandle, int width, int height );
B3_SHARED_API void b3RequestCameraImageSetLightDirection(b3SharedMemoryCommandHandle commandHandle, const float lightDirection[/*3*/]);
@@ -313,6 +316,7 @@ B3_SHARED_API void b3UpdateVisualShapeSpecularColor(b3SharedMemoryCommandHandle
B3_SHARED_API b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitPhysicsParamCommand2(b3SharedMemoryCommandHandle commandHandle);
B3_SHARED_API int b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz);
B3_SHARED_API int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double timeStep);
B3_SHARED_API int b3PhysicsParamSetDefaultContactERP(b3SharedMemoryCommandHandle commandHandle, double defaultContactERP);
@@ -359,6 +363,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsC
B3_SHARED_API b3SharedMemoryCommandHandle b3InitStepSimulationCommand2(b3SharedMemoryCommandHandle commandHandle);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHandle physClient);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand2(b3SharedMemoryCommandHandle commandHandle);
///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);
@@ -444,6 +449,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3JointControlCommandInit(b3PhysicsCl
///Set joint motor control variables such as desired position/angle, desired velocity,
///applied joint forces, dependent on the control mode (CONTROL_MODE_VELOCITY or CONTROL_MODE_TORQUE)
B3_SHARED_API b3SharedMemoryCommandHandle b3JointControlCommandInit2(b3PhysicsClientHandle physClient, int bodyUniqueId, int controlMode);
B3_SHARED_API b3SharedMemoryCommandHandle b3JointControlCommandInit2Internal(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int controlMode);
///Only use when controlMode is CONTROL_MODE_POSITION_VELOCITY_PD
B3_SHARED_API int b3JointControlSetDesiredPosition(b3SharedMemoryCommandHandle commandHandle, int qIndex, double value);
@@ -609,6 +615,7 @@ B3_SHARED_API int b3SetVRCameraTrackingObject(b3SharedMemoryCommandHandle comman
B3_SHARED_API int b3SetVRCameraTrackingObjectFlag(b3SharedMemoryCommandHandle commandHandle, int flag);
B3_SHARED_API b3SharedMemoryCommandHandle b3RequestKeyboardEventsCommandInit(b3PhysicsClientHandle physClient);
B3_SHARED_API b3SharedMemoryCommandHandle b3RequestKeyboardEventsCommandInit2(b3SharedMemoryCommandHandle commandHandle);
B3_SHARED_API void b3GetKeyboardEventsData(b3PhysicsClientHandle physClient, struct b3KeyboardEventsData* keyboardEventsData);
B3_SHARED_API b3SharedMemoryCommandHandle b3RequestMouseEventsCommandInit(b3PhysicsClientHandle physClient);