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add quadruped.py script to load and initialize the a Minitaur-like quadruped

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pybullet removeConstraint, createConstraint
rename b3CreateJoint to b3InitCreateUserConstraintCommand
add int b3GetStatusUserConstraintUniqueId(b3SharedMemoryStatusHandle statusHandle);
b3SharedMemoryCommandHandle  b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId);
This commit is contained in:
erwin coumans
2016-11-14 14:08:05 -08:00
parent c521d816c6
commit c0fb98861d
9 changed files with 420 additions and 89 deletions
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52
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -960,7 +960,9 @@ int b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointInd
return cl->getJointInfo(bodyIndex, jointIndex, *info);
}
b3SharedMemoryCommandHandle b3CreateJoint(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info)
b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
@@ -968,22 +970,52 @@ b3SharedMemoryCommandHandle b3CreateJoint(b3PhysicsClientHandle physClient, int
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_CREATE_JOINT;
command->m_createJointArguments.m_parentBodyIndex = parentBodyIndex;
command->m_createJointArguments.m_parentJointIndex = parentJointIndex;
command->m_createJointArguments.m_childBodyIndex = childBodyIndex;
command->m_createJointArguments.m_childJointIndex = childJointIndex;
command->m_type = CMD_USER_CONSTRAINT;
command->m_updateFlags = USER_CONSTRAINT_ADD_CONSTRAINT;
command->m_userConstraintArguments.m_parentBodyIndex = parentBodyIndex;
command->m_userConstraintArguments.m_parentJointIndex = parentJointIndex;
command->m_userConstraintArguments.m_childBodyIndex = childBodyIndex;
command->m_userConstraintArguments.m_childJointIndex = childJointIndex;
for (int i = 0; i < 7; ++i) {
command->m_createJointArguments.m_parentFrame[i] = info->m_parentFrame[i];
command->m_createJointArguments.m_childFrame[i] = info->m_childFrame[i];
command->m_userConstraintArguments.m_parentFrame[i] = info->m_parentFrame[i];
command->m_userConstraintArguments.m_childFrame[i] = info->m_childFrame[i];
}
for (int i = 0; i < 3; ++i) {
command->m_createJointArguments.m_jointAxis[i] = info->m_jointAxis[i];
command->m_userConstraintArguments.m_jointAxis[i] = info->m_jointAxis[i];
}
command->m_createJointArguments.m_jointType = info->m_jointType;
command->m_userConstraintArguments.m_jointType = info->m_jointType;
return (b3SharedMemoryCommandHandle)command;
}
b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_USER_CONSTRAINT;
command->m_updateFlags = USER_CONSTRAINT_REMOVE_CONSTRAINT;
command->m_userConstraintArguments.m_userConstraintUniqueId = userConstraintUniqueId;
return (b3SharedMemoryCommandHandle)command;
}
int b3GetStatusUserConstraintUniqueId(b3SharedMemoryStatusHandle statusHandle)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
b3Assert(status);
b3Assert(status->m_type == CMD_USER_CONSTRAINT_COMPLETED);
if (status && status->m_type == CMD_USER_CONSTRAINT_COMPLETED)
{
return status->m_userConstraintResultArgs.m_userConstraintUniqueId;
}
return -1;
}
b3SharedMemoryCommandHandle b3PickBody(b3PhysicsClientHandle physClient, double rayFromWorldX,
double rayFromWorldY, double rayFromWorldZ,
double rayToWorldX, double rayToWorldY, double rayToWorldZ)

4
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -72,7 +72,9 @@ int b3GetNumJoints(b3PhysicsClientHandle physClient, int bodyIndex);
///given a body and joint index, return the joint information. See b3JointInfo in SharedMemoryPublic.h
int b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointIndex, struct b3JointInfo* info);
b3SharedMemoryCommandHandle b3CreateJoint(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info);
b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info);
int b3GetStatusUserConstraintUniqueId(b3SharedMemoryStatusHandle statusHandle);
b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId);
///Request physics debug lines for debug visualization. The flags in debugMode are the same as used in Bullet
///See btIDebugDraw::DebugDrawModes in Bullet/src/LinearMath/btIDebugDraw.h

10
examples/SharedMemory/PhysicsClientSharedMemory.cpp
View File

@@ -731,7 +731,15 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
b3Warning("User debug draw failed");
break;
}
case CMD_USER_CONSTRAINT_COMPLETED:
{
break;
}
case CMD_USER_CONSTRAINT_FAILED:
{
b3Warning("createConstraint failed");
break;
}
default: {
b3Error("Unknown server status %d\n", serverCmd.m_type);
btAssert(0);

12
examples/SharedMemory/PhysicsDirect.cpp
View File

@@ -671,10 +671,18 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
{
break;
}
case CMD_USER_CONSTRAINT_COMPLETED:
{
break;
}
case CMD_USER_CONSTRAINT_FAILED:
{
b3Warning("createConstraint failed");
break;
}
default:
{
b3Warning("Unknown server status type");
//b3Warning("Unknown server status type");
}
};

214
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -123,6 +123,17 @@ struct InteralBodyData
}
};
struct InteralUserConstraintData
{
btTypedConstraint* m_rbConstraint;
btMultiBodyConstraint* m_mbConstraint;
InteralUserConstraintData()
:m_rbConstraint(0),
m_mbConstraint(0)
{
}
};
///todo: templatize this
struct InternalBodyHandle : public InteralBodyData
{
@@ -468,6 +479,10 @@ struct PhysicsServerCommandProcessorInternalData
btAlignedObjectArray<btMultiBodyJointFeedback*> m_multiBodyJointFeedbacks;
btHashMap<btHashPtr, btInverseDynamics::MultiBodyTree*> m_inverseDynamicsBodies;
btHashMap<btHashPtr, IKTrajectoryHelper*> m_inverseKinematicsHelpers;
int m_userConstraintUIDGenerator;
btHashMap<btHashInt, InteralUserConstraintData> m_userConstraints;
b3AlignedObjectArray<SaveWorldObjectData> m_saveWorldBodyData;
@@ -532,6 +547,7 @@ struct PhysicsServerCommandProcessorInternalData
m_logPlayback(0),
m_physicsDeltaTime(1./240.),
m_numSimulationSubSteps(0),
m_userConstraintUIDGenerator(1),
m_dynamicsWorld(0),
m_remoteDebugDrawer(0),
m_guiHelper(0),
@@ -3097,72 +3113,144 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
hasStatus = true;
break;
}
case CMD_CREATE_JOINT:
case CMD_USER_CONSTRAINT:
{
InteralBodyData* parentBody = m_data->getHandle(clientCmd.m_createJointArguments.m_parentBodyIndex);
if (parentBody && parentBody->m_multiBody)
{
InteralBodyData* childBody = m_data->getHandle(clientCmd.m_createJointArguments.m_childBodyIndex);
if (childBody)
{
btVector3 pivotInParent(clientCmd.m_createJointArguments.m_parentFrame[0], clientCmd.m_createJointArguments.m_parentFrame[1], clientCmd.m_createJointArguments.m_parentFrame[2]);
btVector3 pivotInChild(clientCmd.m_createJointArguments.m_childFrame[0], clientCmd.m_createJointArguments.m_childFrame[1], clientCmd.m_createJointArguments.m_childFrame[2]);
btMatrix3x3 frameInParent(btQuaternion(clientCmd.m_createJointArguments.m_parentFrame[3], clientCmd.m_createJointArguments.m_parentFrame[4], clientCmd.m_createJointArguments.m_parentFrame[5], clientCmd.m_createJointArguments.m_parentFrame[6]));
btMatrix3x3 frameInChild(btQuaternion(clientCmd.m_createJointArguments.m_childFrame[3], clientCmd.m_createJointArguments.m_childFrame[4], clientCmd.m_createJointArguments.m_childFrame[5], clientCmd.m_createJointArguments.m_childFrame[6]));
btVector3 jointAxis(clientCmd.m_createJointArguments.m_jointAxis[0], clientCmd.m_createJointArguments.m_jointAxis[1], clientCmd.m_createJointArguments.m_jointAxis[2]);
if (clientCmd.m_createJointArguments.m_jointType == eFixedType)
{
if (childBody->m_multiBody)
{
btMultiBodyFixedConstraint* multibodyFixed = new btMultiBodyFixedConstraint(parentBody->m_multiBody,clientCmd.m_createJointArguments.m_parentJointIndex,childBody->m_multiBody,clientCmd.m_createJointArguments.m_childJointIndex,pivotInParent,pivotInChild,frameInParent,frameInChild);
multibodyFixed->setMaxAppliedImpulse(500.0);
m_data->m_dynamicsWorld->addMultiBodyConstraint(multibodyFixed);
}
else
{
btMultiBodyFixedConstraint* rigidbodyFixed = new btMultiBodyFixedConstraint(parentBody->m_multiBody,clientCmd.m_createJointArguments.m_parentJointIndex,childBody->m_rigidBody,pivotInParent,pivotInChild,frameInParent,frameInChild);
rigidbodyFixed->setMaxAppliedImpulse(500.0);
btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld;
world->addMultiBodyConstraint(rigidbodyFixed);
}
}
else if (clientCmd.m_createJointArguments.m_jointType == ePrismaticType)
{
if (childBody->m_multiBody)
{
btMultiBodySliderConstraint* multibodySlider = new btMultiBodySliderConstraint(parentBody->m_multiBody,clientCmd.m_createJointArguments.m_parentJointIndex,childBody->m_multiBody,clientCmd.m_createJointArguments.m_childJointIndex,pivotInParent,pivotInChild,frameInParent,frameInChild,jointAxis);
multibodySlider->setMaxAppliedImpulse(500.0);
m_data->m_dynamicsWorld->addMultiBodyConstraint(multibodySlider);
}
else
{
btMultiBodySliderConstraint* rigidbodySlider = new btMultiBodySliderConstraint(parentBody->m_multiBody,clientCmd.m_createJointArguments.m_parentJointIndex,childBody->m_rigidBody,pivotInParent,pivotInChild,frameInParent,frameInChild,jointAxis);
rigidbodySlider->setMaxAppliedImpulse(500.0);
btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld;
world->addMultiBodyConstraint(rigidbodySlider);
}
} else if (clientCmd.m_createJointArguments.m_jointType == ePoint2PointType)
{
if (childBody->m_multiBody)
{
btMultiBodyPoint2Point* p2p = new btMultiBodyPoint2Point(parentBody->m_multiBody,clientCmd.m_createJointArguments.m_parentJointIndex,childBody->m_multiBody,clientCmd.m_createJointArguments.m_childJointIndex,pivotInParent,pivotInChild);
p2p->setMaxAppliedImpulse(500);
m_data->m_dynamicsWorld->addMultiBodyConstraint(p2p);
}
else
{
btMultiBodyPoint2Point* p2p = new btMultiBodyPoint2Point(parentBody->m_multiBody,clientCmd.m_createJointArguments.m_parentJointIndex,childBody->m_rigidBody,pivotInParent,pivotInChild);
p2p->setMaxAppliedImpulse(500);
btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld;
world->addMultiBodyConstraint(p2p);
}
}
}
}
SharedMemoryStatus& serverCmd =serverStatusOut;
serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;
serverCmd.m_type = CMD_USER_CONSTRAINT_FAILED;
hasStatus = true;
if (clientCmd.m_updateFlags & USER_CONSTRAINT_ADD_CONSTRAINT)
{
InteralBodyData* parentBody = m_data->getHandle(clientCmd.m_userConstraintArguments.m_parentBodyIndex);
if (parentBody && parentBody->m_multiBody)
{
InteralBodyData* childBody = m_data->getHandle(clientCmd.m_userConstraintArguments.m_childBodyIndex);
if (childBody)
{
btVector3 pivotInParent(clientCmd.m_userConstraintArguments.m_parentFrame[0], clientCmd.m_userConstraintArguments.m_parentFrame[1], clientCmd.m_userConstraintArguments.m_parentFrame[2]);
btVector3 pivotInChild(clientCmd.m_userConstraintArguments.m_childFrame[0], clientCmd.m_userConstraintArguments.m_childFrame[1], clientCmd.m_userConstraintArguments.m_childFrame[2]);
btMatrix3x3 frameInParent(btQuaternion(clientCmd.m_userConstraintArguments.m_parentFrame[3], clientCmd.m_userConstraintArguments.m_parentFrame[4], clientCmd.m_userConstraintArguments.m_parentFrame[5], clientCmd.m_userConstraintArguments.m_parentFrame[6]));
btMatrix3x3 frameInChild(btQuaternion(clientCmd.m_userConstraintArguments.m_childFrame[3], clientCmd.m_userConstraintArguments.m_childFrame[4], clientCmd.m_userConstraintArguments.m_childFrame[5], clientCmd.m_userConstraintArguments.m_childFrame[6]));
btVector3 jointAxis(clientCmd.m_userConstraintArguments.m_jointAxis[0], clientCmd.m_userConstraintArguments.m_jointAxis[1], clientCmd.m_userConstraintArguments.m_jointAxis[2]);
if (clientCmd.m_userConstraintArguments.m_jointType == eFixedType)
{
if (childBody->m_multiBody)
{
btMultiBodyFixedConstraint* multibodyFixed = new btMultiBodyFixedConstraint(parentBody->m_multiBody,clientCmd.m_userConstraintArguments.m_parentJointIndex,childBody->m_multiBody,clientCmd.m_userConstraintArguments.m_childJointIndex,pivotInParent,pivotInChild,frameInParent,frameInChild);
multibodyFixed->setMaxAppliedImpulse(500.0);
m_data->m_dynamicsWorld->addMultiBodyConstraint(multibodyFixed);
InteralUserConstraintData userConstraintData;
userConstraintData.m_mbConstraint = multibodyFixed;
int uid = m_data->m_userConstraintUIDGenerator++;
m_data->m_userConstraints.insert(uid,userConstraintData);
serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = uid;
serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED;
}
else
{
btMultiBodyFixedConstraint* rigidbodyFixed = new btMultiBodyFixedConstraint(parentBody->m_multiBody,clientCmd.m_userConstraintArguments.m_parentJointIndex,childBody->m_rigidBody,pivotInParent,pivotInChild,frameInParent,frameInChild);
rigidbodyFixed->setMaxAppliedImpulse(500.0);
btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld;
world->addMultiBodyConstraint(rigidbodyFixed);
InteralUserConstraintData userConstraintData;
userConstraintData.m_mbConstraint = rigidbodyFixed;
int uid = m_data->m_userConstraintUIDGenerator++;
m_data->m_userConstraints.insert(uid,userConstraintData);
serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = uid;
serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED;
}
}
else if (clientCmd.m_userConstraintArguments.m_jointType == ePrismaticType)
{
if (childBody->m_multiBody)
{
btMultiBodySliderConstraint* multibodySlider = new btMultiBodySliderConstraint(parentBody->m_multiBody,clientCmd.m_userConstraintArguments.m_parentJointIndex,childBody->m_multiBody,clientCmd.m_userConstraintArguments.m_childJointIndex,pivotInParent,pivotInChild,frameInParent,frameInChild,jointAxis);
multibodySlider->setMaxAppliedImpulse(500.0);
m_data->m_dynamicsWorld->addMultiBodyConstraint(multibodySlider);
InteralUserConstraintData userConstraintData;
userConstraintData.m_mbConstraint = multibodySlider;
int uid = m_data->m_userConstraintUIDGenerator++;
m_data->m_userConstraints.insert(uid,userConstraintData);
serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = uid;
serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED;
}
else
{
btMultiBodySliderConstraint* rigidbodySlider = new btMultiBodySliderConstraint(parentBody->m_multiBody,clientCmd.m_userConstraintArguments.m_parentJointIndex,childBody->m_rigidBody,pivotInParent,pivotInChild,frameInParent,frameInChild,jointAxis);
rigidbodySlider->setMaxAppliedImpulse(500.0);
btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld;
world->addMultiBodyConstraint(rigidbodySlider);
InteralUserConstraintData userConstraintData;
userConstraintData.m_mbConstraint = rigidbodySlider;
int uid = m_data->m_userConstraintUIDGenerator++;
m_data->m_userConstraints.insert(uid,userConstraintData);
serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = uid;
serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED;
}
} else if (clientCmd.m_userConstraintArguments.m_jointType == ePoint2PointType)
{
if (childBody->m_multiBody)
{
btMultiBodyPoint2Point* p2p = new btMultiBodyPoint2Point(parentBody->m_multiBody,clientCmd.m_userConstraintArguments.m_parentJointIndex,childBody->m_multiBody,clientCmd.m_userConstraintArguments.m_childJointIndex,pivotInParent,pivotInChild);
p2p->setMaxAppliedImpulse(500);
m_data->m_dynamicsWorld->addMultiBodyConstraint(p2p);
InteralUserConstraintData userConstraintData;
userConstraintData.m_mbConstraint = p2p;
int uid = m_data->m_userConstraintUIDGenerator++;
m_data->m_userConstraints.insert(uid,userConstraintData);
serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = uid;
serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED;
}
else
{
btMultiBodyPoint2Point* p2p = new btMultiBodyPoint2Point(parentBody->m_multiBody,clientCmd.m_userConstraintArguments.m_parentJointIndex,childBody->m_rigidBody,pivotInParent,pivotInChild);
p2p->setMaxAppliedImpulse(500);
btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld;
world->addMultiBodyConstraint(p2p);
InteralUserConstraintData userConstraintData;
userConstraintData.m_mbConstraint = p2p;
int uid = m_data->m_userConstraintUIDGenerator++;
m_data->m_userConstraints.insert(uid,userConstraintData);
serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = uid;
serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED;
}
} else
{
b3Warning("unknown constraint type");
}
}
}
}
if (clientCmd.m_updateFlags & USER_CONSTRAINT_REMOVE_CONSTRAINT)
{
int userConstraintUidRemove = clientCmd.m_userConstraintArguments.m_userConstraintUniqueId;
InteralUserConstraintData* userConstraintPtr = m_data->m_userConstraints.find(userConstraintUidRemove);
if (userConstraintPtr)
{
if (userConstraintPtr->m_mbConstraint)
{
m_data->m_dynamicsWorld->removeMultiBodyConstraint(userConstraintPtr->m_mbConstraint);
delete userConstraintPtr->m_mbConstraint;
m_data->m_userConstraints.remove(userConstraintUidRemove);
}
if (userConstraintPtr->m_rbConstraint)
{
}
serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = -1;
serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED;
}
}
break;
}
case CMD_CALCULATE_INVERSE_KINEMATICS:

18
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -488,7 +488,14 @@ struct CalculateInverseKinematicsResultArgs
double m_jointPositions[MAX_DEGREE_OF_FREEDOM];
};
struct CreateJointArgs
enum EnumUserConstraintFlags
{
USER_CONSTRAINT_ADD_CONSTRAINT=1,
USER_CONSTRAINT_REMOVE_CONSTRAINT=2,
USER_CONSTRAINT_CHANGE_CONSTRAINT=4
};
struct UserConstraintArgs
{
int m_parentBodyIndex;
int m_parentJointIndex;
@@ -498,9 +505,13 @@ struct CreateJointArgs
double m_childFrame[7];
double m_jointAxis[3];
int m_jointType;
int m_userConstraintUniqueId;
};
struct UserConstraintResultArgs
{
int m_userConstraintUniqueId;
};
enum EnumUserDebugDrawFlags
{
@@ -563,7 +574,7 @@ struct SharedMemoryCommand
struct ExternalForceArgs m_externalForceArguments;
struct CalculateInverseDynamicsArgs m_calculateInverseDynamicsArguments;
struct CalculateJacobianArgs m_calculateJacobianArguments;
struct CreateJointArgs m_createJointArguments;
struct UserConstraintArgs m_userConstraintArguments;
struct RequestContactDataArgs m_requestContactPointArguments;
struct RequestOverlappingObjectsArgs m_requestOverlappingObjectsArgs;
struct RequestVisualShapeDataArgs m_requestVisualShapeDataArguments;
@@ -620,6 +631,7 @@ struct SharedMemoryStatus
struct CalculateInverseKinematicsResultArgs m_inverseKinematicsResultArgs;
struct SendVisualShapeDataArgs m_sendVisualShapeArgs;
struct UserDebugDrawResultArgs m_userDebugDrawArgs;
struct UserConstraintResultArgs m_userConstraintResultArgs;
};
};

4
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -33,7 +33,7 @@ enum EnumSharedMemoryClientCommand
CMD_CALCULATE_INVERSE_DYNAMICS,
CMD_CALCULATE_INVERSE_KINEMATICS,
CMD_CALCULATE_JACOBIAN,
CMD_CREATE_JOINT,
CMD_USER_CONSTRAINT,
CMD_REQUEST_CONTACT_POINT_INFORMATION,
CMD_REQUEST_AABB_OVERLAP,
CMD_SAVE_WORLD,
@@ -104,6 +104,8 @@ enum EnumSharedMemoryServerStatus
CMD_LOAD_TEXTURE_FAILED,
CMD_USER_DEBUG_DRAW_COMPLETED,
CMD_USER_DEBUG_DRAW_FAILED,
CMD_USER_CONSTRAINT_COMPLETED,
CMD_USER_CONSTRAINT_FAILED,
//don't go beyond 'CMD_MAX_SERVER_COMMANDS!
CMD_MAX_SERVER_COMMANDS
};