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Merge remote-tracking branch 'bp/master'

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This commit is contained in:
Erwin Coumans
2018-02-05 09:59:25 -08:00
parent 7a3caf3a1f 805d4b49b3
commit c48178c320
39 changed files with 4032 additions and 1463 deletions
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4
Extras/BulletRobotics/CMakeLists.txt
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@@ -120,6 +120,10 @@ ELSE(WIN32)
IF(BUILD_CLSOCKET)
ADD_DEFINITIONS(${OSDEF})
ENDIF(BUILD_CLSOCKET)
IF(NOT APPLE)
LINK_LIBRARIES( pthread ${DL} )
ENDIF(APPLE)
ENDIF(WIN32)
IF(BUILD_ENET)

2
examples/ExampleBrowser/CMakeLists.txt
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@@ -175,6 +175,8 @@ SET(BulletExampleBrowser_SRCS
../SharedMemory/b3PluginManager.cpp
../RobotSimulator/b3RobotSimulatorClientAPI.cpp
../RobotSimulator/b3RobotSimulatorClientAPI.h
../RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.cpp
../RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.h
../BasicDemo/BasicExample.cpp
../BasicDemo/BasicExample.h
../InverseDynamics/InverseDynamicsExample.cpp

2
examples/ExampleBrowser/premake4.lua
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@@ -122,6 +122,8 @@ project "App_BulletExampleBrowser"
"../InverseDynamics/InverseDynamicsExample.h",
"../RobotSimulator/b3RobotSimulatorClientAPI.cpp",
"../RobotSimulator/b3RobotSimulatorClientAPI.h",
"../RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.cpp",
"../RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.h",
"../BasicDemo/BasicExample.*",
"../Tutorial/*",
"../ExtendedTutorials/*",

3
examples/OpenGLWindow/GLInstancingRenderer.cpp
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@@ -2085,13 +2085,14 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
b3CreateOrtho(-shadowMapWorldSize,shadowMapWorldSize,-shadowMapWorldSize,shadowMapWorldSize,1,300,depthProjectionMatrix);//-14,14,-14,14,1,200, depthProjectionMatrix);
float depthViewMatrix[4][4];
b3Vector3 center = b3MakeVector3(0,0,0);
m_data->m_activeCamera->getCameraTargetPosition(center);
//float upf[3];
//m_data->m_activeCamera->getCameraUpVector(upf);
b3Vector3 up, lightFwd;
b3Vector3 lightDir = m_data->m_lightPos.normalized();
b3PlaneSpace1(lightDir,up,lightFwd);
// b3Vector3 up = b3MakeVector3(upf[0],upf[1],upf[2]);
b3CreateLookAt(m_data->m_lightPos,center,up,&depthViewMatrix[0][0]);
b3CreateLookAt(m_data->m_lightPos+center,center,up,&depthViewMatrix[0][0]);
//b3CreateLookAt(lightPos,m_data->m_cameraTargetPosition,b3Vector3(0,1,0),(float*)depthModelViewMatrix2);
GLfloat depthModelMatrix[4][4];

183
examples/RobotSimulator/CMakeLists.txt
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@@ -1,4 +1,3 @@
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/examples
@@ -9,77 +8,20 @@ INCLUDE_DIRECTORIES(
SET(RobotSimulator_SRCS
RobotSimulatorMain.cpp
b3RobotSimulatorClientAPI.cpp
b3RobotSimulatorClientAPI.h
MinitaurSetup.cpp
MinitaurSetup.h
../../examples/SharedMemory/IKTrajectoryHelper.cpp
../../examples/SharedMemory/IKTrajectoryHelper.h
../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
../../examples/OpenGLWindow/SimpleCamera.cpp
../../examples/OpenGLWindow/SimpleCamera.h
../../examples/TinyRenderer/geometry.cpp
../../examples/TinyRenderer/model.cpp
../../examples/TinyRenderer/tgaimage.cpp
../../examples/TinyRenderer/our_gl.cpp
../../examples/TinyRenderer/TinyRenderer.cpp
../../examples/SharedMemory/InProcessMemory.cpp
../../examples/SharedMemory/PhysicsClient.cpp
../../examples/SharedMemory/PhysicsClient.h
../../examples/SharedMemory/PhysicsServer.cpp
../../examples/SharedMemory/PhysicsServer.h
../../examples/SharedMemory/PhysicsServerExample.cpp
../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp
../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
../../examples/SharedMemory/PhysicsServerSharedMemory.h
../../examples/SharedMemory/PhysicsDirect.cpp
../../examples/SharedMemory/PhysicsDirect.h
../../examples/SharedMemory/PhysicsDirectC_API.cpp
../../examples/SharedMemory/PhysicsDirectC_API.h
../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
../../examples/SharedMemory/PhysicsServerCommandProcessor.h
../../examples/SharedMemory/b3PluginManager.cpp
../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
../../examples/SharedMemory/PhysicsClientSharedMemory.h
../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp
../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h
../../examples/SharedMemory/PhysicsClientC_API.cpp
../../examples/SharedMemory/PhysicsClientC_API.h
../../examples/SharedMemory/Win32SharedMemory.cpp
../../examples/SharedMemory/Win32SharedMemory.h
../../examples/SharedMemory/PosixSharedMemory.cpp
../../examples/SharedMemory/PosixSharedMemory.h
../../examples/Utils/b3ResourcePath.cpp
../../examples/Utils/b3ResourcePath.h
../../examples/Utils/RobotLoggingUtil.cpp
../../examples/Utils/RobotLoggingUtil.h
../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
../../examples/MultiThreading/b3PosixThreadSupport.cpp
../../examples/MultiThreading/b3Win32ThreadSupport.cpp
../../examples/MultiThreading/b3ThreadSupportInterface.cpp
)
RobotSimulatorMain.cpp
b3RobotSimulatorClientAPI.cpp
b3RobotSimulatorClientAPI.h
b3RobotSimulatorClientAPI_NoGUI.cpp
b3RobotSimulatorClientAPI_NoGUI.h
MinitaurSetup.cpp
MinitaurSetup.h
../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
../../examples/SharedMemory/PhysicsServerExample.cpp
../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp
../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
)
IF(BUILD_CLSOCKET)
ADD_DEFINITIONS(-DBT_ENABLE_CLSOCKET)
@@ -89,54 +31,9 @@ IF(WIN32)
LINK_LIBRARIES(
${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
IF(BUILD_ENET)
ADD_DEFINITIONS(-DWIN32 -DBT_ENABLE_ENET)
ENDIF(BUILD_ENET)
IF(BUILD_CLSOCKET)
ADD_DEFINITIONS(-DWIN32)
ENDIF(BUILD_CLSOCKET)
ELSE(WIN32)
IF(BUILD_ENET)
ADD_DEFINITIONS(-DHAS_SOCKLEN_T -DBT_ENABLE_ENET)
ENDIF(BUILD_ENET)
IF(BUILD_CLSOCKET)
ADD_DEFINITIONS(${OSDEF})
ENDIF(BUILD_CLSOCKET)
ENDIF(WIN32)
IF(BUILD_ENET)
set(RobotSimulator_SRCS ${RobotSimulator_SRCS}
../../examples/SharedMemory/PhysicsClientUDP.cpp
../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp
../../examples/SharedMemory/PhysicsClientUDP.h
../../examples/SharedMemory/PhysicsClientUDP_C_API.h
../../examples/ThirdPartyLibs/enet/win32.c
../../examples/ThirdPartyLibs/enet/unix.c
../../examples/ThirdPartyLibs/enet/callbacks.c
../../examples/ThirdPartyLibs/enet/compress.c
../../examples/ThirdPartyLibs/enet/host.c
../../examples/ThirdPartyLibs/enet/list.c
../../examples/ThirdPartyLibs/enet/packet.c
../../examples/ThirdPartyLibs/enet/peer.c
../../examples/ThirdPartyLibs/enet/protocol.c
)
ENDIF(BUILD_ENET)
IF(BUILD_CLSOCKET)
set(RobotSimulator_SRCS ${RobotSimulator_SRCS}
../../examples/SharedMemory/PhysicsClientTCP.cpp
../../examples/SharedMemory/PhysicsClientTCP.h
../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp
../../examples/SharedMemory/PhysicsClientTCP_C_API.h
../../examples/ThirdPartyLibs/clsocket/src/SimpleSocket.cpp
../../examples/ThirdPartyLibs/clsocket/src/ActiveSocket.cpp
../../examples/ThirdPartyLibs/clsocket/src/PassiveSocket.cpp
)
ENDIF()
#some code to support OpenGL and Glew cross platform
IF (WIN32)
@@ -168,6 +65,8 @@ ADD_EXECUTABLE(App_RobotSimulator ${RobotSimulator_SRCS})
SET_TARGET_PROPERTIES(App_RobotSimulator PROPERTIES VERSION ${BULLET_VERSION})
SET_TARGET_PROPERTIES(App_RobotSimulator PROPERTIES DEBUG_POSTFIX "_d")
SET_TARGET_PROPERTIES(App_RobotSimulator PROPERTIES COMPILE_DEFINITIONS "B3_USE_ROBOTSIM_GUI")
IF(WIN32)
@@ -176,8 +75,56 @@ IF(WIN32)
ENDIF(BUILD_ENET OR BUILD_CLSOCKET)
ENDIF(WIN32)
TARGET_LINK_LIBRARIES(App_RobotSimulator BulletRobotics BulletExampleBrowserLib BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen Bullet3Common)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/examples
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
)
SET(RobotSimulator_NoGUI_SRCS
RobotSimulatorMain.cpp
b3RobotSimulatorClientAPI_NoGUI.cpp
b3RobotSimulatorClientAPI_NoGUI.h
MinitaurSetup.cpp
MinitaurSetup.h
)
ADD_EXECUTABLE(App_RobotSimulator_NoGUI ${RobotSimulator_NoGUI_SRCS})
SET_TARGET_PROPERTIES(App_RobotSimulator_NoGUI PROPERTIES VERSION ${BULLET_VERSION})
SET_TARGET_PROPERTIES(App_RobotSimulator_NoGUI PROPERTIES DEBUG_POSTFIX "_d")
IF(WIN32)
IF(BUILD_ENET OR BUILD_CLSOCKET)
TARGET_LINK_LIBRARIES(App_RobotSimulator_NoGUI ws2_32 )
ENDIF(BUILD_ENET OR BUILD_CLSOCKET)
ELSE()
IF(APPLE)
ELSE(APPLE)
TARGET_LINK_LIBRARIES( App_RobotSimulator_NoGUI pthread ${DL} )
ENDIF(APPLE)
ENDIF(WIN32)
TARGET_LINK_LIBRARIES(App_RobotSimulator_NoGUI BulletRobotics BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath Bullet3Common)
TARGET_LINK_LIBRARIES(App_RobotSimulator BulletExampleBrowserLib BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK Bullet3Common)

8
examples/RobotSimulator/MinitaurSetup.cpp
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@@ -1,5 +1,5 @@
#include "MinitaurSetup.h"
#include "b3RobotSimulatorClientAPI.h"
#include "b3RobotSimulatorClientAPI_NoGUI.h"
#include "Bullet3Common/b3HashMap.h"
@@ -27,7 +27,7 @@ MinitaurSetup::~MinitaurSetup()
delete m_data;
}
void MinitaurSetup::setDesiredMotorAngle(class b3RobotSimulatorClientAPI* sim, const char* motorName, double desiredAngle, double maxTorque, double kp, double kd)
void MinitaurSetup::setDesiredMotorAngle(class b3RobotSimulatorClientAPI_NoGUI* sim, const char* motorName, double desiredAngle, double maxTorque, double kp, double kd)
{
b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_POSITION_VELOCITY_PD);
controlArgs.m_maxTorqueValue = maxTorque;
@@ -158,7 +158,7 @@ static const char* minitaurURDF="quadruped/minitaur_rainbow_dash_v1.urdf";
#endif
void MinitaurSetup::resetPose(class b3RobotSimulatorClientAPI* sim)
void MinitaurSetup::resetPose(class b3RobotSimulatorClientAPI_NoGUI* sim)
{
//release all motors
int numJoints = sim->getNumJoints(m_data->m_quadrupedUniqueId);
@@ -255,7 +255,7 @@ void MinitaurSetup::resetPose(class b3RobotSimulatorClientAPI* sim)
}
int MinitaurSetup::setupMinitaur(class b3RobotSimulatorClientAPI* sim, const b3Vector3& startPos, const b3Quaternion& startOrn)
int MinitaurSetup::setupMinitaur(class b3RobotSimulatorClientAPI_NoGUI* sim, const b3Vector3& startPos, const b3Quaternion& startOrn)
{
b3RobotSimulatorLoadUrdfFileArgs args;

6
examples/RobotSimulator/MinitaurSetup.h
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@@ -6,15 +6,15 @@
class MinitaurSetup
{
struct MinitaurSetupInternalData* m_data;
void resetPose(class b3RobotSimulatorClientAPI* sim);
void resetPose(class b3RobotSimulatorClientAPI_NoGUI* sim);
public:
MinitaurSetup();
virtual ~MinitaurSetup();
int setupMinitaur(class b3RobotSimulatorClientAPI* sim, const class b3Vector3& startPos=b3MakeVector3(0,0,0), const class b3Quaternion& startOrn = b3Quaternion(0,0,0,1));
int setupMinitaur(class b3RobotSimulatorClientAPI_NoGUI* sim, const class b3Vector3& startPos=b3MakeVector3(0,0,0), const class b3Quaternion& startOrn = b3Quaternion(0,0,0,1));
void setDesiredMotorAngle(class b3RobotSimulatorClientAPI* sim, const char* motorName, double desiredAngle, double maxTorque=3,double kp=0.1, double kd=0.9);
void setDesiredMotorAngle(class b3RobotSimulatorClientAPI_NoGUI* sim, const char* motorName, double desiredAngle, double maxTorque=3,double kp=0.1, double kd=0.9);
};
#endif //MINITAUR_SIMULATION_SETUP_H

24
examples/RobotSimulator/RobotSimulatorMain.cpp
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@@ -1,5 +1,11 @@
#include "b3RobotSimulatorClientAPI.h"
#ifdef B3_USE_ROBOTSIM_GUI
#include "b3RobotSimulatorClientAPI.h"
#else
#include "b3RobotSimulatorClientAPI_NoGUI.h"
#endif
#include "../Utils/b3Clock.h"
#include <string.h>
@@ -7,11 +13,23 @@
#include <assert.h>
#define ASSERT_EQ(a,b) assert((a)==(b));
#include "MinitaurSetup.h"
int main(int argc, char* argv[])
{
#ifdef B3_USE_ROBOTSIM_GUI
b3RobotSimulatorClientAPI* sim = new b3RobotSimulatorClientAPI();
sim->connect(eCONNECT_GUI);
bool isConnected = sim->connect(eCONNECT_GUI);
#else
b3RobotSimulatorClientAPI_NoGUI* sim = new b3RobotSimulatorClientAPI_NoGUI();
bool isConnected = sim->connect(eCONNECT_DIRECT);
#endif
if (!isConnected)
{
printf("Cannot connect\n");
return -1;
}
//Can also use eCONNECT_DIRECT,eCONNECT_SHARED_MEMORY,eCONNECT_UDP,eCONNECT_TCP, for example:
//sim->connect(eCONNECT_UDP, "localhost", 1234);
sim->configureDebugVisualizer( COV_ENABLE_GUI, 0);

993
examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
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236
examples/RobotSimulator/b3RobotSimulatorClientAPI.h
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@@ -1,246 +1,32 @@
#ifndef B3_ROBOT_SIMULATOR_CLIENT_API_H
#define B3_ROBOT_SIMULATOR_CLIENT_API_H
#ifndef B3_ROBOT_SIMULATOR_CLIENT_API_GUI_H
#define B3_ROBOT_SIMULATOR_CLIENT_API_GUI_H
#include "../SharedMemory/SharedMemoryPublic.h"
#include "Bullet3Common/b3Vector3.h"
#include "Bullet3Common/b3Quaternion.h"
#include "Bullet3Common/b3Transform.h"
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "b3RobotSimulatorClientAPI_NoGUI.h"
#include <string>
struct b3RobotSimulatorLoadUrdfFileArgs
{
b3Vector3 m_startPosition;
b3Quaternion m_startOrientation;
bool m_forceOverrideFixedBase;
bool m_useMultiBody;
int m_flags;
b3RobotSimulatorLoadUrdfFileArgs(const b3Vector3& startPos, const b3Quaternion& startOrn)
: m_startPosition(startPos),
m_startOrientation(startOrn),
m_forceOverrideFixedBase(false),
m_useMultiBody(true),
m_flags(0)
{
}
b3RobotSimulatorLoadUrdfFileArgs()
: m_startPosition(b3MakeVector3(0, 0, 0)),
m_startOrientation(b3Quaternion(0, 0, 0, 1)),
m_forceOverrideFixedBase(false),
m_useMultiBody(true),
m_flags(0)
{
}
};
struct b3RobotSimulatorLoadSdfFileArgs
{
bool m_forceOverrideFixedBase;
bool m_useMultiBody;
b3RobotSimulatorLoadSdfFileArgs()
: m_forceOverrideFixedBase(false),
m_useMultiBody(true)
{
}
};
struct b3RobotSimulatorLoadFileResults
{
b3AlignedObjectArray<int> m_uniqueObjectIds;
b3RobotSimulatorLoadFileResults()
{
}
};
struct b3RobotSimulatorJointMotorArgs
{
int m_controlMode;
double m_targetPosition;
double m_kp;
double m_targetVelocity;
double m_kd;
double m_maxTorqueValue;
b3RobotSimulatorJointMotorArgs(int controlMode)
: m_controlMode(controlMode),
m_targetPosition(0),
m_kp(0.1),
m_targetVelocity(0),
m_kd(0.9),
m_maxTorqueValue(1000)
{
}
};
enum b3RobotSimulatorInverseKinematicsFlags
{
B3_HAS_IK_TARGET_ORIENTATION = 1,
B3_HAS_NULL_SPACE_VELOCITY = 2,
B3_HAS_JOINT_DAMPING = 4,
};
struct b3RobotSimulatorInverseKinematicArgs
{
int m_bodyUniqueId;
// double* m_currentJointPositions;
// int m_numPositions;
double m_endEffectorTargetPosition[3];
double m_endEffectorTargetOrientation[4];
int m_endEffectorLinkIndex;
int m_flags;
int m_numDegreeOfFreedom;
b3AlignedObjectArray<double> m_lowerLimits;
b3AlignedObjectArray<double> m_upperLimits;
b3AlignedObjectArray<double> m_jointRanges;
b3AlignedObjectArray<double> m_restPoses;
b3AlignedObjectArray<double> m_jointDamping;
b3RobotSimulatorInverseKinematicArgs()
: m_bodyUniqueId(-1),
m_endEffectorLinkIndex(-1),
m_flags(0)
{
m_endEffectorTargetPosition[0] = 0;
m_endEffectorTargetPosition[1] = 0;
m_endEffectorTargetPosition[2] = 0;
m_endEffectorTargetOrientation[0] = 0;
m_endEffectorTargetOrientation[1] = 0;
m_endEffectorTargetOrientation[2] = 0;
m_endEffectorTargetOrientation[3] = 1;
}
};
struct b3RobotSimulatorInverseKinematicsResults
{
int m_bodyUniqueId;
b3AlignedObjectArray<double> m_calculatedJointPositions;
};
struct b3JointStates2
{
int m_bodyUniqueId;
int m_numDegreeOfFreedomQ;
int m_numDegreeOfFreedomU;
b3Transform m_rootLocalInertialFrame;
b3AlignedObjectArray<double> m_actualStateQ;
b3AlignedObjectArray<double> m_actualStateQdot;
b3AlignedObjectArray<double> m_jointReactionForces;
};
///The b3RobotSimulatorClientAPI is pretty much the C++ version of pybullet
///The b3RobotSimulatorClientAPI_GUI is pretty much the C++ version of pybullet
///as documented in the pybullet Quickstart Guide
///https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA
class b3RobotSimulatorClientAPI
class b3RobotSimulatorClientAPI : public b3RobotSimulatorClientAPI_NoGUI
{
struct b3RobotSimulatorClientAPI_InternalData* m_data;
public:
b3RobotSimulatorClientAPI();
virtual ~b3RobotSimulatorClientAPI();
bool connect(int mode, const std::string& hostName = "localhost", int portOrKey = -1);
void disconnect();
bool isConnected() const;
void setTimeOut(double timeOutInSec);
void syncBodies();
void resetSimulation();
b3Quaternion getQuaternionFromEuler(const b3Vector3& rollPitchYaw);
b3Vector3 getEulerFromQuaternion(const b3Quaternion& quat);
int loadURDF(const std::string& fileName, const struct b3RobotSimulatorLoadUrdfFileArgs& args = b3RobotSimulatorLoadUrdfFileArgs());
bool loadSDF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results, const struct b3RobotSimulatorLoadSdfFileArgs& args = b3RobotSimulatorLoadSdfFileArgs());
bool loadMJCF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results);
bool loadBullet(const std::string& fileName, b3RobotSimulatorLoadFileResults& results);
bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo* bodyInfo);
bool getBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation) const;
bool resetBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation);
bool getBaseVelocity(int bodyUniqueId, b3Vector3& baseLinearVelocity, b3Vector3& baseAngularVelocity) const;
bool resetBaseVelocity(int bodyUniqueId, const b3Vector3& linearVelocity, const b3Vector3& angularVelocity) const;
int getNumJoints(int bodyUniqueId) const;
bool getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo* jointInfo);
int createConstraint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo);
int changeConstraint(int constraintId, b3JointInfo* jointInfo);
void removeConstraint(int constraintId);
bool getJointState(int bodyUniqueId, int jointIndex, struct b3JointSensorState* state);
bool getJointStates(int bodyUniqueId, b3JointStates2& state);
bool resetJointState(int bodyUniqueId, int jointIndex, double targetValue);
void setJointMotorControl(int bodyUniqueId, int jointIndex, const struct b3RobotSimulatorJointMotorArgs& args);
void stepSimulation();
bool canSubmitCommand() const;
void setRealTimeSimulation(bool enableRealTimeSimulation);
void setInternalSimFlags(int flags);
void setGravity(const b3Vector3& gravityAcceleration);
void setTimeStep(double timeStepInSeconds);
void setNumSimulationSubSteps(int numSubSteps);
void setNumSolverIterations(int numIterations);
void setContactBreakingThreshold(double threshold);
bool calculateInverseKinematics(const struct b3RobotSimulatorInverseKinematicArgs& args, struct b3RobotSimulatorInverseKinematicsResults& results);
bool getBodyJacobian(int bodyUniqueId, int linkIndex, const double* localPosition, const double* jointPositions, const double* jointVelocities, const double* jointAccelerations, double* linearJacobian, double* angularJacobian);
bool getLinkState(int bodyUniqueId, int linkIndex, b3LinkState* linkState);
void configureDebugVisualizer(enum b3ConfigureDebugVisualizerEnum flag, int enable);
void resetDebugVisualizerCamera(double cameraDistance, double cameraPitch, double cameraYaw, const b3Vector3& targetPos);
int startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const b3AlignedObjectArray<int>& objectUniqueIds=b3AlignedObjectArray<int>(), int maxLogDof = -1);
void stopStateLogging(int stateLoggerUniqueId);
void getVREvents(b3VREventsData* vrEventsData, int deviceTypeFilter);
void getKeyboardEvents(b3KeyboardEventsData* keyboardEventsData);
void submitProfileTiming(const std::string& profileName, int durationInMicroSeconds=1);
//////////////// INTERNAL
void loadSoftBody(const std::string& fileName, double scale, double mass, double collisionMargin);
//setGuiHelper is only used when embedded in existing example browser
void setGuiHelper(struct GUIHelperInterface* guiHelper);
//renderScene is only used when embedded in existing example browser
virtual bool connect(int mode, const std::string& hostName = "localhost", int portOrKey = -1);
virtual void renderScene();
//debugDraw is only used when embedded in existing example browser
virtual void debugDraw(int debugDrawMode);
virtual bool mouseMoveCallback(float x,float y);
virtual bool mouseButtonCallback(int button, int state, float x, float y);
////////////////INTERNAL
};
#endif //B3_ROBOT_SIMULATOR_CLIENT_API_H

18
examples/RobotSimulator/b3RobotSimulatorClientAPI_InternalData.h Normal file
View File

@@ -0,0 +1,18 @@
#ifndef B3_ROBOT_SIMULATOR_CLIENT_API_INTERNAL_DATA_H
#define B3_ROBOT_SIMULATOR_CLIENT_API_INTERNAL_DATA_H
#include "../SharedMemory/PhysicsClientC_API.h"
struct b3RobotSimulatorClientAPI_InternalData
{
b3PhysicsClientHandle m_physicsClientHandle;
struct GUIHelperInterface* m_guiHelper;
b3RobotSimulatorClientAPI_InternalData()
: m_physicsClientHandle(0),
m_guiHelper(0)
{
}
};
#endif //B3_ROBOT_SIMULATOR_CLIENT_API_INTERNAL_DATA_H

1997
examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.cpp Normal file
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572
examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.h Normal file
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@@ -0,0 +1,572 @@
#ifndef B3_ROBOT_SIMULATOR_CLIENT_API_H
#define B3_ROBOT_SIMULATOR_CLIENT_API_H
#include "../SharedMemory/SharedMemoryPublic.h"
#include "Bullet3Common/b3Vector3.h"
#include "Bullet3Common/b3Quaternion.h"
#include "Bullet3Common/b3Transform.h"
#include "Bullet3Common/b3AlignedObjectArray.h"
#include <string>
struct b3RobotSimulatorLoadUrdfFileArgs
{
b3Vector3 m_startPosition;
b3Quaternion m_startOrientation;
bool m_forceOverrideFixedBase;
bool m_useMultiBody;
int m_flags;
b3RobotSimulatorLoadUrdfFileArgs(const b3Vector3& startPos, const b3Quaternion& startOrn)
: m_startPosition(startPos),
m_startOrientation(startOrn),
m_forceOverrideFixedBase(false),
m_useMultiBody(true),
m_flags(0)
{
}
b3RobotSimulatorLoadUrdfFileArgs()
: m_startPosition(b3MakeVector3(0, 0, 0)),
m_startOrientation(b3Quaternion(0, 0, 0, 1)),
m_forceOverrideFixedBase(false),
m_useMultiBody(true),
m_flags(0)
{
}
};
struct b3RobotSimulatorLoadSdfFileArgs
{
bool m_forceOverrideFixedBase;
bool m_useMultiBody;
b3RobotSimulatorLoadSdfFileArgs()
: m_forceOverrideFixedBase(false),
m_useMultiBody(true)
{
}
};
struct b3RobotSimulatorLoadFileResults
{
b3AlignedObjectArray<int> m_uniqueObjectIds;
b3RobotSimulatorLoadFileResults()
{
}
};
struct b3RobotSimulatorJointMotorArgs
{
int m_controlMode;
double m_targetPosition;
double m_kp;
double m_targetVelocity;
double m_kd;
double m_maxTorqueValue;
b3RobotSimulatorJointMotorArgs(int controlMode)
: m_controlMode(controlMode),
m_targetPosition(0),
m_kp(0.1),
m_targetVelocity(0),
m_kd(0.9),
m_maxTorqueValue(1000)
{
}
};
enum b3RobotSimulatorInverseKinematicsFlags
{
B3_HAS_IK_TARGET_ORIENTATION = 1,
B3_HAS_NULL_SPACE_VELOCITY = 2,
B3_HAS_JOINT_DAMPING = 4,
};
struct b3RobotSimulatorInverseKinematicArgs
{
int m_bodyUniqueId;
// double* m_currentJointPositions;
// int m_numPositions;
double m_endEffectorTargetPosition[3];
double m_endEffectorTargetOrientation[4];
int m_endEffectorLinkIndex;
int m_flags;
int m_numDegreeOfFreedom;
b3AlignedObjectArray<double> m_lowerLimits;
b3AlignedObjectArray<double> m_upperLimits;
b3AlignedObjectArray<double> m_jointRanges;
b3AlignedObjectArray<double> m_restPoses;
b3AlignedObjectArray<double> m_jointDamping;
b3RobotSimulatorInverseKinematicArgs()
: m_bodyUniqueId(-1),
m_endEffectorLinkIndex(-1),
m_flags(0)
{
m_endEffectorTargetPosition[0] = 0;
m_endEffectorTargetPosition[1] = 0;
m_endEffectorTargetPosition[2] = 0;
m_endEffectorTargetOrientation[0] = 0;
m_endEffectorTargetOrientation[1] = 0;
m_endEffectorTargetOrientation[2] = 0;
m_endEffectorTargetOrientation[3] = 1;
}
};
struct b3RobotSimulatorInverseKinematicsResults
{
int m_bodyUniqueId;
b3AlignedObjectArray<double> m_calculatedJointPositions;
};
struct b3JointStates2
{
int m_bodyUniqueId;
int m_numDegreeOfFreedomQ;
int m_numDegreeOfFreedomU;
b3Transform m_rootLocalInertialFrame;
b3AlignedObjectArray<double> m_actualStateQ;
b3AlignedObjectArray<double> m_actualStateQdot;
b3AlignedObjectArray<double> m_jointReactionForces;
};
struct b3RobotSimulatorJointMotorArrayArgs
{
int m_controlMode;
int m_numControlledDofs;
int *m_jointIndices;
double *m_targetPositions;
double *m_kps;
double *m_targetVelocities;
double *m_kds;
double *m_forces;
b3RobotSimulatorJointMotorArrayArgs(int controlMode, int numControlledDofs)
: m_controlMode(controlMode), m_numControlledDofs(numControlledDofs)
{
}
};
struct b3RobotSimulatorGetCameraImageArgs
{
int m_width;
int m_height;
float *m_viewMatrix;
float *m_projectionMatrix;
float *m_lightDirection;
float *m_lightColor;
float m_lightDistance;
int m_hasShadow;
float m_lightAmbientCoeff;
float m_lightDiffuseCoeff;
float m_lightSpecularCoeff;
int m_renderer;
b3RobotSimulatorGetCameraImageArgs(int width, int height)
: m_width(width),
m_height(height),
m_viewMatrix(NULL),
m_projectionMatrix(NULL),
m_lightDirection(NULL),
m_lightColor(NULL),
m_lightDistance(-1),
m_hasShadow(-1),
m_lightAmbientCoeff(-1),
m_lightDiffuseCoeff(-1),
m_lightSpecularCoeff(-1),
m_renderer(-1)
{
}
};
struct b3RobotSimulatorSetPhysicsEngineParameters
{
double m_fixedTimeStep;
int m_numSolverIterations;
int m_useSplitImpulse;
double m_splitImpulsePenetrationThreshold;
int m_numSubSteps;
int m_collisionFilterMode;
double m_contactBreakingThreshold;
int m_maxNumCmdPer1ms;
int m_enableFileCaching;
double m_restitutionVelocityThreshold;
double m_erp;
double m_contactERP;
double m_frictionERP;
b3RobotSimulatorSetPhysicsEngineParameters()
: m_fixedTimeStep(-1),
m_numSolverIterations(-1),
m_useSplitImpulse(-1),
m_splitImpulsePenetrationThreshold(-1),
m_numSubSteps(-1),
m_collisionFilterMode(-1),
m_contactBreakingThreshold(-1),
m_maxNumCmdPer1ms(-1),
m_enableFileCaching(-1),
m_restitutionVelocityThreshold(-1),
m_erp(-1),
m_contactERP(-1),
m_frictionERP(-1)
{}
};
struct b3RobotSimulatorChangeDynamicsArgs
{
double m_mass;
double m_lateralFriction;
double m_spinningFriction;
double m_rollingFriction;
double m_restitution;
double m_linearDamping;
double m_angularDamping;
double m_contactStiffness;
double m_contactDamping;
int m_frictionAnchor;
b3RobotSimulatorChangeDynamicsArgs()
: m_mass(-1),
m_lateralFriction(-1),
m_spinningFriction(-1),
m_rollingFriction(-1),
m_restitution(-1),
m_linearDamping(-1),
m_angularDamping(-1),
m_contactStiffness(-1),
m_contactDamping(-1),
m_frictionAnchor(-1)
{}
};
struct b3RobotSimulatorAddUserDebugLineArgs
{
double m_colorRGB[3];
double m_lineWidth;
double m_lifeTime;
int m_parentObjectUniqueId;
int m_parentLinkIndex;
b3RobotSimulatorAddUserDebugLineArgs()
:
m_lineWidth(1),
m_lifeTime(0),
m_parentObjectUniqueId(-1),
m_parentLinkIndex(-1)
{
m_colorRGB[0] = 1;
m_colorRGB[1] = 1;
m_colorRGB[2] = 1;
}
};
enum b3AddUserDebugTextFlags {
DEBUG_TEXT_HAS_ORIENTATION = 1
};
struct b3RobotSimulatorAddUserDebugTextArgs
{
double m_colorRGB[3];
double m_size;
double m_lifeTime;
double m_textOrientation[4];
int m_parentObjectUniqueId;
int m_parentLinkIndex;
int m_flags;
b3RobotSimulatorAddUserDebugTextArgs()
: m_size(1),
m_lifeTime(0),
m_parentObjectUniqueId(-1),
m_parentLinkIndex(-1),
m_flags(0)
{
m_colorRGB[0] = 1;
m_colorRGB[1] = 1;
m_colorRGB[2] = 1;
m_textOrientation[0] = 0;
m_textOrientation[1] = 0;
m_textOrientation[2] = 0;
m_textOrientation[3] = 1;
}
};
struct b3RobotSimulatorGetContactPointsArgs
{
int m_bodyUniqueIdA;
int m_bodyUniqueIdB;
int m_linkIndexA;
int m_linkIndexB;
b3RobotSimulatorGetContactPointsArgs()
: m_bodyUniqueIdA(-1),
m_bodyUniqueIdB(-1),
m_linkIndexA(-2),
m_linkIndexB(-2)
{}
};
struct b3RobotSimulatorCreateCollisionShapeArgs
{
int m_shapeType;
double m_radius;
b3Vector3 m_halfExtents;
double m_height;
char* m_fileName;
b3Vector3 m_meshScale;
b3Vector3 m_planeNormal;
int m_flags;
b3RobotSimulatorCreateCollisionShapeArgs()
: m_shapeType(-1),
m_radius(0.5),
m_height(1),
m_fileName(NULL),
m_flags(0)
{
m_halfExtents.m_floats[0] = 1;
m_halfExtents.m_floats[1] = 1;
m_halfExtents.m_floats[2] = 1;
m_meshScale.m_floats[0] = 1;
m_meshScale.m_floats[1] = 1;
m_meshScale.m_floats[2] = 1;
m_planeNormal.m_floats[0] = 0;
m_planeNormal.m_floats[1] = 0;
m_planeNormal.m_floats[2] = 1;
}
};
struct b3RobotSimulatorCreateMultiBodyArgs
{
double m_baseMass;
int m_baseCollisionShapeIndex;
int m_baseVisualShapeIndex;
b3Vector3 m_basePosition;
b3Quaternion m_baseOrientation;
b3Vector3 m_baseInertialFramePosition;
b3Quaternion m_baseInertialFrameOrientation;
int m_numLinks;
double *m_linkMasses;
int *m_linkCollisionShapeIndices;
int *m_linkVisualShapeIndices;
b3Vector3 *m_linkPositions;
b3Quaternion *m_linkOrientations;
b3Vector3 *m_linkInertialFramePositions;
b3Quaternion *m_linkInertialFrameOrientations;
int *m_linkParentIndices;
int *m_linkJointTypes;
b3Vector3 *m_linkJointAxes;
int m_useMaximalCoordinates;
b3RobotSimulatorCreateMultiBodyArgs()
: m_numLinks(0), m_baseMass(0), m_baseCollisionShapeIndex(-1), m_baseVisualShapeIndex(-1), m_useMaximalCoordinates(0),
m_linkMasses(NULL),
m_linkCollisionShapeIndices(NULL),
m_linkVisualShapeIndices(NULL),
m_linkPositions(NULL),
m_linkOrientations(NULL),
m_linkInertialFramePositions(NULL),
m_linkInertialFrameOrientations(NULL),
m_linkParentIndices(NULL),
m_linkJointTypes(NULL),
m_linkJointAxes(NULL)
{
m_basePosition.setValue(0,0,0);
m_baseOrientation.setValue(0,0,0,1);
m_baseInertialFramePosition.setValue(0,0,0);
m_baseInertialFrameOrientation.setValue(0,0,0,1);
}
};
///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:
struct b3RobotSimulatorClientAPI_InternalData* m_data;
public:
b3RobotSimulatorClientAPI_NoGUI();
virtual ~b3RobotSimulatorClientAPI_NoGUI();
bool connect(int mode, const std::string& hostName = "localhost", int portOrKey = -1);
void disconnect();
bool isConnected() const;
void setTimeOut(double timeOutInSec);
void syncBodies();
void resetSimulation();
b3Quaternion getQuaternionFromEuler(const b3Vector3& rollPitchYaw);
b3Vector3 getEulerFromQuaternion(const b3Quaternion& quat);
int loadURDF(const std::string& fileName, const struct b3RobotSimulatorLoadUrdfFileArgs& args = b3RobotSimulatorLoadUrdfFileArgs());
bool loadSDF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results, const struct b3RobotSimulatorLoadSdfFileArgs& args = b3RobotSimulatorLoadSdfFileArgs());
bool loadMJCF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results);
bool loadBullet(const std::string& fileName, b3RobotSimulatorLoadFileResults& results);
bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo* bodyInfo);
bool getBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation) const;
bool resetBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation);
bool getBaseVelocity(int bodyUniqueId, b3Vector3& baseLinearVelocity, b3Vector3& baseAngularVelocity) const;
bool resetBaseVelocity(int bodyUniqueId, const b3Vector3& linearVelocity, const b3Vector3& angularVelocity) const;
int getNumJoints(int bodyUniqueId) const;
bool getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo* jointInfo);
int createConstraint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo);
int changeConstraint(int constraintId, b3JointInfo* jointInfo);
void removeConstraint(int constraintId);
bool getJointState(int bodyUniqueId, int jointIndex, struct b3JointSensorState* state);
bool getJointStates(int bodyUniqueId, b3JointStates2& state);
bool resetJointState(int bodyUniqueId, int jointIndex, double targetValue);
void setJointMotorControl(int bodyUniqueId, int jointIndex, const struct b3RobotSimulatorJointMotorArgs& args);
bool setJointMotorControlArray(int bodyUniqueId, int controlMode, int numControlledDofs,
int *jointIndices, double *targetVelocities, double *targetPositions,
double *forces, double *kps, double *kds);
void stepSimulation();
bool canSubmitCommand() const;
void setRealTimeSimulation(bool enableRealTimeSimulation);
void setInternalSimFlags(int flags);
void setGravity(const b3Vector3& gravityAcceleration);
void setTimeStep(double timeStepInSeconds);
void setNumSimulationSubSteps(int numSubSteps);
void setNumSolverIterations(int numIterations);
void setContactBreakingThreshold(double threshold);
bool calculateInverseKinematics(const struct b3RobotSimulatorInverseKinematicArgs& args, struct b3RobotSimulatorInverseKinematicsResults& results);
bool getBodyJacobian(int bodyUniqueId, int linkIndex, const double* localPosition, const double* jointPositions, const double* jointVelocities, const double* jointAccelerations, double* linearJacobian, double* angularJacobian);
bool getLinkState(int bodyUniqueId, int linkIndex, b3LinkState* linkState);
void configureDebugVisualizer(enum b3ConfigureDebugVisualizerEnum flag, int enable);
void resetDebugVisualizerCamera(double cameraDistance, double cameraPitch, double cameraYaw, const b3Vector3& targetPos);
int startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const b3AlignedObjectArray<int>& objectUniqueIds=b3AlignedObjectArray<int>(), int maxLogDof = -1);
void stopStateLogging(int stateLoggerUniqueId);
void getVREvents(b3VREventsData* vrEventsData, int deviceTypeFilter);
void getKeyboardEvents(b3KeyboardEventsData* keyboardEventsData);
void submitProfileTiming(const std::string& profileName, int durationInMicroSeconds=1);
// JFC: added these 24 methods
void getMouseEvents(b3MouseEventsData* mouseEventsData);
bool getLinkState(int bodyUniqueId, int linkIndex, int computeLinkVelocity, int computeInverseKinematics, b3LinkState* linkState);
bool getCameraImage(int width, int height, struct b3RobotSimulatorGetCameraImageArgs args, b3CameraImageData &imageData);
bool calculateInverseDynamics(int bodyUniqueId, double *jointPositions, double *jointVelocities, double *jointAccelerations, double *jointForcesOutput);
int getNumBodies() const;
int getBodyUniqueId(int bodyId) const;
bool removeBody(int bodyUniqueId);
bool getDynamicsInfo(int bodyUniqueId, int linkIndex, b3DynamicsInfo *dynamicsInfo);
bool changeDynamics(int bodyUniqueId, int linkIndex, struct b3RobotSimulatorChangeDynamicsArgs &args);
int addUserDebugParameter(char *paramName, double rangeMin, double rangeMax, double startValue);
double readUserDebugParameter(int itemUniqueId);
bool removeUserDebugItem(int itemUniqueId);
int addUserDebugText(char *text, double *textPosition, struct b3RobotSimulatorAddUserDebugTextArgs &args);
int addUserDebugText(char *text, b3Vector3 &textPosition, struct b3RobotSimulatorAddUserDebugTextArgs &args);
int addUserDebugLine(double *fromXYZ, double *toXYZ, struct b3RobotSimulatorAddUserDebugLineArgs &args);
int addUserDebugLine(b3Vector3 &fromXYZ, b3Vector3 &toXYZ, struct b3RobotSimulatorAddUserDebugLineArgs &args);
bool setJointMotorControlArray(int bodyUniqueId, struct b3RobotSimulatorJointMotorArrayArgs &args);
bool setPhysicsEngineParameter(struct b3RobotSimulatorSetPhysicsEngineParameters &args);
bool applyExternalForce(int objectUniqueId, int linkIndex, double *force, double *position, int flags);
bool applyExternalForce(int objectUniqueId, int linkIndex, b3Vector3 &force, b3Vector3 &position, int flags);
bool applyExternalTorque(int objectUniqueId, int linkIndex, double *torque, int flags);
bool applyExternalTorque(int objectUniqueId, int linkIndex, b3Vector3 &torque, int flags);
bool enableJointForceTorqueSensor(int bodyUniqueId, int linkIndex, bool enable);
bool getDebugVisualizerCamera(struct b3OpenGLVisualizerCameraInfo *cameraInfo);
bool getContactPoints(struct b3RobotSimulatorGetContactPointsArgs &args, struct b3ContactInformation *contactInfo);
bool getClosestPoints(struct b3RobotSimulatorGetContactPointsArgs &args, double distance, struct b3ContactInformation *contactInfo);
bool getOverlappingObjects(double *aabbMin, double *aabbMax, struct b3AABBOverlapData *overlapData);
bool getOverlappingObjects(b3Vector3 &aabbMin, b3Vector3 &aabbMax, struct b3AABBOverlapData *overlapData);
bool getAABB(int bodyUniqueId, int linkIndex, double *aabbMin, double *aabbMax);
bool getAABB(int bodyUniqueId, int linkIndex, b3Vector3 &aabbMin, b3Vector3 &aabbMax);
int createCollisionShape(int shapeType, struct b3RobotSimulatorCreateCollisionShapeArgs &args);
int createMultiBody(struct b3RobotSimulatorCreateMultiBodyArgs &args);
int getNumConstraints() const;
int getConstraintUniqueId(int serialIndex);
void loadSoftBody(const std::string& fileName, double scale, double mass, double collisionMargin);
virtual void setGuiHelper(struct GUIHelperInterface* guiHelper);
virtual struct GUIHelperInterface* getGuiHelper();
};
#endif //B3_ROBOT_SIMULATOR_CLIENT_API_H

4
examples/RobotSimulator/premake4.lua
View File

@@ -193,6 +193,8 @@ if not _OPTIONS["no-enet"] then
"RobotSimulatorMain.cpp",
"b3RobotSimulatorClientAPI.cpp",
"b3RobotSimulatorClientAPI.h",
"b3RobotSimulatorClientAPI_NoGUI.cpp",
"b3RobotSimulatorClientAPI_NoGUI.h",
"MinitaurSetup.cpp",
"MinitaurSetup.h",
myfiles
@@ -283,6 +285,8 @@ project ("App_VRGloveHandSimulator")
"VRGloveSimulatorMain.cpp",
"b3RobotSimulatorClientAPI.cpp",
"b3RobotSimulatorClientAPI.h",
"b3RobotSimulatorClientAPI_NoGUI.cpp",
"b3RobotSimulatorClientAPI_NoGUI.h",
myfiles
}

1
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -32,7 +32,6 @@ B3_DECLARE_HANDLE(b3SharedMemoryStatusHandle);
#include "PhysicsClientTCP_C_API.h"
#endif
#include "SharedMemoryInProcessPhysicsC_API.h"
#ifdef __cplusplus
extern "C" {

1
examples/TwoJoint/TwoJointMain.cpp
View File

@@ -9,6 +9,7 @@
#include "SharedMemory/PhysicsClientC_API.h"
#include "Bullet3Common/b3Vector3.h"
#include "Bullet3Common/b3Quaternion.h"
#include "SharedMemory/SharedMemoryInProcessPhysicsC_API.h"
extern const int CONTROL_RATE;
const int CONTROL_RATE = 500;

362
examples/pybullet/gym/pybullet_data/bicycle/LICENSE.txt Normal file
View File

@@ -0,0 +1,362 @@
Functional Bicycle (http://www.thingiverse.com/thing:309158) by thomasgivan is licensed under the Creative Commons - Attribution - Share Alike license.
http://creativecommons.org/licenses/by-sa/3.0/
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143
examples/pybullet/gym/pybullet_data/bicycle/bike.urdf Normal file
View File

@@ -0,0 +1,143 @@
<?xml version="0.0" ?>
<robot name="frame">
<link name="frameLink">
<inertial>
<origin rpy="1.57 0 0" xyz="0 0 0"/>
<mass value="5.0"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<origin rpy="1.57 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="files/frame_scaled_right.stl"/>
</geometry>
<material name="framemat0">
<color rgba="0.9 0.4 0. 1" />
</material>
</visual>
<visual>
<origin rpy="1.57 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="files/frame_scaled_left.stl"/>
</geometry>
<material name="framemat0">
<color rgba="0.9 0.4 0. 1" />
</material>
</visual>
<collision>
<origin rpy="1.57 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="files/frame_scaled_right.stl"/>
</geometry>
</collision>
<collision>
<origin rpy="1.57 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="files/frame_scaled_left.stl"/>
</geometry>
</collision>
</link>
<link name="handlebarLink">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".5"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<origin rpy=" -1.5089523943366046 0.017064611667450248 -1.57454489647697 " xyz=" -0.03313875198364258 0.0 -0.23958677053451538"/>
<geometry>
<mesh filename="files/handlebar_scaled.stl"/>
</geometry>
<material name="framemat0">
<color rgba="0.9 0.4 0. 1" />
</material>
</visual>
<collision>
<origin rpy=" -1.5089523943366046 0.017064611667450248 -1.57454489647697 " xyz=" -0.03313875198364258 0.0 -0.23958677053451538"/>
<geometry>
<mesh filename="files/handlebar_scaled.stl"/>
</geometry>
</collision>
</link>
<joint name="frame_to_handlebar" type="continuous">
<axis xyz="0 0 1"/>
<parent link="frameLink"/>
<child link="handlebarLink"/>
<origin rpy="0 -0.261799387799149 0" xyz="0.70 0 0.22"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="frontWheelLink">
<inertial>
<origin rpy="1.57 0 0" xyz="0 0 0"/>
<mass value="1.0"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<origin rpy="1.57 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="files/wheel_scaled.stl"/>
</geometry>
<material name="framemat0">
<color rgba="0.9 0.4 0. 1" />
</material>
</visual>
<collision>
<origin rpy="1.57 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="files/wheel_scaled.stl"/>
</geometry>
</collision>
</link>
<joint name="handlebar_to_frontwheel" type="continuous">
<axis xyz="0 1 0"/>
<parent link="handlebarLink"/>
<child link="frontWheelLink"/>
<origin rpy="0 0 0" xyz="0.07, 0, -0.69"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="backWheelLink">
<inertial>
<origin rpy="1.57 0 0" xyz="0 0 0"/>
<mass value="1.0"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<origin rpy="1.57 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="files/wheel_scaled.stl"/>
</geometry>
<material name="framemat0">
<color rgba="0.9 0.4 0. 1" />
</material>
</visual>
<collision>
<origin rpy="1.57 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="files/wheel_scaled.stl"/>
</geometry>
</collision>
</link>
<joint name="frame_to_backwheel" type="continuous">
<axis xyz="0 1 0"/>
<parent link="frameLink"/>
<child link="backWheelLink"/>
<origin rpy="0 0 0" xyz="-0.69, 0, -0.42"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
</robot>

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examples/pybullet/gym/pybullet_data/bicycle/files/all_pedal_parts.stl Normal file
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examples/pybullet/gym/pybullet_data/bicycle/files/bike_rack.stl Normal file
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examples/pybullet/gym/pybullet_data/bicycle/files/wheel_axels.stl Normal file
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22
examples/pybullet/gym/pybullet_data/plane100.obj Normal file
View File

@@ -0,0 +1,22 @@
# Blender v2.66 (sub 1) OBJ File: ''
# www.blender.org
mtllib plane.mtl
o Plane
v 100.000000 -100.000000 0.000000
v 100.000000 100.000000 0.000000
v -100.000000 100.000000 0.000000
v -100.000000 -100.000000 0.000000
vt 100.000000 0.000000
vt 100.000000 100.000000
vt 0.000000 100.000000
vt 0.000000 0.000000
usemtl Material
s off
f 1/1 2/2 3/3
f 1/1 3/3 4/4

26
examples/pybullet/gym/pybullet_data/plane100.urdf Normal file
View File

@@ -0,0 +1,26 @@
<?xml version="0.0" ?>
<robot name="cube.urdf">
<link name="baseLink">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="plane100.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="200 200 0.001"/>
</geometry>
</collision>
</link>
</robot>

9
examples/pybullet/gym/pybullet_envs/bullet/cartpole_bullet.py
View File

@@ -64,10 +64,10 @@ class CartPoleBulletEnv(gym.Env):
# time.sleep(self.timeStep)
self.state = p.getJointState(self.cartpole, 1)[0:2] + p.getJointState(self.cartpole, 0)[0:2]
theta, theta_dot, x, x_dot = self.state
dv = 0.1
deltav = [-10.*dv,-5.*dv, -2.*dv, -0.1*dv, 0, 0.1*dv, 2.*dv,5.*dv, 10.*dv][action]
p.setJointMotorControl2(self.cartpole, 0, p.VELOCITY_CONTROL, targetVelocity=(deltav + self.state[3]))
done = x < -self.x_threshold \
@@ -99,3 +99,8 @@ class CartPoleBulletEnv(gym.Env):
def _render(self, mode='human', close=False):
return
render = _render
reset = _reset
seed = _seed
step = _step

46
examples/pybullet/gym/pybullet_envs/bullet/kukaCamGymEnv.py
View File

@@ -56,8 +56,8 @@ class KukaCamGymEnv(gym.Env):
observationDim = len(self.getExtendedObservation())
#print("observationDim")
#print(observationDim)
observation_high = np.array([np.finfo(np.float32).max] * observationDim)
observation_high = np.array([np.finfo(np.float32).max] * observationDim)
if (self._isDiscrete):
self.action_space = spaces.Discrete(7)
else:
@@ -74,15 +74,15 @@ class KukaCamGymEnv(gym.Env):
p.setPhysicsEngineParameter(numSolverIterations=150)
p.setTimeStep(self._timeStep)
p.loadURDF(os.path.join(self._urdfRoot,"plane.urdf"),[0,0,-1])
p.loadURDF(os.path.join(self._urdfRoot,"table/table.urdf"), 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0)
xpos = 0.5 +0.2*random.random()
ypos = 0 +0.25*random.random()
ang = 3.1415925438*random.random()
orn = p.getQuaternionFromEuler([0,0,ang])
self.blockUid =p.loadURDF(os.path.join(self._urdfRoot,"block.urdf"), xpos,ypos,-0.1,orn[0],orn[1],orn[2],orn[3])
p.setGravity(0,0,-10)
self._kuka = kuka.Kuka(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
self._envStepCounter = 0
@@ -98,7 +98,7 @@ class KukaCamGymEnv(gym.Env):
return [seed]
def getExtendedObservation(self):
#camEyePos = [0.03,0.236,0.54]
#distance = 1.06
#pitch=-56
@@ -118,13 +118,13 @@ class KukaCamGymEnv(gym.Env):
viewMat = [-0.5120397806167603, 0.7171027660369873, -0.47284144163131714, 0.0, -0.8589617609977722, -0.42747554183006287, 0.28186774253845215, 0.0, 0.0, 0.5504802465438843, 0.8348482847213745, 0.0, 0.1925382763147354, -0.24935829639434814, -0.4401884973049164, 1.0]
#projMatrix = camInfo[3]#[0.7499999403953552, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0, -0.02000020071864128, 0.0]
projMatrix = [0.75, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0, -0.02000020071864128, 0.0]
img_arr = p.getCameraImage(width=self._width,height=self._height,viewMatrix=viewMat,projectionMatrix=projMatrix)
rgb=img_arr[2]
np_img_arr = np.reshape(rgb, (self._height, self._width, 4))
self._observation = np_img_arr
return self._observation
def _step(self, action):
if (self._isDiscrete):
dv = 0.01
@@ -142,7 +142,7 @@ class KukaCamGymEnv(gym.Env):
realAction = [dx,dy,-0.002,da,f]
return self.step2( realAction)
def step2(self, action):
for i in range(self._actionRepeat):
self._kuka.applyAction(action)
@@ -158,11 +158,11 @@ class KukaCamGymEnv(gym.Env):
#print("self._envStepCounter")
#print(self._envStepCounter)
done = self._termination()
reward = self._reward()
#print("len=%r" % len(self._observation))
return np.array(self._observation), reward, done, {}
def _render(self, mode='human', close=False):
@@ -190,18 +190,18 @@ class KukaCamGymEnv(gym.Env):
#print (self._kuka.endEffectorPos[2])
state = p.getLinkState(self._kuka.kukaUid,self._kuka.kukaEndEffectorIndex)
actualEndEffectorPos = state[0]
#print("self._envStepCounter")
#print(self._envStepCounter)
if (self.terminated or self._envStepCounter>maxSteps):
self._observation = self.getExtendedObservation()
return True
maxDist = 0.005
maxDist = 0.005
closestPoints = p.getClosestPoints(self._kuka.trayUid, self._kuka.kukaUid,maxDist)
if (len(closestPoints)):#(actualEndEffectorPos[2] <= -0.43):
self.terminated = 1
#print("closing gripper, attempting grasp")
#start grasp and terminate
fingerAngle = 0.3
@@ -212,7 +212,7 @@ class KukaCamGymEnv(gym.Env):
fingerAngle = fingerAngle-(0.3/100.)
if (fingerAngle<0):
fingerAngle=0
for i in range (1000):
graspAction = [0,0,0.001,0,fingerAngle]
self._kuka.applyAction(graspAction)
@@ -227,18 +227,18 @@ class KukaCamGymEnv(gym.Env):
if (actualEndEffectorPos[2]>0.5):
break
self._observation = self.getExtendedObservation()
return True
return False
def _reward(self):
#rewards is height of target object
blockPos,blockOrn=p.getBasePositionAndOrientation(self.blockUid)
closestPoints = p.getClosestPoints(self.blockUid,self._kuka.kukaUid,1000, -1, self._kuka.kukaEndEffectorIndex)
closestPoints = p.getClosestPoints(self.blockUid,self._kuka.kukaUid,1000, -1, self._kuka.kukaEndEffectorIndex)
reward = -1000
reward = -1000
numPt = len(closestPoints)
#print(numPt)
if (numPt>0):
@@ -254,3 +254,7 @@ class KukaCamGymEnv(gym.Env):
#print(reward)
return reward
render = _render
reset = _reset
seed = _seed
step = _step

61
examples/pybullet/gym/pybullet_envs/bullet/kukaGymEnv.py
View File

@@ -44,7 +44,7 @@ class KukaGymEnv(gym.Env):
self._maxSteps = maxSteps
self.terminated = 0
self._cam_dist = 1.3
self._cam_yaw = 180
self._cam_yaw = 180
self._cam_pitch = -40
self._p = p
@@ -61,8 +61,8 @@ class KukaGymEnv(gym.Env):
observationDim = len(self.getExtendedObservation())
#print("observationDim")
#print(observationDim)
observation_high = np.array([largeValObservation] * observationDim)
observation_high = np.array([largeValObservation] * observationDim)
if (self._isDiscrete):
self.action_space = spaces.Discrete(7)
else:
@@ -80,15 +80,15 @@ class KukaGymEnv(gym.Env):
p.setPhysicsEngineParameter(numSolverIterations=150)
p.setTimeStep(self._timeStep)
p.loadURDF(os.path.join(self._urdfRoot,"plane.urdf"),[0,0,-1])
p.loadURDF(os.path.join(self._urdfRoot,"table/table.urdf"), 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0)
xpos = 0.55 +0.12*random.random()
ypos = 0 +0.2*random.random()
ang = 3.14*0.5+3.1415925438*random.random()
orn = p.getQuaternionFromEuler([0,0,ang])
self.blockUid =p.loadURDF(os.path.join(self._urdfRoot,"block.urdf"), xpos,ypos,-0.15,orn[0],orn[1],orn[2],orn[3])
p.setGravity(0,0,-10)
self._kuka = kuka.Kuka(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
self._envStepCounter = 0
@@ -115,7 +115,7 @@ class KukaGymEnv(gym.Env):
dir0 = [gripperMat[0],gripperMat[3],gripperMat[6]]
dir1 = [gripperMat[1],gripperMat[4],gripperMat[7]]
dir2 = [gripperMat[2],gripperMat[5],gripperMat[8]]
gripperEul = p.getEulerFromQuaternion(gripperOrn)
#print("gripperEul")
#print(gripperEul)
@@ -126,17 +126,17 @@ class KukaGymEnv(gym.Env):
#print(projectedBlockPos2D)
#print("blockEulerInGripper")
#print(blockEulerInGripper)
#we return the relative x,y position and euler angle of block in gripper space
blockInGripperPosXYEulZ =[blockPosInGripper[0],blockPosInGripper[1],blockEulerInGripper[2]]
#p.addUserDebugLine(gripperPos,[gripperPos[0]+dir0[0],gripperPos[1]+dir0[1],gripperPos[2]+dir0[2]],[1,0,0],lifeTime=1)
#p.addUserDebugLine(gripperPos,[gripperPos[0]+dir1[0],gripperPos[1]+dir1[1],gripperPos[2]+dir1[2]],[0,1,0],lifeTime=1)
#p.addUserDebugLine(gripperPos,[gripperPos[0]+dir2[0],gripperPos[1]+dir2[1],gripperPos[2]+dir2[2]],[0,0,1],lifeTime=1)
self._observation.extend(list(blockInGripperPosXYEulZ))
return self._observation
def _step(self, action):
if (self._isDiscrete):
dv = 0.005
@@ -154,7 +154,7 @@ class KukaGymEnv(gym.Env):
f = 0.3
realAction = [dx,dy,-0.002,da,f]
return self.step2( realAction)
def step2(self, action):
for i in range(self._actionRepeat):
self._kuka.applyAction(action)
@@ -168,7 +168,7 @@ class KukaGymEnv(gym.Env):
#print("self._envStepCounter")
#print(self._envStepCounter)
done = self._termination()
npaction = np.array([action[3]]) #only penalize rotation until learning works well [action[0],action[1],action[3]])
actionCost = np.linalg.norm(npaction)*10.
@@ -177,9 +177,9 @@ class KukaGymEnv(gym.Env):
reward = self._reward()-actionCost
#print("reward")
#print(reward)
#print("len=%r" % len(self._observation))
return np.array(self._observation), reward, done, {}
def _render(self, mode="rgb_array", close=False):
@@ -208,18 +208,18 @@ class KukaGymEnv(gym.Env):
#print (self._kuka.endEffectorPos[2])
state = p.getLinkState(self._kuka.kukaUid,self._kuka.kukaEndEffectorIndex)
actualEndEffectorPos = state[0]
#print("self._envStepCounter")
#print(self._envStepCounter)
if (self.terminated or self._envStepCounter>self._maxSteps):
self._observation = self.getExtendedObservation()
return True
maxDist = 0.005
maxDist = 0.005
closestPoints = p.getClosestPoints(self._kuka.trayUid, self._kuka.kukaUid,maxDist)
if (len(closestPoints)):#(actualEndEffectorPos[2] <= -0.43):
self.terminated = 1
#print("terminating, closing gripper, attempting grasp")
#start grasp and terminate
fingerAngle = 0.3
@@ -230,7 +230,7 @@ class KukaGymEnv(gym.Env):
fingerAngle = fingerAngle-(0.3/100.)
if (fingerAngle<0):
fingerAngle=0
for i in range (1000):
graspAction = [0,0,0.001,0,fingerAngle]
self._kuka.applyAction(graspAction)
@@ -245,19 +245,19 @@ class KukaGymEnv(gym.Env):
if (actualEndEffectorPos[2]>0.5):
break
self._observation = self.getExtendedObservation()
return True
return False
def _reward(self):
#rewards is height of target object
blockPos,blockOrn=p.getBasePositionAndOrientation(self.blockUid)
closestPoints = p.getClosestPoints(self.blockUid,self._kuka.kukaUid,1000, -1, self._kuka.kukaEndEffectorIndex)
closestPoints = p.getClosestPoints(self.blockUid,self._kuka.kukaUid,1000, -1, self._kuka.kukaEndEffectorIndex)
reward = -1000
numPt = len(closestPoints)
#print(numPt)
if (numPt>0):
@@ -276,10 +276,7 @@ class KukaGymEnv(gym.Env):
#print(reward)
return reward
def reset(self):
"""Resets the state of the environment and returns an initial observation.
Returns: observation (object): the initial observation of the
space.
"""
return self._reset()
render = _render
reset = _reset
seed = _seed
step = _step

5
examples/pybullet/gym/pybullet_envs/bullet/minitaur_duck_gym_env.py
View File

@@ -385,3 +385,8 @@ class MinitaurBulletDuckEnv(gym.Env):
scale=self._observation_noise_stdev, size=observation.shape) *
self.minitaur.GetObservationUpperBound())
return observation
render = _render
reset = _reset
seed = _seed
step = _step

5
examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py
View File

@@ -376,3 +376,8 @@ class MinitaurBulletEnv(gym.Env):
scale=self._observation_noise_stdev, size=observation.shape) *
self.minitaur.GetObservationUpperBound())
return observation
render = _render
reset = _reset
seed = _seed
step = _step

37
examples/pybullet/gym/pybullet_envs/bullet/racecarGymEnv.py
View File

@@ -50,8 +50,8 @@ class RacecarGymEnv(gym.Env):
#self.reset()
observationDim = 2 #len(self.getExtendedObservation())
#print("observationDim")
#print(observationDim)
# observation_high = np.array([np.finfo(np.float32).max] * observationDim)
#print(observationDim)
# observation_high = np.array([np.finfo(np.float32).max] * observationDim)
observation_high = np.ones(observationDim) * 1000 #np.inf
if (isDiscrete):
self.action_space = spaces.Discrete(9)
@@ -59,7 +59,7 @@ class RacecarGymEnv(gym.Env):
action_dim = 2
self._action_bound = 1
action_high = np.array([self._action_bound] * action_dim)
self.action_space = spaces.Box(-action_high, action_high)
self.action_space = spaces.Box(-action_high, action_high)
self.observation_space = spaces.Box(-observation_high, observation_high)
self.viewer = None
@@ -74,14 +74,14 @@ class RacecarGymEnv(gym.Env):
# pos,orn = self._p.getBasePositionAndOrientation(i)
# newpos = [pos[0],pos[1],pos[2]-0.1]
# self._p.resetBasePositionAndOrientation(i,newpos,orn)
dist = 5 +2.*random.random()
ang = 2.*3.1415925438*random.random()
ballx = dist * math.sin(ang)
bally = dist * math.cos(ang)
ballz = 1
self._ballUniqueId = self._p.loadURDF(os.path.join(self._urdfRoot,"sphere2.urdf"),[ballx,bally,ballz])
self._p.setGravity(0,0,-10)
self._racecar = racecar.Racecar(self._p,urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
@@ -101,18 +101,18 @@ class RacecarGymEnv(gym.Env):
def getExtendedObservation(self):
self._observation = [] #self._racecar.getObservation()
carpos,carorn = self._p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
ballpos,ballorn = self._p.getBasePositionAndOrientation(self._ballUniqueId)
ballpos,ballorn = self._p.getBasePositionAndOrientation(self._ballUniqueId)
invCarPos,invCarOrn = self._p.invertTransform(carpos,carorn)
ballPosInCar,ballOrnInCar = self._p.multiplyTransforms(invCarPos,invCarOrn,ballpos,ballorn)
self._observation.extend([ballPosInCar[0],ballPosInCar[1]])
return self._observation
def _step(self, action):
if (self._renders):
basePos,orn = self._p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
#self._p.resetDebugVisualizerCamera(1, 30, -40, basePos)
if (self._isDiscrete):
fwd = [-1,-1,-1,0,0,0,1,1,1]
steerings = [-0.6,0,0.6,-0.6,0,0.6,-0.6,0,0.6]
@@ -128,14 +128,14 @@ class RacecarGymEnv(gym.Env):
if self._renders:
time.sleep(self._timeStep)
self._observation = self.getExtendedObservation()
if self._termination():
break
self._envStepCounter += 1
reward = self._reward()
done = self._termination()
#print("len=%r" % len(self._observation))
return np.array(self._observation), reward, done, {}
def _render(self, mode='human', close=False):
@@ -159,13 +159,13 @@ class RacecarGymEnv(gym.Env):
rgb_array = rgb_array[:, :, :3]
return rgb_array
def _termination(self):
return self._envStepCounter>1000
def _reward(self):
closestPoints = self._p.getClosestPoints(self._racecar.racecarUniqueId,self._ballUniqueId,10000)
closestPoints = self._p.getClosestPoints(self._racecar.racecarUniqueId,self._ballUniqueId,10000)
numPt = len(closestPoints)
reward=-1000
#print(numPt)
@@ -174,3 +174,8 @@ class RacecarGymEnv(gym.Env):
reward = -closestPoints[0][8]
#print(reward)
return reward
render = _render
reset = _reset
seed = _seed
step = _step

35
examples/pybullet/gym/pybullet_envs/bullet/racecarZEDGymEnv.py
View File

@@ -40,7 +40,7 @@ class RacecarZEDGymEnv(gym.Env):
self._renders = renders
self._width = 100
self._height = 10
self._isDiscrete = isDiscrete
if self._renders:
self._p = bullet_client.BulletClient(
@@ -53,8 +53,8 @@ class RacecarZEDGymEnv(gym.Env):
observationDim = len(self.getExtendedObservation())
#print("observationDim")
#print(observationDim)
observation_high = np.array([np.finfo(np.float32).max] * observationDim)
observation_high = np.array([np.finfo(np.float32).max] * observationDim)
if (isDiscrete):
self.action_space = spaces.Discrete(9)
else:
@@ -77,14 +77,14 @@ class RacecarZEDGymEnv(gym.Env):
pos,orn = self._p.getBasePositionAndOrientation(i)
newpos = [pos[0],pos[1],pos[2]+0.1]
self._p.resetBasePositionAndOrientation(i,newpos,orn)
dist = 5 +2.*random.random()
ang = 2.*3.1415925438*random.random()
ballx = dist * math.sin(ang)
bally = dist * math.cos(ang)
ballz = 1
self._ballUniqueId = self._p.loadURDF(os.path.join(self._urdfRoot,"sphere2red.urdf"),[ballx,bally,ballz])
self._p.setGravity(0,0,-10)
self._racecar = racecar.Racecar(self._p,urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
@@ -104,13 +104,13 @@ class RacecarZEDGymEnv(gym.Env):
def getExtendedObservation(self):
carpos,carorn = self._p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
carmat = self._p.getMatrixFromQuaternion(carorn)
ballpos,ballorn = self._p.getBasePositionAndOrientation(self._ballUniqueId)
ballpos,ballorn = self._p.getBasePositionAndOrientation(self._ballUniqueId)
invCarPos,invCarOrn = self._p.invertTransform(carpos,carorn)
ballPosInCar,ballOrnInCar = self._p.multiplyTransforms(invCarPos,invCarOrn,ballpos,ballorn)
dist0 = 0.3
dist1 = 1.
eyePos = [carpos[0]+dist0*carmat[0],carpos[1]+dist0*carmat[3],carpos[2]+dist0*carmat[6]+0.3]
targetPos = [carpos[0]+dist1*carmat[0],carpos[1]+dist1*carmat[3],carpos[2]+dist1*carmat[6]+0.3]
targetPos = [carpos[0]+dist1*carmat[0],carpos[1]+dist1*carmat[3],carpos[2]+dist1*carmat[6]+0.3]
up = [carmat[2],carmat[5],carmat[8]]
viewMat = self._p.computeViewMatrix(eyePos,targetPos,up)
#viewMat = self._p.computeViewMatrixFromYawPitchRoll(carpos,1,0,0,0,2)
@@ -122,12 +122,12 @@ class RacecarZEDGymEnv(gym.Env):
np_img_arr = np.reshape(rgb, (self._height, self._width, 4))
self._observation = np_img_arr
return self._observation
def _step(self, action):
if (self._renders):
basePos,orn = self._p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
#self._p.resetDebugVisualizerCamera(1, 30, -40, basePos)
if (self._isDiscrete):
fwd = [-1,-1,-1,0,0,0,1,1,1]
steerings = [-0.6,0,0.6,-0.6,0,0.6,-0.6,0,0.6]
@@ -143,14 +143,14 @@ class RacecarZEDGymEnv(gym.Env):
if self._renders:
time.sleep(self._timeStep)
self._observation = self.getExtendedObservation()
if self._termination():
break
self._envStepCounter += 1
reward = self._reward()
done = self._termination()
#print("len=%r" % len(self._observation))
return np.array(self._observation), reward, done, {}
def _render(self, mode='human', close=False):
@@ -177,10 +177,10 @@ class RacecarZEDGymEnv(gym.Env):
def _termination(self):
return self._envStepCounter>1000
def _reward(self):
closestPoints = self._p.getClosestPoints(self._racecar.racecarUniqueId,self._ballUniqueId,10000)
closestPoints = self._p.getClosestPoints(self._racecar.racecarUniqueId,self._ballUniqueId,10000)
numPt = len(closestPoints)
reward=-1000
#print(numPt)
@@ -189,3 +189,8 @@ class RacecarZEDGymEnv(gym.Env):
reward = -closestPoints[0][8]
#print(reward)
return reward
render = _render
reset = _reset
seed = _seed
step = _step

21
examples/pybullet/gym/pybullet_envs/bullet/simpleHumanoidGymEnv.py
View File

@@ -46,8 +46,8 @@ class SimpleHumanoidGymEnv(gym.Env):
observationDim = len(self.getExtendedObservation())
#print("observationDim")
#print(observationDim)
observation_high = np.array([np.finfo(np.float32).max] * observationDim)
observation_high = np.array([np.finfo(np.float32).max] * observationDim)
self.action_space = spaces.Discrete(9)
self.observation_space = spaces.Box(-observation_high, observation_high)
self.viewer = None
@@ -57,14 +57,14 @@ class SimpleHumanoidGymEnv(gym.Env):
#p.setPhysicsEngineParameter(numSolverIterations=300)
p.setTimeStep(self._timeStep)
p.loadURDF(os.path.join(self._urdfRoot,"plane.urdf"))
dist = 5 +2.*random.random()
ang = 2.*3.1415925438*random.random()
ballx = dist * math.sin(ang)
bally = dist * math.cos(ang)
ballz = 1
p.setGravity(0,0,-10)
self._humanoid = simpleHumanoid.SimpleHumanoid(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
self._envStepCounter = 0
@@ -82,7 +82,7 @@ class SimpleHumanoidGymEnv(gym.Env):
def getExtendedObservation(self):
self._observation = self._humanoid.getObservation()
return self._observation
def _step(self, action):
self._humanoid.applyAction(action)
for i in range(self._actionRepeat):
@@ -96,7 +96,7 @@ class SimpleHumanoidGymEnv(gym.Env):
reward = self._reward()
done = self._termination()
#print("len=%r" % len(self._observation))
return np.array(self._observation), reward, done, {}
def _render(self, mode='human', close=False):
@@ -104,8 +104,13 @@ class SimpleHumanoidGymEnv(gym.Env):
def _termination(self):
return self._envStepCounter>1000
def _reward(self):
reward=self._humanoid.distance
print(reward)
return reward
render = _render
reset = _reset
seed = _seed
step = _step

18
examples/pybullet/gym/pybullet_envs/env_bases.py
View File

@@ -43,7 +43,7 @@ class MJCFBaseBulletEnv(gym.Env):
conInfo = p.getConnectionInfo()
if (conInfo['isConnected']):
self.ownsPhysicsClient = False
self.physicsClientId = 0
else:
self.ownsPhysicsClient = True
@@ -75,12 +75,12 @@ class MJCFBaseBulletEnv(gym.Env):
self.isRender = True
if mode != "rgb_array":
return np.array([])
base_pos=[0,0,0]
if (hasattr(self,'robot')):
if (hasattr(self.robot,'body_xyz')):
base_pos = self.robot.body_xyz
view_matrix = p.computeViewMatrixFromYawPitchRoll(
cameraTargetPosition=base_pos,
distance=self._cam_dist,
@@ -100,6 +100,7 @@ class MJCFBaseBulletEnv(gym.Env):
rgb_array = rgb_array[:, :, :3]
return rgb_array
def _close(self):
if (self.ownsPhysicsClient):
if (self.physicsClientId>=0):
@@ -109,6 +110,17 @@ class MJCFBaseBulletEnv(gym.Env):
def HUD(self, state, a, done):
pass
# backwards compatibility for gym >= v0.9.x
# for extension of this class.
def step(self, *args, **kwargs):
return self._step(*args, **kwargs)
close = _close
render = _render
reset = _reset
seed = _seed
class Camera:
def __init__(self):
pass

137
examples/pybullet/gym/pybullet_envs/examples/testBike.py Normal file
View File

@@ -0,0 +1,137 @@
import pybullet as p
import math
import time
import pybullet_data
p.connect(p.GUI)
#p.loadURDF("wheel.urdf",[0,0,3])
p.setAdditionalSearchPath(pybullet_data.getDataPath())
plane=p.loadURDF("plane100.urdf",[0,0,0])
timestep = 1./240.
bike=-1
for i in range (1):
bike=p.loadURDF("bicycle/bike.urdf",[0,0+3*i,1.5], [0,0,0,1], useFixedBase=False)
p.setJointMotorControl2(bike,0,p.VELOCITY_CONTROL,targetVelocity=0,force=0.05)
#p.setJointMotorControl2(bike,1,p.VELOCITY_CONTROL,targetVelocity=5, force=1000)
p.setJointMotorControl2(bike,1,p.VELOCITY_CONTROL,targetVelocity=5, force=0)
p.setJointMotorControl2(bike,2,p.VELOCITY_CONTROL,targetVelocity=15, force=20)
p.changeDynamics(plane,-1, mass=20,lateralFriction=1, linearDamping=0, angularDamping=0)
p.changeDynamics(bike,1,lateralFriction=1,linearDamping=0, angularDamping=0)
p.changeDynamics(bike,2,lateralFriction=1,linearDamping=0, angularDamping=0)
#p.resetJointState(bike,1,0,100)
#p.resetJointState(bike,2,0,100)
#p.resetBaseVelocity(bike,[0,0,0],[0,0,0])
#p.setPhysicsEngineParameter(numSubSteps=0)
#bike=p.loadURDF("frame.urdf",useFixedBase=True)
#bike = p.loadURDF("handlebar.urdf", useFixedBase=True)
#p.loadURDF("handlebar.urdf",[0,2,1])
#coord = p.loadURDF("handlebar.urdf", [0.7700000000000005, 0, 0.22000000000000006],useFixedBase=True)# p.loadURDF("coordinateframe.urdf",[-2,0,1],useFixedBase=True)
#coord = p.loadURDF("coordinateframe.urdf",[-2,0,1],useFixedBase=True)
p.setGravity(0,0,-10)
p.setRealTimeSimulation(0)
#coordPos = [0,0,0]
#coordOrnEuler = [0,0,0]
#coordPos= [0.7000000000000004, 0, 0.22000000000000006]
#coordOrnEuler= [0, -0.2617993877991496, 0]
coordPos= [0.07, 0, -0.6900000000000004]
coordOrnEuler= [0, 0, 0]
coordPos2= [0, 0, 0 ]
coordOrnEuler2= [0, 0, 0]
invPos,invOrn=p.invertTransform(coordPos,p.getQuaternionFromEuler(coordOrnEuler))
mPos,mOrn = p.multiplyTransforms(invPos,invOrn, coordPos2,p.getQuaternionFromEuler(coordOrnEuler2))
eul = p.getEulerFromQuaternion(mOrn)
print("rpy=\"",eul[0],eul[1],eul[2],"\" xyz=\"", mPos[0],mPos[1], mPos[2])
shift=0
gui = 1
frame=0
states=[]
states.append(p.saveState())
#observations=[]
#observations.append(obs)
running = True
reverting = False
p.getCameraImage(320,200)#,renderer=p.ER_BULLET_HARDWARE_OPENGL )
while (1):
updateCam = 0
keys = p.getKeyboardEvents()
for k,v in keys.items():
if (reverting or (k == p.B3G_LEFT_ARROW and (v&p.KEY_WAS_TRIGGERED))):
reverting=True
stateIndex = len(states)-1
#print("prestateIndex=",stateIndex)
time.sleep(timestep)
updateCam=1
if (stateIndex>0):
stateIndex-=1
states=states[:stateIndex+1]
#observations=observations[:stateIndex+1]
#print("states=",states)
#print("stateIndex =",stateIndex )
p.restoreState(states[stateIndex])
#obs=observations[stateIndex]
#obs, r, done, _ = env.step(a)
if (k == p.B3G_LEFT_ARROW and (v&p.KEY_WAS_RELEASED)):
reverting = False
if (k == ord('1') and (v&p.KEY_WAS_TRIGGERED)):
gui = not gui
if (k == p.B3G_RIGHT_ARROW and (v&p.KEY_WAS_RELEASED)):
running=False
if (running or (k == p.B3G_RIGHT_ARROW and (v&p.KEY_WAS_TRIGGERED))):
running = True
if (running):
p.stepSimulation()
updateCam=1
time.sleep(timestep)
pts = p.getContactPoints()
#print("numPoints=",len(pts))
#for point in pts:
# print("Point:bodyA=", point[1],"bodyB=",point[2],"linkA=",point[3],"linkB=",point[4],"dist=",point[8],"force=",point[9])
states.append(p.saveState())
#observations.append(obs)
stateIndex = len(states)
#print("stateIndex =",stateIndex )
frame += 1
if (updateCam):
distance=5
yaw = 0
humanPos, humanOrn = p.getBasePositionAndOrientation(bike)
humanBaseVel = p.getBaseVelocity(bike)
#print("frame",frame, "humanPos=",humanPos, "humanVel=",humanBaseVel)
if (gui):
camInfo = p.getDebugVisualizerCamera()
curTargetPos = camInfo[11]
distance=camInfo[10]
yaw = camInfo[8]
pitch=camInfo[9]
targetPos = [0.95*curTargetPos[0]+0.05*humanPos[0],0.95*curTargetPos[1]+0.05*humanPos[1],curTargetPos[2]]
p.resetDebugVisualizerCamera(distance,yaw,pitch,targetPos);

514
examples/pybullet/unity3d/autogen/NativeMethods.cs
View File

@@ -21,8 +21,11 @@ public partial class NativeConstants {
/// SHARED_MEMORY_KEY -> 12347
public const int SHARED_MEMORY_KEY = 12347;
/// SHARED_MEMORY_MAGIC_NUMBER -> 201709260
public const int SHARED_MEMORY_MAGIC_NUMBER = 201709260;
/// SHARED_MEMORY_MAGIC_NUMBER -> 201801170
public const int SHARED_MEMORY_MAGIC_NUMBER = 201801170;
/// MAX_VR_ANALOG_AXIS -> 5
public const int MAX_VR_ANALOG_AXIS = 5;
/// MAX_VR_BUTTONS -> 64
public const int MAX_VR_BUTTONS = 64;
@@ -42,6 +45,9 @@ public partial class NativeConstants {
/// MAX_MOUSE_EVENTS -> 256
public const int MAX_MOUSE_EVENTS = 256;
/// MAX_SDF_BODIES -> 512
public const int MAX_SDF_BODIES = 512;
/// VISUAL_SHAPE_MAX_PATH_LEN -> 1024
public const int VISUAL_SHAPE_MAX_PATH_LEN = 1024;
@@ -92,7 +98,7 @@ public enum EnumSharedMemoryClientCommand {
CMD_LOAD_MJCF,
CMD_LOAD_BUNNY,
CMD_LOAD_SOFT_BODY,
CMD_SEND_BULLET_DATA_STREAM,
@@ -138,6 +144,8 @@ public enum EnumSharedMemoryClientCommand {
CMD_CALCULATE_JACOBIAN,
CMD_CALCULATE_MASS_MATRIX,
CMD_USER_CONSTRAINT,
CMD_REQUEST_CONTACT_POINT_INFORMATION,
@@ -196,6 +204,14 @@ public enum EnumSharedMemoryClientCommand {
CMD_CUSTOM_COMMAND,
CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS,
CMD_SAVE_STATE,
CMD_RESTORE_STATE,
CMD_REQUEST_COLLISION_SHAPE_INFO,
CMD_MAX_CLIENT_COMMANDS,
}
@@ -276,6 +292,10 @@ public enum EnumSharedMemoryServerStatus {
CMD_CALCULATED_JACOBIAN_FAILED,
CMD_CALCULATED_MASS_MATRIX_COMPLETED,
CMD_CALCULATED_MASS_MATRIX_FAILED,
CMD_CONTACT_POINT_INFORMATION_COMPLETED,
CMD_CONTACT_POINT_INFORMATION_FAILED,
@@ -314,6 +334,8 @@ public enum EnumSharedMemoryServerStatus {
CMD_USER_CONSTRAINT_INFO_COMPLETED,
CMD_USER_CONSTRAINT_REQUEST_STATE_COMPLETED,
CMD_REMOVE_USER_CONSTRAINT_COMPLETED,
CMD_CHANGE_USER_CONSTRAINT_COMPLETED,
@@ -378,6 +400,24 @@ public enum EnumSharedMemoryServerStatus {
CMD_CUSTOM_COMMAND_FAILED,
CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS_COMPLETED,
CMD_SAVE_STATE_FAILED,
CMD_SAVE_STATE_COMPLETED,
CMD_RESTORE_STATE_FAILED,
CMD_RESTORE_STATE_COMPLETED,
CMD_COLLISION_SHAPE_INFO_COMPLETED,
CMD_COLLISION_SHAPE_INFO_FAILED,
CMD_LOAD_SOFT_BODY_FAILED,
CMD_LOAD_SOFT_BODY_COMPLETED,
CMD_MAX_SERVER_COMMANDS,
}
@@ -423,15 +463,15 @@ public enum b3JointInfoFlags {
eJointChangeChildFrameOrientation = 4,
}
[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential, CharSet=System.Runtime.InteropServices.CharSet.Ansi)]
public struct b3JointInfo {
/// char[1024]
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst = 1024)]
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst=1024)]
public string m_linkName;
/// char[1024]
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst = 1024)]
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst=1024)]
public string m_jointName;
/// int
@@ -478,6 +518,9 @@ public struct b3JointInfo {
/// double[3]
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
public double[] m_jointAxis;
/// int
public int m_parentIndex;
}
[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
@@ -529,15 +572,15 @@ public struct b3UserConstraint {
public double m_erp;
}
[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential, CharSet=System.Runtime.InteropServices.CharSet.Ansi)]
public struct b3BodyInfo {
/// char[1024]
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst = 1024)]
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst=1024)]
public string m_baseName;
/// char[1024]
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst = 1024)]
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst=1024)]
public string m_bodyName;
}
@@ -549,10 +592,29 @@ public struct b3DynamicsInfo {
/// double[3]
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
public double[] m_localInertialPosition;
public double[] m_localInertialDiagonal;
/// double[7]
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=7, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
public double[] m_localInertialFrame;
/// double
public double m_lateralFrictionCoeff;
/// double
public double m_rollingFrictionCoeff;
/// double
public double m_spinningFrictionCoeff;
/// double
public double m_restitution;
/// double
public double m_contactStiffness;
/// double
public double m_contactDamping;
}
public enum SensorType {
@@ -624,7 +686,8 @@ public struct b3CameraImageData {
public int m_pixelHeight;
/// char*
public System.IntPtr m_rgbColorData;
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)]
public string m_rgbColorData;
/// float*
public System.IntPtr m_depthValues;
@@ -680,6 +743,17 @@ public struct b3OpenGLVisualizerCameraInfo {
public float[] m_target;
}
[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
public struct b3UserConstraintState {
/// double[6]
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=6, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
public double[] m_appliedConstraintForces;
/// int
public int m_numDofs;
}
public enum b3VREventType {
/// VR_CONTROLLER_MOVE_EVENT -> 1
@@ -751,6 +825,9 @@ public struct b3VRControllerEvent {
/// float
public float m_analogAxis;
/// float[]
public float[] m_auxAnalogAxis;
/// int[64]
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=64, ArraySubType=System.Runtime.InteropServices.UnmanagedType.I4)]
public int[] m_buttons;
@@ -965,6 +1042,41 @@ public struct b3VisualShapeInformation {
public System.IntPtr m_visualShapeData;
}
[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential, CharSet=System.Runtime.InteropServices.CharSet.Ansi)]
public struct b3CollisionShapeData {
/// int
public int m_objectUniqueId;
/// int
public int m_linkIndex;
/// int
public int m_collisionGeometryType;
/// double[3]
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
public double[] m_dimensions;
/// double[7]
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=7, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
public double[] m_localCollisionFrame;
/// char[1024]
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst=1024)]
public string m_meshAssetFileName;
}
[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
public struct b3CollisionShapeInformation {
/// int
public int m_numCollisionShapes;
/// b3CollisionShapeData*
public System.IntPtr m_collisionShapeData;
}
public enum eLinkStateFlags {
/// ACTUAL_STATE_COMPUTE_LINKVELOCITY -> 1
@@ -1036,6 +1148,33 @@ public enum EnumRenderer {
ER_BULLET_HARDWARE_OPENGL = (1) << (17),
}
public enum EnumRendererAuxFlags {
/// ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX -> 1
ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX = 1,
}
public enum EnumCalculateInverseKinematicsFlags {
/// IK_DLS -> 0
IK_DLS = 0,
/// IK_SDLS -> 1
IK_SDLS = 1,
/// IK_HAS_TARGET_POSITION -> 16
IK_HAS_TARGET_POSITION = 16,
/// IK_HAS_TARGET_ORIENTATION -> 32
IK_HAS_TARGET_ORIENTATION = 32,
/// IK_HAS_NULL_SPACE_VELOCITY -> 64
IK_HAS_NULL_SPACE_VELOCITY = 64,
/// IK_HAS_JOINT_DAMPING -> 128
IK_HAS_JOINT_DAMPING = 128,
}
public enum b3ConfigureDebugVisualizerEnum {
/// COV_ENABLE_GUI -> 1
@@ -1058,12 +1197,22 @@ public enum b3ConfigureDebugVisualizerEnum {
COV_ENABLE_KEYBOARD_SHORTCUTS,
COV_ENABLE_MOUSE_PICKING,
COV_ENABLE_Y_AXIS_UP,
COV_ENABLE_TINY_RENDERER,
COV_ENABLE_RGB_BUFFER_PREVIEW,
COV_ENABLE_DEPTH_BUFFER_PREVIEW,
COV_ENABLE_SEGMENTATION_MARK_PREVIEW,
}
public enum b3AddUserDebugItemEnum {
/// DEB_DEBUG_TEXT_USE_ORIENTATION -> 1
DEB_DEBUG_TEXT_USE_ORIENTATION = 1,
/// DEB_DEBUG_TEXT_ALWAYS_FACE_CAMERA -> 1
DEB_DEBUG_TEXT_ALWAYS_FACE_CAMERA = 1,
/// DEB_DEBUG_TEXT_USE_TRUE_TYPE_FONTS -> 2
DEB_DEBUG_TEXT_USE_TRUE_TYPE_FONTS = 2,
@@ -1112,6 +1261,15 @@ public enum eURDF_Flags {
/// URDF_RESERVED -> 64
URDF_RESERVED = 64,
/// URDF_USE_IMPLICIT_CYLINDER -> 128
URDF_USE_IMPLICIT_CYLINDER = 128,
/// URDF_GLOBAL_VELOCITIES_MB -> 256
URDF_GLOBAL_VELOCITIES_MB = 256,
/// MJCF_COLORS_FROM_FILE -> 512
MJCF_COLORS_FROM_FILE = 512,
}
public enum eUrdfGeomTypes {
@@ -1138,6 +1296,15 @@ public enum eUrdfCollisionFlags {
GEOM_FORCE_CONCAVE_TRIMESH = 1,
}
public enum eUrdfVisualFlags {
/// GEOM_VISUAL_HAS_RGBA_COLOR -> 1
GEOM_VISUAL_HAS_RGBA_COLOR = 1,
/// GEOM_VISUAL_HAS_SPECULAR_COLOR -> 2
GEOM_VISUAL_HAS_SPECULAR_COLOR = 2,
}
public enum eStateLoggingFlags {
/// STATE_LOG_JOINT_MOTOR_TORQUES -> 1
@@ -1167,9 +1334,65 @@ public struct b3PluginArguments {
/// int
public int m_numFloats;
/// int[128]
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=128, ArraySubType=System.Runtime.InteropServices.UnmanagedType.I4)]
public int[] m_floats;
/// double[128]
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=128, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
public double[] m_floats;
}
[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
public struct b3PhysicsSimulationParameters {
/// double
public double m_deltaTime;
/// double[3]
[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)]
public double[] m_gravityAcceleration;
/// int
public int m_numSimulationSubSteps;
/// int
public int m_numSolverIterations;
/// int
public int m_useRealTimeSimulation;
/// int
public int m_useSplitImpulse;
/// double
public double m_splitImpulsePenetrationThreshold;
/// double
public double m_contactBreakingThreshold;
/// int
public int m_internalSimFlags;
/// double
public double m_defaultContactERP;
/// int
public int m_collisionFilterMode;
/// int
public int m_enableFileCaching;
/// double
public double m_restitutionVelocityThreshold;
/// double
public double m_defaultNonContactERP;
/// double
public double m_frictionERP;
/// int
public int m_enableConeFriction;
/// int
public int m_deterministicOverlappingPairs;
}
[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
@@ -1194,9 +1417,8 @@ public struct b3SharedMemoryStatusHandle__ {
}
public partial class NativeMethods {
const string dllName = "pybullet_vs2010_x64_release.dll";
/// Return Type: b3PhysicsClientHandle->b3PhysicsClientHandle__*
///key: int
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3ConnectSharedMemory")]
@@ -1330,6 +1552,13 @@ public static extern System.IntPtr b3CreateCustomCommand(IntPtr physClient) ;
public static extern void b3CustomCommandLoadPlugin(IntPtr commandHandle, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string pluginPath) ;
/// Return Type: void
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///postFix: char*
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CustomCommandLoadPluginSetPostFix")]
public static extern void b3CustomCommandLoadPluginSetPostFix(IntPtr commandHandle, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string postFix) ;
/// Return Type: int
///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusPluginUniqueId")]
@@ -1445,7 +1674,7 @@ public static extern int b3GetBodyUniqueId(IntPtr physClient, int serialIndex)
///bodyUniqueId: int
///info: b3BodyInfo*
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetBodyInfo")]
public static extern int b3GetBodyInfo(IntPtr physClient, int bodyUniqueId, ref b3BodyInfo info) ;
public static extern int b3GetBodyInfo(IntPtr physClient, int bodyUniqueId, ref b3BodyInfo info) ;
/// Return Type: int
@@ -1494,6 +1723,15 @@ public static extern System.IntPtr b3InitChangeDynamicsInfo(IntPtr physClient)
public static extern int b3ChangeDynamicsInfoSetMass(IntPtr commandHandle, int bodyUniqueId, int linkIndex, double mass) ;
/// Return Type: int
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///bodyUniqueId: int
///linkIndex: int
///localInertiaDiagonal: double*
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3ChangeDynamicsInfoSetLocalInertiaDiagonal")]
public static extern int b3ChangeDynamicsInfoSetLocalInertiaDiagonal(IntPtr commandHandle, int bodyUniqueId, int linkIndex, ref double localInertiaDiagonal) ;
/// Return Type: int
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///bodyUniqueId: int
@@ -1651,6 +1889,20 @@ public static extern System.IntPtr b3InitRemoveUserConstraintCommand(IntPtr phy
public static extern int b3GetNumUserConstraints(IntPtr physClient) ;
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
///constraintUniqueId: int
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitGetUserConstraintStateCommand")]
public static extern System.IntPtr b3InitGetUserConstraintStateCommand(IntPtr physClient, int constraintUniqueId) ;
/// Return Type: int
///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
///constraintState: b3UserConstraintState*
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusUserConstraintState")]
public static extern int b3GetStatusUserConstraintState(IntPtr statusHandle, ref b3UserConstraintState constraintState) ;
/// Return Type: int
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
///constraintUniqueId: int
@@ -1753,6 +2005,13 @@ public static extern void b3UserDebugTextSetOptionFlags(IntPtr commandHandle, i
public static extern void b3UserDebugTextSetOrientation(IntPtr commandHandle, ref double orientation) ;
/// Return Type: void
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///replaceItem: int
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3UserDebugItemSetReplaceItemUniqueId")]
public static extern void b3UserDebugItemSetReplaceItemUniqueId(IntPtr commandHandle, int replaceItem) ;
/// Return Type: void
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///objectUniqueId: int
@@ -1905,6 +2164,13 @@ public static extern void b3RequestCameraImageSetShadow(IntPtr commandHandle, i
public static extern void b3RequestCameraImageSelectRenderer(IntPtr commandHandle, int renderer) ;
/// Return Type: void
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///flags: int
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3RequestCameraImageSetFlags")]
public static extern void b3RequestCameraImageSetFlags(IntPtr commandHandle, int flags) ;
/// Return Type: void
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
///imageData: b3CameraImageData*
@@ -2125,6 +2391,21 @@ public static extern System.IntPtr b3InitRequestVisualShapeInformation(IntPtr p
public static extern void b3GetVisualShapeInformation(IntPtr physClient, ref b3VisualShapeInformation visualShapeInfo) ;
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
///bodyUniqueId: int
///linkIndex: int
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitRequestCollisionShapeInformation")]
public static extern System.IntPtr b3InitRequestCollisionShapeInformation(IntPtr physClient, int bodyUniqueId, int linkIndex) ;
/// Return Type: void
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
///collisionShapeInfo: b3CollisionShapeInformation*
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetCollisionShapeInformation")]
public static extern void b3GetCollisionShapeInformation(IntPtr physClient, ref b3CollisionShapeInformation collisionShapeInfo) ;
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
///filename: char*
@@ -2285,6 +2566,33 @@ public static extern int b3PhysicsParamSetEnableFileCaching(IntPtr commandHandl
public static extern int b3PhysicsParamSetRestitutionVelocityThreshold(IntPtr commandHandle, double restitutionVelocityThreshold) ;
/// Return Type: int
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///enableConeFriction: int
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3PhysicsParamSetEnableConeFriction")]
public static extern int b3PhysicsParamSetEnableConeFriction(IntPtr commandHandle, int enableConeFriction) ;
/// Return Type: int
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///deterministicOverlappingPairs: int
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3PhysicsParameterSetDeterministicOverlappingPairs")]
public static extern int b3PhysicsParameterSetDeterministicOverlappingPairs(IntPtr commandHandle, int deterministicOverlappingPairs) ;
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitRequestPhysicsParamCommand")]
public static extern System.IntPtr b3InitRequestPhysicsParamCommand(IntPtr physClient) ;
/// Return Type: int
///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
///params: b3PhysicsSimulationParameters*
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusPhysicsSimulationParameters")]
public static extern int b3GetStatusPhysicsSimulationParameters(IntPtr statusHandle, ref b3PhysicsSimulationParameters @params) ;
/// Return Type: int
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///flags: int
@@ -2358,6 +2666,38 @@ public static extern int b3LoadUrdfCommandSetFlags(IntPtr commandHandle, int fl
public static extern int b3LoadUrdfCommandSetGlobalScaling(IntPtr commandHandle, double globalScaling) ;
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3SaveStateCommandInit")]
public static extern System.IntPtr b3SaveStateCommandInit(IntPtr physClient) ;
/// Return Type: int
///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusGetStateId")]
public static extern int b3GetStatusGetStateId(IntPtr statusHandle) ;
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadStateCommandInit")]
public static extern System.IntPtr b3LoadStateCommandInit(IntPtr physClient) ;
/// Return Type: int
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///stateId: int
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadStateSetStateId")]
public static extern int b3LoadStateSetStateId(IntPtr commandHandle, int stateId) ;
/// Return Type: int
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///fileName: char*
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadStateSetFileName")]
public static extern int b3LoadStateSetFileName(IntPtr commandHandle, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string fileName) ;
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
///fileName: char*
@@ -2426,6 +2766,23 @@ public static extern System.IntPtr b3CalculateJacobianCommandInit(IntPtr physCl
public static extern int b3GetStatusJacobian(IntPtr statusHandle, ref int dofCount, ref double linearJacobian, ref double angularJacobian) ;
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
///bodyIndex: int
///jointPositionsQ: double*
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CalculateMassMatrixCommandInit")]
public static extern System.IntPtr b3CalculateMassMatrixCommandInit(IntPtr physClient, int bodyIndex, ref double jointPositionsQ) ;
/// Return Type: int
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
///dofCount: int*
///massMatrix: double*
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusMassMatrix")]
public static extern int b3GetStatusMassMatrix(IntPtr physClient, IntPtr statusHandle, ref int dofCount, ref double massMatrix) ;
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
///bodyIndex: int
@@ -2485,6 +2842,13 @@ public static extern void b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(In
public static extern void b3CalculateInverseKinematicsSetJointDamping(IntPtr commandHandle, int numDof, ref double jointDampingCoeff) ;
/// Return Type: void
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///solver: int
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CalculateInverseKinematicsSelectSolver")]
public static extern void b3CalculateInverseKinematicsSelectSolver(IntPtr commandHandle, int solver) ;
/// Return Type: int
///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
///bodyUniqueId: int*
@@ -2561,6 +2925,14 @@ public static extern int b3JointControlSetKp(IntPtr commandHandle, int dofIndex
public static extern int b3JointControlSetKd(IntPtr commandHandle, int dofIndex, double value) ;
/// Return Type: int
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///dofIndex: int
///maximumVelocity: double
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3JointControlSetMaximumVelocity")]
public static extern int b3JointControlSetMaximumVelocity(IntPtr commandHandle, int dofIndex, double maximumVelocity) ;
/// Return Type: int
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///dofIndex: int
@@ -2666,6 +3038,85 @@ public static extern int b3GetStatusCollisionShapeUniqueId(IntPtr statusHandle)
public static extern System.IntPtr b3CreateVisualShapeCommandInit(IntPtr physClient) ;
/// Return Type: int
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///radius: double
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeAddSphere")]
public static extern int b3CreateVisualShapeAddSphere(IntPtr commandHandle, double radius) ;
/// Return Type: int
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///halfExtents: double*
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeAddBox")]
public static extern int b3CreateVisualShapeAddBox(IntPtr commandHandle, ref double halfExtents) ;
/// Return Type: int
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///radius: double
///height: double
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeAddCapsule")]
public static extern int b3CreateVisualShapeAddCapsule(IntPtr commandHandle, double radius, double height) ;
/// Return Type: int
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///radius: double
///height: double
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeAddCylinder")]
public static extern int b3CreateVisualShapeAddCylinder(IntPtr commandHandle, double radius, double height) ;
/// Return Type: int
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///planeNormal: double*
///planeConstant: double
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeAddPlane")]
public static extern int b3CreateVisualShapeAddPlane(IntPtr commandHandle, ref double planeNormal, double planeConstant) ;
/// Return Type: int
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///fileName: char*
///meshScale: double*
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeAddMesh")]
public static extern int b3CreateVisualShapeAddMesh(IntPtr commandHandle, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string fileName, ref double meshScale) ;
/// Return Type: void
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///shapeIndex: int
///flags: int
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualSetFlag")]
public static extern void b3CreateVisualSetFlag(IntPtr commandHandle, int shapeIndex, int flags) ;
/// Return Type: void
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///shapeIndex: int
///childPosition: double*
///childOrientation: double*
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeSetChildTransform")]
public static extern void b3CreateVisualShapeSetChildTransform(IntPtr commandHandle, int shapeIndex, ref double childPosition, ref double childOrientation) ;
/// Return Type: void
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///shapeIndex: int
///specularColor: double*
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeSetSpecularColor")]
public static extern void b3CreateVisualShapeSetSpecularColor(IntPtr commandHandle, int shapeIndex, ref double specularColor) ;
/// Return Type: void
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///shapeIndex: int
///rgbaColor: double*
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeSetRGBAColor")]
public static extern void b3CreateVisualShapeSetRGBAColor(IntPtr commandHandle, int shapeIndex, ref double rgbaColor) ;
/// Return Type: int
///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusVisualShapeUniqueId")]
@@ -3000,29 +3451,30 @@ public static extern void b3ApplyExternalTorque(IntPtr commandHandle, int bodyU
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadBunnyCommandInit")]
public static extern System.IntPtr b3LoadBunnyCommandInit(IntPtr physClient) ;
///fileName: char*
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadSoftBodyCommandInit")]
public static extern System.IntPtr b3LoadSoftBodyCommandInit(IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string fileName) ;
/// Return Type: int
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///scale: double
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadBunnySetScale")]
public static extern int b3LoadBunnySetScale(IntPtr commandHandle, double scale) ;
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadSoftBodySetScale")]
public static extern int b3LoadSoftBodySetScale(IntPtr commandHandle, double scale) ;
/// Return Type: int
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///mass: double
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadBunnySetMass")]
public static extern int b3LoadBunnySetMass(IntPtr commandHandle, double mass) ;
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadSoftBodySetMass")]
public static extern int b3LoadSoftBodySetMass(IntPtr commandHandle, double mass) ;
/// Return Type: int
///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
///collisionMargin: double
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadBunnySetCollisionMargin")]
public static extern int b3LoadBunnySetCollisionMargin(IntPtr commandHandle, double collisionMargin) ;
[System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadSoftBodySetCollisionMargin")]
public static extern int b3LoadSoftBodySetCollisionMargin(IntPtr commandHandle, double collisionMargin) ;
/// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*