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further work on shared memory API

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fix dependency of BulletDynamics to Bullet3Common (b3Printf)
This commit is contained in:
=
2015-08-02 14:00:43 -07:00
parent 19c5be5646
commit eb6663ed4b
15 changed files with 492 additions and 112 deletions
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51
examples/SharedMemory/SharedMemoryCommands.h
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@@ -30,10 +30,11 @@ enum EnumSharedMemoryClientCommand
// CMD_DELETE_BOX_COLLISION_SHAPE,
// CMD_CREATE_RIGID_BODY,
// CMD_DELETE_RIGID_BODY,
// CMD_SET_JOINT_FEEDBACK,///enable or disable joint feedback for force/torque sensors
CMD_CREATE_SENSOR,///enable or disable joint feedback for force/torque sensors
// CMD_REQUEST_SENSOR_MEASUREMENTS,//see CMD_REQUEST_ACTUAL_STATE/CMD_ACTUAL_STATE_UPDATE_COMPLETED
CMD_INIT_POSE,
CMD_SEND_PHYSICS_SIMULATION_PARAMETERS,
CMD_SEND_DESIRED_STATE,
CMD_SEND_DESIRED_STATE,//todo: reconsider naming, for example SET_JOINT_CONTROL_VARIABLE?
CMD_REQUEST_ACTUAL_STATE,
CMD_STEP_FORWARD_SIMULATION,
CMD_SHUTDOWN,
@@ -42,7 +43,7 @@ enum EnumSharedMemoryClientCommand
enum EnumSharedMemoryServerStatus
{
CMD_SHARED_MEMORY_NOT_INITIALIZED,
CMD_SHARED_MEMORY_NOT_INITIALIZED=0,
CMD_WAITING_FOR_CLIENT_COMMAND,
//CMD_CLIENT_COMMAND_COMPLETED is a generic 'completed' status that doesn't need special handling on the client
@@ -65,8 +66,8 @@ enum EnumSharedMemoryServerStatus
};
#define SHARED_MEMORY_SERVER_TEST_C
#define MAX_DEGREE_OF_FREEDOM 1024
#define MAX_NUM_SENSORS 1024
#define MAX_DEGREE_OF_FREEDOM 256
#define MAX_NUM_SENSORS 256
#define MAX_URDF_FILENAME_LENGTH 1024
enum EnumUrdfArgsUpdateFlags
@@ -105,7 +106,7 @@ struct SetJointFeedbackArgs
//todo: discuss and decide about control mode and combinations
enum {
// POSITION_CONTROL=0,
CONTROL_MODE_VELOCITY,
CONTROL_MODE_VELOCITY=0,
CONTROL_MODE_TORQUE,
};
@@ -173,13 +174,38 @@ struct SendActualStateArgs
//actual state is only written by the server, read-only access by client is expected
double m_actualStateQ[MAX_DEGREE_OF_FREEDOM];
double m_actualStateQdot[MAX_DEGREE_OF_FREEDOM];
double m_actualStateSensors[MAX_NUM_SENSORS];//these are force sensors and IMU information
//measured 6DOF force/torque sensors: force[x,y,z] and torque[x,y,z]
double m_jointReactionForces[6*MAX_DEGREE_OF_FREEDOM];
};
struct CreateSensorArgs
{
int m_bodyUniqueId;
int m_numJointSensorChanges;
int m_jointIndex[MAX_DEGREE_OF_FREEDOM];
int m_enableJointForceSensor[MAX_DEGREE_OF_FREEDOM];
};
typedef struct SharedMemoryCommand SharedMemoryCommand_t;
enum EnumBoxShapeFlags
{
BOX_SHAPE_HAS_INITIAL_POSITION=1,
BOX_SHAPE_HAS_INITIAL_ORIENTATION=2,
BOX_SHAPE_HAS_HALF_EXTENTS=4
};
///This command will be replaced to allow arbitrary collision shape types
struct CreateBoxShapeArgs
{
double m_halfExtentsX;
double m_halfExtentsY;
double m_halfExtentsZ;
double m_initialPosition[3];
double m_initialOrientation[4];
};
struct SharedMemoryCommand
{
@@ -199,6 +225,8 @@ struct SharedMemoryCommand
struct BulletDataStreamArgs m_dataStreamArguments;
struct SendDesiredStateArgs m_sendDesiredStateCommandArgument;
struct RequestActualStateArgs m_requestActualStateInformationCommandArgument;
struct CreateSensorArgs m_createSensorArguments;
struct CreateBoxShapeArgs m_createBoxShapeArguments;
};
};
@@ -219,15 +247,22 @@ struct SharedMemoryStatus
typedef struct SharedMemoryStatus SharedMemoryStatus_t;
struct PoweredJointInfo
enum JointInfoFlags
{
JOINT_HAS_MOTORIZED_POWER=1,
};
struct b3JointInfo
{
char* m_linkName;
char* m_jointName;
int m_jointType;
int m_qIndex;
int m_uIndex;
///
int m_flags;
};
#endif //SHARED_MEMORY_COMMANDS_H