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pybullet.getAABB and getAPIVersion

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fix btMultiBody::getLinkCollider
bump up Bullet C-API version
This commit is contained in:
Erwin Coumans
2017-06-15 19:46:27 -07:00
parent c903bd8a49
commit bb8cfe3c9a
7 changed files with 200 additions and 4 deletions
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34
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1308,6 +1308,40 @@ int b3GetStatusBodyIndex(b3SharedMemoryStatusHandle statusHandle)
return bodyId;
}
int b3GetStatusAABB(b3SharedMemoryStatusHandle statusHandle, int linkIndex, double aabbMin[3], double aabbMax[3])
{
const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
const SendActualStateArgs &args = status->m_sendActualStateArgs;
btAssert(status->m_type == CMD_ACTUAL_STATE_UPDATE_COMPLETED);
if (status->m_type != CMD_ACTUAL_STATE_UPDATE_COMPLETED)
return 0;
if (linkIndex==-1)
{
aabbMin[0] = args.m_rootWorldAABBMin[0];
aabbMin[1] = args.m_rootWorldAABBMin[1];
aabbMin[2] = args.m_rootWorldAABBMin[2];
aabbMax[0] = args.m_rootWorldAABBMax[0];
aabbMax[1] = args.m_rootWorldAABBMax[1];
aabbMax[2] = args.m_rootWorldAABBMax[2];
return 1;
}
if (linkIndex >= 0 && linkIndex < args.m_numLinks)
{
aabbMin[0] = args.m_linkWorldAABBsMin[0];
aabbMin[1] = args.m_linkWorldAABBsMin[1];
aabbMin[2] = args.m_linkWorldAABBsMin[2];
aabbMax[0] = args.m_linkWorldAABBsMax[0];
aabbMax[1] = args.m_linkWorldAABBsMax[1];
aabbMax[2] = args.m_linkWorldAABBsMax[2];
return 1;
}
return 0;
}
int b3GetStatusActualState(b3SharedMemoryStatusHandle statusHandle,
int* bodyUniqueId,

2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -57,6 +57,8 @@ int b3GetStatusActualState(b3SharedMemoryStatusHandle statusHandle,
const double* actualStateQdot[],
const double* jointReactionForces[]);
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.
b3SharedMemoryCommandHandle b3InitSyncBodyInfoCommand(b3PhysicsClientHandle physClient);

49
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -4032,6 +4032,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
int bodyUniqueId = clientCmd.m_requestActualStateInformationCommandArgument.m_bodyUniqueId;
InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
if (body && body->m_multiBody)
{
@@ -4040,6 +4041,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
serverStatusOut.m_type = CMD_ACTUAL_STATE_UPDATE_COMPLETED;
serverCmd.m_sendActualStateArgs.m_bodyUniqueId = bodyUniqueId;
serverCmd.m_sendActualStateArgs.m_numLinks = body->m_multiBody->getNumLinks();
int totalDegreeOfFreedomQ = 0;
int totalDegreeOfFreedomU = 0;
@@ -4074,7 +4077,28 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[6] =
body->m_rootLocalInertialFrame.getRotation()[3];
serverCmd.m_sendActualStateArgs.m_rootWorldAABBMin[0] = 0;
serverCmd.m_sendActualStateArgs.m_rootWorldAABBMin[1] = 0;
serverCmd.m_sendActualStateArgs.m_rootWorldAABBMin[2] = 0;
serverCmd.m_sendActualStateArgs.m_rootWorldAABBMax[0] = -1;
serverCmd.m_sendActualStateArgs.m_rootWorldAABBMax[1] = -1;
serverCmd.m_sendActualStateArgs.m_rootWorldAABBMax[2] = -1;
if (body->m_multiBody->getBaseCollider())
{
btVector3 aabbMin,aabbMax;
body->m_multiBody->getBaseCollider()->getCollisionShape()->getAabb(tr,aabbMin,aabbMax);
serverCmd.m_sendActualStateArgs.m_rootWorldAABBMin[0] = aabbMin[0];
serverCmd.m_sendActualStateArgs.m_rootWorldAABBMin[1] = aabbMin[1];
serverCmd.m_sendActualStateArgs.m_rootWorldAABBMin[2] = aabbMin[2];
serverCmd.m_sendActualStateArgs.m_rootWorldAABBMax[0] = aabbMax[0];
serverCmd.m_sendActualStateArgs.m_rootWorldAABBMax[1] = aabbMax[1];
serverCmd.m_sendActualStateArgs.m_rootWorldAABBMax[2] = aabbMax[2];
}
//base position in world space, carthesian
serverCmd.m_sendActualStateArgs.m_actualStateQ[0] = tr.getOrigin()[0];
@@ -4176,6 +4200,29 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
serverCmd.m_sendActualStateArgs.m_linkState[l*7+5] = linkCOMRotation.z();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+6] = linkCOMRotation.w();
serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMin[3*l+0] = 0;
serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMin[3*l+1] = 0;
serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMin[3*l+2] = 0;
serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMax[3*l+0] = -1;
serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMax[3*l+1] = -1;
serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMax[3*l+2] = -1;
if (body->m_multiBody->getLink(l).m_collider)
{
btVector3 aabbMin,aabbMax;
body->m_multiBody->getLinkCollider(l)->getCollisionShape()->getAabb(mb->getLink(l).m_cachedWorldTransform,aabbMin,aabbMax);
serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMin[3*l+0] = aabbMin[0];
serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMin[3*l+1] = aabbMin[1];
serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMin[3*l+2] = aabbMin[2];
serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMax[3*l+0] = aabbMax[0];
serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMax[3*l+1] = aabbMax[1];
serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMax[3*l+2] = aabbMax[2];
}
btVector3 worldLinVel(0,0,0);
btVector3 worldAngVel(0,0,0);
@@ -4220,6 +4267,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
serverCmd.m_type = CMD_ACTUAL_STATE_UPDATE_COMPLETED;
serverCmd.m_sendActualStateArgs.m_bodyUniqueId = bodyUniqueId;
serverCmd.m_sendActualStateArgs.m_numLinks = 0;
int totalDegreeOfFreedomQ = 0;
int totalDegreeOfFreedomU = 0;

5
examples/SharedMemory/SharedMemoryCommands.h
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@@ -427,10 +427,13 @@ struct RequestActualStateArgs
struct SendActualStateArgs
{
int m_bodyUniqueId;
int m_numLinks;
int m_numDegreeOfFreedomQ;
int m_numDegreeOfFreedomU;
double m_rootLocalInertialFrame[7];
double m_rootWorldAABBMin[3];
double m_rootWorldAABBMax[3];
//actual state is only written by the server, read-only access by client is expected
double m_actualStateQ[MAX_DEGREE_OF_FREEDOM];
@@ -444,6 +447,8 @@ struct SendActualStateArgs
double m_linkState[7*MAX_NUM_LINKS];
double m_linkWorldVelocities[6*MAX_NUM_LINKS];//linear velocity and angular velocity in world space (x/y/z each).
double m_linkLocalInertialFrames[7*MAX_NUM_LINKS];
double m_linkWorldAABBsMin[3*MAX_NUM_LINKS];
double m_linkWorldAABBsMax[3*MAX_NUM_LINKS];
};
enum EnumSensorTypes

5
examples/SharedMemory/SharedMemoryPublic.h
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@@ -4,7 +4,8 @@
#define SHARED_MEMORY_KEY 12347
///increase the SHARED_MEMORY_MAGIC_NUMBER whenever incompatible changes are made in the structures
///my convention is year/month/day/rev
#define SHARED_MEMORY_MAGIC_NUMBER 201706001
#define SHARED_MEMORY_MAGIC_NUMBER 201706015
//#define SHARED_MEMORY_MAGIC_NUMBER 201706001
//#define SHARED_MEMORY_MAGIC_NUMBER 201703024
@@ -490,6 +491,8 @@ struct b3LinkState
double m_worldLinearVelocity[3]; //only valid when ACTUAL_STATE_COMPUTE_LINKVELOCITY is set (b3RequestActualStateCommandComputeLinkVelocity)
double m_worldAngularVelocity[3]; //only valid when ACTUAL_STATE_COMPUTE_LINKVELOCITY is set (b3RequestActualStateCommandComputeLinkVelocity)
double m_worldAABBMin[3];//world space bounding minium and maximum box corners.
double m_worldAABBMax[3];
};
//todo: discuss and decide about control mode and combinations