refactor b3RobotSimulatorClientAPI into a main part without GUI dependencies (no OpenGL, gwen, glew etc)
so that App_RobotSimulator_NoGUI can link against BulletRobotics and App_RobotSimulator links against BulletRobotics and some extra files.
This commit is contained in:
erwincoumans
572
examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.h
Normal file
572
examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.h
Normal file
@@ -0,0 +1,572 @@
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#ifndef B3_ROBOT_SIMULATOR_CLIENT_API_H
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#define B3_ROBOT_SIMULATOR_CLIENT_API_H
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#include "../SharedMemory/SharedMemoryPublic.h"
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#include "Bullet3Common/b3Vector3.h"
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#include "Bullet3Common/b3Quaternion.h"
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#include "Bullet3Common/b3Transform.h"
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#include "Bullet3Common/b3AlignedObjectArray.h"
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#include <string>
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struct b3RobotSimulatorLoadUrdfFileArgs
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{
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b3Vector3 m_startPosition;
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b3Quaternion m_startOrientation;
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bool m_forceOverrideFixedBase;
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bool m_useMultiBody;
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int m_flags;
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b3RobotSimulatorLoadUrdfFileArgs(const b3Vector3& startPos, const b3Quaternion& startOrn)
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: m_startPosition(startPos),
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m_startOrientation(startOrn),
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m_forceOverrideFixedBase(false),
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m_useMultiBody(true),
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m_flags(0)
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{
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}
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b3RobotSimulatorLoadUrdfFileArgs()
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: m_startPosition(b3MakeVector3(0, 0, 0)),
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m_startOrientation(b3Quaternion(0, 0, 0, 1)),
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m_forceOverrideFixedBase(false),
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m_useMultiBody(true),
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m_flags(0)
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{
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}
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};
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struct b3RobotSimulatorLoadSdfFileArgs
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{
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bool m_forceOverrideFixedBase;
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bool m_useMultiBody;
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b3RobotSimulatorLoadSdfFileArgs()
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: m_forceOverrideFixedBase(false),
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m_useMultiBody(true)
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{
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}
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};
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struct b3RobotSimulatorLoadFileResults
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{
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b3AlignedObjectArray<int> m_uniqueObjectIds;
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b3RobotSimulatorLoadFileResults()
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{
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}
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};
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struct b3RobotSimulatorJointMotorArgs
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{
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int m_controlMode;
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double m_targetPosition;
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double m_kp;
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double m_targetVelocity;
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double m_kd;
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double m_maxTorqueValue;
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b3RobotSimulatorJointMotorArgs(int controlMode)
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: m_controlMode(controlMode),
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m_targetPosition(0),
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m_kp(0.1),
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m_targetVelocity(0),
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m_kd(0.9),
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m_maxTorqueValue(1000)
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{
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}
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};
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enum b3RobotSimulatorInverseKinematicsFlags
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{
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B3_HAS_IK_TARGET_ORIENTATION = 1,
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B3_HAS_NULL_SPACE_VELOCITY = 2,
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B3_HAS_JOINT_DAMPING = 4,
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};
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struct b3RobotSimulatorInverseKinematicArgs
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{
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int m_bodyUniqueId;
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// double* m_currentJointPositions;
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// int m_numPositions;
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double m_endEffectorTargetPosition[3];
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double m_endEffectorTargetOrientation[4];
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int m_endEffectorLinkIndex;
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int m_flags;
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int m_numDegreeOfFreedom;
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b3AlignedObjectArray<double> m_lowerLimits;
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b3AlignedObjectArray<double> m_upperLimits;
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b3AlignedObjectArray<double> m_jointRanges;
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b3AlignedObjectArray<double> m_restPoses;
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b3AlignedObjectArray<double> m_jointDamping;
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b3RobotSimulatorInverseKinematicArgs()
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: m_bodyUniqueId(-1),
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m_endEffectorLinkIndex(-1),
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m_flags(0)
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{
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m_endEffectorTargetPosition[0] = 0;
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m_endEffectorTargetPosition[1] = 0;
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m_endEffectorTargetPosition[2] = 0;
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m_endEffectorTargetOrientation[0] = 0;
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m_endEffectorTargetOrientation[1] = 0;
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m_endEffectorTargetOrientation[2] = 0;
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m_endEffectorTargetOrientation[3] = 1;
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}
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};
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struct b3RobotSimulatorInverseKinematicsResults
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{
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int m_bodyUniqueId;
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b3AlignedObjectArray<double> m_calculatedJointPositions;
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};
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struct b3JointStates2
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{
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int m_bodyUniqueId;
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int m_numDegreeOfFreedomQ;
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int m_numDegreeOfFreedomU;
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b3Transform m_rootLocalInertialFrame;
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b3AlignedObjectArray<double> m_actualStateQ;
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b3AlignedObjectArray<double> m_actualStateQdot;
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b3AlignedObjectArray<double> m_jointReactionForces;
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};
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struct b3RobotSimulatorJointMotorArrayArgs
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{
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int m_controlMode;
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int m_numControlledDofs;
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int *m_jointIndices;
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double *m_targetPositions;
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double *m_kps;
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double *m_targetVelocities;
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double *m_kds;
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double *m_forces;
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b3RobotSimulatorJointMotorArrayArgs(int controlMode, int numControlledDofs)
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: m_controlMode(controlMode), m_numControlledDofs(numControlledDofs)
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{
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}
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};
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struct b3RobotSimulatorGetCameraImageArgs
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{
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int m_width;
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int m_height;
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float *m_viewMatrix;
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float *m_projectionMatrix;
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float *m_lightDirection;
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float *m_lightColor;
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float m_lightDistance;
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int m_hasShadow;
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float m_lightAmbientCoeff;
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float m_lightDiffuseCoeff;
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float m_lightSpecularCoeff;
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int m_renderer;
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b3RobotSimulatorGetCameraImageArgs(int width, int height)
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: m_width(width),
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m_height(height),
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m_viewMatrix(NULL),
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m_projectionMatrix(NULL),
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m_lightDirection(NULL),
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m_lightColor(NULL),
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m_lightDistance(-1),
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m_hasShadow(-1),
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m_lightAmbientCoeff(-1),
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m_lightDiffuseCoeff(-1),
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m_lightSpecularCoeff(-1),
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m_renderer(-1)
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{
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}
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};
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struct b3RobotSimulatorSetPhysicsEngineParameters
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{
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double m_fixedTimeStep;
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int m_numSolverIterations;
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int m_useSplitImpulse;
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double m_splitImpulsePenetrationThreshold;
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int m_numSubSteps;
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int m_collisionFilterMode;
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double m_contactBreakingThreshold;
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int m_maxNumCmdPer1ms;
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int m_enableFileCaching;
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double m_restitutionVelocityThreshold;
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double m_erp;
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double m_contactERP;
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double m_frictionERP;
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b3RobotSimulatorSetPhysicsEngineParameters()
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: m_fixedTimeStep(-1),
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m_numSolverIterations(-1),
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m_useSplitImpulse(-1),
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m_splitImpulsePenetrationThreshold(-1),
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m_numSubSteps(-1),
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m_collisionFilterMode(-1),
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m_contactBreakingThreshold(-1),
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m_maxNumCmdPer1ms(-1),
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m_enableFileCaching(-1),
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m_restitutionVelocityThreshold(-1),
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m_erp(-1),
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m_contactERP(-1),
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m_frictionERP(-1)
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{}
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};
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struct b3RobotSimulatorChangeDynamicsArgs
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{
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double m_mass;
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double m_lateralFriction;
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double m_spinningFriction;
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double m_rollingFriction;
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double m_restitution;
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double m_linearDamping;
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double m_angularDamping;
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double m_contactStiffness;
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double m_contactDamping;
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int m_frictionAnchor;
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b3RobotSimulatorChangeDynamicsArgs()
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: m_mass(-1),
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m_lateralFriction(-1),
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m_spinningFriction(-1),
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m_rollingFriction(-1),
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m_restitution(-1),
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m_linearDamping(-1),
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m_angularDamping(-1),
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m_contactStiffness(-1),
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m_contactDamping(-1),
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m_frictionAnchor(-1)
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{}
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};
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struct b3RobotSimulatorAddUserDebugLineArgs
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{
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double m_colorRGB[3];
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double m_lineWidth;
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double m_lifeTime;
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int m_parentObjectUniqueId;
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int m_parentLinkIndex;
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b3RobotSimulatorAddUserDebugLineArgs()
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:
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m_lineWidth(1),
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m_lifeTime(0),
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m_parentObjectUniqueId(-1),
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m_parentLinkIndex(-1)
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{
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m_colorRGB[0] = 1;
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m_colorRGB[1] = 1;
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m_colorRGB[2] = 1;
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}
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};
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enum b3AddUserDebugTextFlags {
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DEBUG_TEXT_HAS_ORIENTATION = 1
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};
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struct b3RobotSimulatorAddUserDebugTextArgs
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{
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double m_colorRGB[3];
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double m_size;
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double m_lifeTime;
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double m_textOrientation[4];
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int m_parentObjectUniqueId;
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int m_parentLinkIndex;
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int m_flags;
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b3RobotSimulatorAddUserDebugTextArgs()
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: m_size(1),
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m_lifeTime(0),
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m_parentObjectUniqueId(-1),
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m_parentLinkIndex(-1),
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m_flags(0)
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{
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m_colorRGB[0] = 1;
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m_colorRGB[1] = 1;
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m_colorRGB[2] = 1;
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m_textOrientation[0] = 0;
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m_textOrientation[1] = 0;
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m_textOrientation[2] = 0;
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m_textOrientation[3] = 1;
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}
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};
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struct b3RobotSimulatorGetContactPointsArgs
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{
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int m_bodyUniqueIdA;
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int m_bodyUniqueIdB;
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int m_linkIndexA;
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int m_linkIndexB;
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b3RobotSimulatorGetContactPointsArgs()
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: m_bodyUniqueIdA(-1),
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m_bodyUniqueIdB(-1),
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m_linkIndexA(-2),
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m_linkIndexB(-2)
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{}
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};
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struct b3RobotSimulatorCreateCollisionShapeArgs
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{
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int m_shapeType;
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double m_radius;
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b3Vector3 m_halfExtents;
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double m_height;
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char* m_fileName;
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b3Vector3 m_meshScale;
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b3Vector3 m_planeNormal;
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int m_flags;
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b3RobotSimulatorCreateCollisionShapeArgs()
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: m_shapeType(-1),
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m_radius(0.5),
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m_height(1),
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m_fileName(NULL),
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m_flags(0)
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{
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m_halfExtents.m_floats[0] = 1;
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m_halfExtents.m_floats[1] = 1;
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m_halfExtents.m_floats[2] = 1;
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m_meshScale.m_floats[0] = 1;
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m_meshScale.m_floats[1] = 1;
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m_meshScale.m_floats[2] = 1;
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m_planeNormal.m_floats[0] = 0;
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m_planeNormal.m_floats[1] = 0;
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m_planeNormal.m_floats[2] = 1;
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}
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};
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struct b3RobotSimulatorCreateMultiBodyArgs
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{
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double m_baseMass;
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int m_baseCollisionShapeIndex;
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int m_baseVisualShapeIndex;
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b3Vector3 m_basePosition;
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b3Quaternion m_baseOrientation;
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b3Vector3 m_baseInertialFramePosition;
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b3Quaternion m_baseInertialFrameOrientation;
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int m_numLinks;
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double *m_linkMasses;
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int *m_linkCollisionShapeIndices;
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int *m_linkVisualShapeIndices;
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b3Vector3 *m_linkPositions;
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b3Quaternion *m_linkOrientations;
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b3Vector3 *m_linkInertialFramePositions;
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b3Quaternion *m_linkInertialFrameOrientations;
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int *m_linkParentIndices;
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int *m_linkJointTypes;
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b3Vector3 *m_linkJointAxes;
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int m_useMaximalCoordinates;
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b3RobotSimulatorCreateMultiBodyArgs()
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: m_numLinks(0), m_baseMass(0), m_baseCollisionShapeIndex(-1), m_baseVisualShapeIndex(-1), m_useMaximalCoordinates(0),
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m_linkMasses(NULL),
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m_linkCollisionShapeIndices(NULL),
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m_linkVisualShapeIndices(NULL),
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m_linkPositions(NULL),
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m_linkOrientations(NULL),
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m_linkInertialFramePositions(NULL),
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m_linkInertialFrameOrientations(NULL),
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m_linkParentIndices(NULL),
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m_linkJointTypes(NULL),
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m_linkJointAxes(NULL)
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{
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m_basePosition.setValue(0,0,0);
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m_baseOrientation.setValue(0,0,0,1);
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m_baseInertialFramePosition.setValue(0,0,0);
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m_baseInertialFrameOrientation.setValue(0,0,0,1);
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}
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};
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///The b3RobotSimulatorClientAPI is pretty much the C++ version of pybullet
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///as documented in the pybullet Quickstart Guide
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///https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA
|
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class b3RobotSimulatorClientAPI_NoGUI
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{
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protected:
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struct b3RobotSimulatorClientAPI_InternalData* m_data;
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public:
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b3RobotSimulatorClientAPI_NoGUI();
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virtual ~b3RobotSimulatorClientAPI_NoGUI();
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bool connect(int mode, const std::string& hostName = "localhost", int portOrKey = -1);
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void disconnect();
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bool isConnected() const;
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void setTimeOut(double timeOutInSec);
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void syncBodies();
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void resetSimulation();
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b3Quaternion getQuaternionFromEuler(const b3Vector3& rollPitchYaw);
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b3Vector3 getEulerFromQuaternion(const b3Quaternion& quat);
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int loadURDF(const std::string& fileName, const struct b3RobotSimulatorLoadUrdfFileArgs& args = b3RobotSimulatorLoadUrdfFileArgs());
|
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bool loadSDF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results, const struct b3RobotSimulatorLoadSdfFileArgs& args = b3RobotSimulatorLoadSdfFileArgs());
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bool loadMJCF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results);
|
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bool loadBullet(const std::string& fileName, b3RobotSimulatorLoadFileResults& results);
|
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bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo* bodyInfo);
|
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bool getBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation) const;
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bool resetBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation);
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bool getBaseVelocity(int bodyUniqueId, b3Vector3& baseLinearVelocity, b3Vector3& baseAngularVelocity) const;
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bool resetBaseVelocity(int bodyUniqueId, const b3Vector3& linearVelocity, const b3Vector3& angularVelocity) const;
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int getNumJoints(int bodyUniqueId) const;
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bool getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo* jointInfo);
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int createConstraint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo);
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int changeConstraint(int constraintId, b3JointInfo* jointInfo);
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void removeConstraint(int constraintId);
|
||||
|
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bool getJointState(int bodyUniqueId, int jointIndex, struct b3JointSensorState* state);
|
||||
|
||||
bool getJointStates(int bodyUniqueId, b3JointStates2& state);
|
||||
|
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bool resetJointState(int bodyUniqueId, int jointIndex, double targetValue);
|
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|
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void setJointMotorControl(int bodyUniqueId, int jointIndex, const struct b3RobotSimulatorJointMotorArgs& args);
|
||||
|
||||
bool setJointMotorControlArray(int bodyUniqueId, int controlMode, int numControlledDofs,
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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
|
||||
Reference in New Issue
Block a user