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

more work-in-progress on joint-torque sensor sample and server/client shared memory API

Browse Source
This commit is contained in:
erwin coumans
2015-06-22 15:30:57 -07:00
parent 4688540a98
commit b14afba350
6 changed files with 260 additions and 143 deletions
Download Patch File Download Diff File Expand all files Collapse all files

39
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -4,19 +4,29 @@
//this is a very experimental draft of commands. We will iterate on this API (commands, arguments etc)
enum SharedMemoryServerCommand{
enum SharedMemoryServerCommand
{
CMD_URDF_LOADING_COMPLETED,
CMD_URDF_LOADING_FAILED,
CMD_BOX_COLLISION_SHAPE_CREATION_COMPLETED,
CMD_RIGID_BODY_CREATION_COMPLETED,
CMD_SET_JOINT_FEEDBACK_COMPLETED,
CMD_ACTUAL_STATE_UPDATE_COMPLETED,
// CMD_DESIRED_STATE_RECEIVED_COMPLETED,
CMD_DESIRED_STATE_RECEIVED_COMPLETED,
CMD_STEP_FORWARD_SIMULATION_COMPLETED,
CMD_MAX_SERVER_COMMANDS
};
enum SharedMemoryClientCommand{
enum SharedMemoryClientCommand
{
CMD_LOAD_URDF,
CMD_CREATE_BOX_COLLISION_SHAPE,
CMD_DELETE_BOX_COLLISION_SHAPE,
CMD_CREATE_RIGID_BODY,
CMD_DELETE_RIGID_BODY,
CMD_SET_JOINT_FEEDBACK,///enable or disable joint feedback
CMD_SEND_DESIRED_STATE,
CMD_REQUEST_ACTUAL_STATE,
// CMD_SEND_DESIRED_STATE,
CMD_STEP_FORWARD_SIMULATION, //includes CMD_REQUEST_STATE
CMD_SHUTDOWN,
CMD_MAX_CLIENT_COMMANDS
@@ -35,6 +45,13 @@ struct UrdfArgs
bool m_useFixedBase;
};
struct SetJointFeedbackArgs
{
int m_bodyUniqueId;
int m_linkId;
bool m_isEnabled;
};
struct SendDesiredStateArgs
{
int m_bodyUniqueId;
@@ -45,6 +62,19 @@ struct RequestActualStateArgs
int m_bodyUniqueId;
};
struct CreateBoxShapeArgs
{
double m_halfExtents[3];
};
struct CreateRigidBodyArgs
{
int m_shapeId;
double m_initialPosition[3];
double m_initialOrientation[3];
};
struct SendActualStateArgs
{
int m_bodyUniqueId;
@@ -53,6 +83,7 @@ struct SendActualStateArgs
};
struct StepSimulationArgs
{
double m_deltaTimeInSeconds;