syntax = "proto3";

//for why oneof everywhere, see the sad decision here:
//https://github.com/protocolbuffers/protobuf/issues/1606

option java_multiple_files = true;
option java_package = "io.grpc.pybullet_grpc";
option java_outer_classname = "PyBulletProto";
option objc_class_prefix = "PBG";


package pybullet_grpc;

service PyBulletAPI {
  // Sends a greeting
  rpc SubmitCommand (PyBulletCommand) returns (PyBulletStatus) {}
}


message vec3
{
	double x=1;
	double y=2;
	double z=3;
};

message quat4
{
	double x=1;
	double y=2;
	double z=3;
	double w=4;
};


message TerminateServerCommand
{
	string exitReason=1;
};

message StepSimulationCommand
{
};

message LoadUrdfCommand {
	string fileName=1;
	vec3 initialPosition=2;
	quat4 initialOrientation=3;
	//for why oneof here, see the sad decision here:
	//https://github.com/protocolbuffers/protobuf/issues/1606
	oneof hasUseMultiBody	{		int32  useMultiBody=4;	}
	oneof hasUseFixedBase{	bool useFixedBase=5;	}
	int32 flags=6;
	oneof hasGlobalScaling {	double globalScaling=7;
	}
};
message LoadUrdfStatus {
	int32 bodyUniqueId=1;
}



message LoadSdfCommand {
	string fileName=1;
	oneof hasUseMultiBody	{		int32  useMultiBody=2;	}
	oneof hasGlobalScaling {	double globalScaling=3;
	}
};

message SdfLoadedStatus
{
    repeated int32 bodyUniqueIds=2;
}

message LoadMjcfCommand {
	string fileName=1;
	int32 flags=2;
	
};

message MjcfLoadedStatus
{
    repeated int32 bodyUniqueIds=2;
}


message ChangeDynamicsCommand
{
	int32 bodyUniqueId=1;
	int32 linkIndex=2;
	
	oneof hasMass { double mass=3;}
	oneof hasLateralFriction { double lateralFriction=5;}
	oneof hasSpinningFriction {double spinningFriction=6;}
	oneof hasRollingFriction {double rollingFriction=7;}
	oneof hasRestitution { double restitution=8;}
	oneof haslinearDamping { double linearDamping=9;}
	oneof hasangularDamping { double angularDamping=10;}
	oneof hasContactStiffness { double contactStiffness=11;}
	oneof hasContactDamping { double contactDamping=12;}
	oneof hasLocalInertiaDiagonal { vec3 localInertiaDiagonal=13;}
	oneof hasFrictionAnchor { int32 frictionAnchor=14;}
	oneof hasccdSweptSphereRadius { double ccdSweptSphereRadius=15;}
	oneof hasContactProcessingThreshold { double contactProcessingThreshold=16;}
	oneof hasActivationState { int32 activationState=17;}
};

message GetDynamicsCommand
{
	int32 bodyUniqueId=1;
	int32 linkIndex=2;
};

message GetDynamicsStatus
{
	double mass=3;
	double lateralFriction=5;
	double spinningFriction=6;
	double rollingFriction=7;
	double restitution=8;
	double linearDamping=9;
	double angularDamping=10;
	double contactStiffness=11;
	double contactDamping=12;
	vec3 localInertiaDiagonal=13;
	int32 frictionAnchor=14;
	double ccdSweptSphereRadius=15;
	double contactProcessingThreshold=16;
	int32 activationState=17;
};


message InitPoseCommand
{
	int32 bodyUniqueId=1;
	repeated int32 hasInitialStateQ=2;
	repeated double initialStateQ=3;
	repeated int32 hasInitialStateQdot=4;
	repeated double initialStateQdot=5;
};


message RequestActualStateCommand
{
	int32 bodyUniqueId=1;
	bool computeForwardKinematics=2;
	bool computeLinkVelocities=3;
};

message SendActualStateStatus
{
	int32 bodyUniqueId=1;
	int32 numLinks=2;
	int32 numDegreeOfFreedomQ=3;
	int32 numDegreeOfFreedomU=4;

	repeated double rootLocalInertialFrame=5;
   
	//actual state is only written by the server, read-only access by client is expected
	repeated double actualStateQ=6;
	repeated double actualStateQdot=7;

	//measured 6DOF force/torque sensors: force[x,y,z] and torque[x,y,z]
	repeated double jointReactionForces=8;

	repeated double jointMotorForce=9;
    
	repeated double linkState=10;
	repeated double linkWorldVelocities=11;//linear velocity and angular velocity in world space (x/y/z each).
	repeated double linkLocalInertialFrames=12;
};



// The request message containing the command
message PyBulletCommand {
  int32 commandType=1;
  
  oneof commands {
    LoadUrdfCommand loadUrdfCommand = 3;
    TerminateServerCommand terminateServerCommand=4;
		StepSimulationCommand stepSimulationCommand= 5;
		LoadSdfCommand loadSdfCommand=6;
		LoadMjcfCommand loadMjcfCommand=7;
		ChangeDynamicsCommand changeDynamicsCommand=8;
		GetDynamicsCommand getDynamicsCommand=9;
		InitPoseCommand initPoseCommand=10;
		RequestActualStateCommand requestActualStateCommand=11;
  }
  
}

// The response message containing the status
message PyBulletStatus {
  int32 statusType=1;
  
  oneof status
  {
  	LoadUrdfStatus urdfStatus = 2;
  	SdfLoadedStatus sdfStatus = 3;
  	MjcfLoadedStatus mjcfStatus = 4;
  	GetDynamicsStatus getDynamicsStatus = 5;
  	SendActualStateStatus actualStateStatus = 6;
  }
}