14aa666c6f
increase shadowmap world size default to 50 units (meter), 10 units (meter) was too small for most examples.
708 lines
26 KiB
C++
708 lines
26 KiB
C++
#include "PhysicsClientC_API.h"
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#include "PhysicsClientSharedMemory.h"
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#include "Bullet3Common/b3Scalar.h"
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#include <string.h>
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#include "SharedMemoryCommands.h"
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b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName)
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{
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PhysicsClient* cl = (PhysicsClient* ) physClient;
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b3Assert(cl);
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b3Assert(cl->canSubmitCommand());
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struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
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b3Assert(command);
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command->m_type = CMD_LOAD_URDF;
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int len = strlen(urdfFileName);
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if (len<MAX_URDF_FILENAME_LENGTH)
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{
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strcpy(command->m_urdfArguments.m_urdfFileName,urdfFileName);
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} else
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{
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command->m_urdfArguments.m_urdfFileName[0] = 0;
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}
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command->m_updateFlags = URDF_ARGS_FILE_NAME;
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return (b3SharedMemoryCommandHandle) command;
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}
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int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase)
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
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b3Assert(command);
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b3Assert(command->m_type == CMD_LOAD_URDF);
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command->m_updateFlags |=URDF_ARGS_USE_FIXED_BASE;
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command->m_urdfArguments.m_useFixedBase = useFixedBase;
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return 0;
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}
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int b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ)
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
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b3Assert(command);
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b3Assert(command->m_type == CMD_LOAD_URDF);
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command->m_urdfArguments.m_initialPosition[0] = startPosX;
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command->m_urdfArguments.m_initialPosition[1] = startPosY;
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command->m_urdfArguments.m_initialPosition[2] = startPosZ;
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command->m_updateFlags|=URDF_ARGS_INITIAL_POSITION;
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return 0;
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}
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int b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW)
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
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b3Assert(command);
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b3Assert(command->m_type == CMD_LOAD_URDF);
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command->m_urdfArguments.m_initialOrientation[0] = startOrnX;
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command->m_urdfArguments.m_initialOrientation[1] = startOrnY;
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command->m_urdfArguments.m_initialOrientation[2] = startOrnZ;
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command->m_urdfArguments.m_initialOrientation[3] = startOrnW;
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command->m_updateFlags|=URDF_ARGS_INITIAL_ORIENTATION;
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return 0;
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}
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b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient)
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{
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PhysicsClient* cl = (PhysicsClient* ) physClient;
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b3Assert(cl);
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b3Assert(cl->canSubmitCommand());
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struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
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b3Assert(command);
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command->m_type = CMD_SEND_PHYSICS_SIMULATION_PARAMETERS;
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command->m_updateFlags = 0;
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return (b3SharedMemoryCommandHandle) command;
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}
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int b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz)
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
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b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
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command->m_physSimParamArgs.m_gravityAcceleration[0] = gravx;
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command->m_physSimParamArgs.m_gravityAcceleration[1] = gravy;
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command->m_physSimParamArgs.m_gravityAcceleration[2] = gravz;
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command->m_updateFlags |= SIM_PARAM_UPDATE_GRAVITY;
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return 0;
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}
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int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double timeStep)
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
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b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
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command->m_updateFlags |= SIM_PARAM_UPDATE_DELTA_TIME;
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command->m_physSimParamArgs.m_deltaTime = timeStep;
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return 0;
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}
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b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient)
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{
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PhysicsClient* cl = (PhysicsClient* ) physClient;
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b3Assert(cl);
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b3Assert(cl->canSubmitCommand());
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struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
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b3Assert(command);
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command->m_type = CMD_STEP_FORWARD_SIMULATION;
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command->m_updateFlags = 0;
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return (b3SharedMemoryCommandHandle) command;
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}
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b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHandle physClient)
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{
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PhysicsClient* cl = (PhysicsClient* ) physClient;
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b3Assert(cl);
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b3Assert(cl->canSubmitCommand());
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struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
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b3Assert(command);
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command->m_type = CMD_RESET_SIMULATION;
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command->m_updateFlags = 0;
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return (b3SharedMemoryCommandHandle) command;
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}
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b3SharedMemoryCommandHandle b3JointControlCommandInit( b3PhysicsClientHandle physClient, int controlMode)
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{
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PhysicsClient* cl = (PhysicsClient* ) physClient;
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b3Assert(cl);
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b3Assert(cl->canSubmitCommand());
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struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
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b3Assert(command);
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command->m_type = CMD_SEND_DESIRED_STATE;
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command->m_sendDesiredStateCommandArgument.m_controlMode = controlMode;
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command->m_sendDesiredStateCommandArgument.m_bodyUniqueId = 0;
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command->m_updateFlags = 0;
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return (b3SharedMemoryCommandHandle) command;
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}
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int b3JointControlSetDesiredPosition(b3SharedMemoryCommandHandle commandHandle, int qIndex, double value)
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
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b3Assert(command);
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command->m_sendDesiredStateCommandArgument.m_desiredStateQ[qIndex] = value;
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return 0;
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}
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int b3JointControlSetKp(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value)
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
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b3Assert(command);
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command->m_sendDesiredStateCommandArgument.m_Kp[dofIndex] = value;
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return 0;
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}
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int b3JointControlSetKd(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value)
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
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b3Assert(command);
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command->m_sendDesiredStateCommandArgument.m_Kd[dofIndex] = value;
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return 0;
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}
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int b3JointControlSetDesiredVelocity(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value)
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
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b3Assert(command);
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command->m_sendDesiredStateCommandArgument.m_desiredStateQdot[dofIndex] = value;
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return 0;
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}
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int b3JointControlSetMaximumForce(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value)
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
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b3Assert(command);
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command->m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[dofIndex] = value;
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return 0;
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}
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int b3JointControlSetDesiredForceTorque(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value)
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
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b3Assert(command);
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command->m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[dofIndex] = value;
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return 0;
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}
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b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId)
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{
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PhysicsClient* cl = (PhysicsClient* ) physClient;
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b3Assert(cl);
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b3Assert(cl->canSubmitCommand());
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struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
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b3Assert(command);
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command->m_type =CMD_REQUEST_ACTUAL_STATE;
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command->m_requestActualStateInformationCommandArgument.m_bodyUniqueId = bodyUniqueId;
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return (b3SharedMemoryCommandHandle) command;
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}
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void b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int jointIndex, b3JointSensorState *state)
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{
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const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
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b3Assert(status);
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int bodyIndex = status->m_sendActualStateArgs.m_bodyUniqueId;
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b3Assert(bodyIndex>=0);
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if (bodyIndex>=0)
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{
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b3JointInfo info;
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b3GetJointInfo(physClient, bodyIndex,jointIndex, &info);
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state->m_jointPosition = status->m_sendActualStateArgs.m_actualStateQ[info.m_qIndex];
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state->m_jointVelocity = status->m_sendActualStateArgs.m_actualStateQdot[info.m_uIndex];
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for (int ii(0); ii < 6; ++ii) {
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state->m_jointForceTorque[ii] = status->m_sendActualStateArgs.m_jointReactionForces[6 * jointIndex + ii];
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}
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state->m_jointMotorTorque = status->m_sendActualStateArgs.m_jointMotorForce[jointIndex];
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}
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}
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void b3GetLinkState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int linkIndex, b3LinkState *state)
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{
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const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
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b3Assert(status);
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int bodyIndex = status->m_sendActualStateArgs.m_bodyUniqueId;
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b3Assert(bodyIndex>=0);
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if (bodyIndex>=0)
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{
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for (int i = 0; i < 3; ++i)
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{
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state->m_worldPosition[i] = status->m_sendActualStateArgs.m_linkState[7 * linkIndex + i];
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state->m_localInertialPosition[i] = status->m_sendActualStateArgs.m_linkLocalInertialFrames[7 * linkIndex + i];
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}
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for (int i = 0; i < 4; ++i)
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{
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state->m_worldOrientation[i] = status->m_sendActualStateArgs.m_linkState[7 * linkIndex + 3 + i];
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state->m_localInertialOrientation[i] = status->m_sendActualStateArgs.m_linkLocalInertialFrames[7 * linkIndex + 3 + i];
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}
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}
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}
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b3SharedMemoryCommandHandle b3CreateBoxShapeCommandInit(b3PhysicsClientHandle physClient)
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{
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PhysicsClient* cl = (PhysicsClient* ) physClient;
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b3Assert(cl);
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b3Assert(cl->canSubmitCommand());
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struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
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b3Assert(command);
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command->m_type = CMD_CREATE_BOX_COLLISION_SHAPE;
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command->m_updateFlags =0;
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return (b3SharedMemoryCommandHandle) command;
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}
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int b3CreateBoxCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ)
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
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b3Assert(command);
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b3Assert(command->m_type == CMD_CREATE_BOX_COLLISION_SHAPE);
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command->m_updateFlags |=BOX_SHAPE_HAS_INITIAL_POSITION;
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command->m_createBoxShapeArguments.m_initialPosition[0] = startPosX;
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command->m_createBoxShapeArguments.m_initialPosition[1] = startPosY;
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command->m_createBoxShapeArguments.m_initialPosition[2] = startPosZ;
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return 0;
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}
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int b3CreateBoxCommandSetHalfExtents(b3SharedMemoryCommandHandle commandHandle, double halfExtentsX,double halfExtentsY,double halfExtentsZ)
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
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b3Assert(command);
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b3Assert(command->m_type == CMD_CREATE_BOX_COLLISION_SHAPE);
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command->m_updateFlags |=BOX_SHAPE_HAS_HALF_EXTENTS;
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command->m_createBoxShapeArguments.m_halfExtentsX = halfExtentsX;
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command->m_createBoxShapeArguments.m_halfExtentsY = halfExtentsY;
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command->m_createBoxShapeArguments.m_halfExtentsZ = halfExtentsZ;
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return 0;
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}
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int b3CreateBoxCommandSetMass(b3SharedMemoryCommandHandle commandHandle, double mass)
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
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b3Assert(command);
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b3Assert(command->m_type == CMD_CREATE_BOX_COLLISION_SHAPE);
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command->m_updateFlags |=BOX_SHAPE_HAS_MASS;
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command->m_createBoxShapeArguments.m_mass = mass;
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return 0;
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}
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int b3CreateBoxCommandSetCollisionShapeType(b3SharedMemoryCommandHandle commandHandle, int collisionShapeType)
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
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b3Assert(command);
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b3Assert(command->m_type == CMD_CREATE_BOX_COLLISION_SHAPE);
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command->m_updateFlags |=BOX_SHAPE_HAS_COLLISION_SHAPE_TYPE;
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command->m_createBoxShapeArguments.m_collisionShapeType = collisionShapeType;
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return 0;
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}
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int b3CreateBoxCommandSetColorRGBA(b3SharedMemoryCommandHandle commandHandle, double red,double green,double blue, double alpha)
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
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b3Assert(command);
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b3Assert(command->m_type == CMD_CREATE_BOX_COLLISION_SHAPE);
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command->m_updateFlags |=BOX_SHAPE_HAS_COLOR;
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command->m_createBoxShapeArguments.m_colorRGBA[0] = red;
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command->m_createBoxShapeArguments.m_colorRGBA[1] = green;
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command->m_createBoxShapeArguments.m_colorRGBA[2] = blue;
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command->m_createBoxShapeArguments.m_colorRGBA[3] = alpha;
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return 0;
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}
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int b3CreateBoxCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW)
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
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b3Assert(command);
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b3Assert(command->m_type == CMD_CREATE_BOX_COLLISION_SHAPE);
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command->m_updateFlags |=BOX_SHAPE_HAS_INITIAL_ORIENTATION;
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command->m_createBoxShapeArguments.m_initialOrientation[0] = startOrnX;
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command->m_createBoxShapeArguments.m_initialOrientation[1] = startOrnY;
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command->m_createBoxShapeArguments.m_initialOrientation[2] = startOrnZ;
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command->m_createBoxShapeArguments.m_initialOrientation[3] = startOrnW;
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return 0;
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}
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b3SharedMemoryCommandHandle b3CreatePoseCommandInit(b3PhysicsClientHandle physClient, int bodyIndex)
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{
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PhysicsClient* cl = (PhysicsClient* ) physClient;
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b3Assert(cl);
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b3Assert(cl->canSubmitCommand());
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struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
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b3Assert(command);
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command->m_type = CMD_INIT_POSE;
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command->m_updateFlags =0;
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command->m_initPoseArgs.m_bodyUniqueId = bodyIndex;
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return (b3SharedMemoryCommandHandle) command;
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}
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int b3CreatePoseCommandSetBasePosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ)
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
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b3Assert(command);
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b3Assert(command->m_type == CMD_INIT_POSE);
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command->m_updateFlags |=INIT_POSE_HAS_INITIAL_POSITION;
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command->m_initPoseArgs.m_initialStateQ[0] = startPosX;
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command->m_initPoseArgs.m_initialStateQ[1] = startPosY;
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command->m_initPoseArgs.m_initialStateQ[2] = startPosZ;
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return 0;
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}
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int b3CreatePoseCommandSetBaseOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW)
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
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b3Assert(command);
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b3Assert(command->m_type == CMD_INIT_POSE);
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command->m_updateFlags |=INIT_POSE_HAS_INITIAL_ORIENTATION;
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command->m_initPoseArgs.m_initialStateQ[3] = startOrnX;
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command->m_initPoseArgs.m_initialStateQ[4] = startOrnY;
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command->m_initPoseArgs.m_initialStateQ[5] = startOrnZ;
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command->m_initPoseArgs.m_initialStateQ[6] = startOrnW;
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return 0;
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}
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int b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle commandHandle, int numJointPositions, const double* jointPositions)
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
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b3Assert(command);
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b3Assert(command->m_type == CMD_INIT_POSE);
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command->m_updateFlags |=INIT_POSE_HAS_JOINT_STATE;
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for (int i=0;i<numJointPositions;i++)
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{
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command->m_initPoseArgs.m_initialStateQ[i+7] = jointPositions[i];
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}
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return 0;
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}
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int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, double jointPosition)
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
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b3Assert(command);
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b3Assert(command->m_type == CMD_INIT_POSE);
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command->m_updateFlags |=INIT_POSE_HAS_JOINT_STATE;
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b3JointInfo info;
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b3GetJointInfo(physClient, command->m_initPoseArgs.m_bodyUniqueId,jointIndex, &info);
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btAssert((info.m_flags & JOINT_HAS_MOTORIZED_POWER) && info.m_qIndex >=0);
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if ((info.m_flags & JOINT_HAS_MOTORIZED_POWER) && info.m_qIndex >=0)
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{
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command->m_initPoseArgs.m_initialStateQ[info.m_qIndex] = jointPosition;
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}
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return 0;
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}
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b3SharedMemoryCommandHandle b3CreateSensorCommandInit(b3PhysicsClientHandle physClient)
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{
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PhysicsClient* cl = (PhysicsClient* ) physClient;
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b3Assert(cl);
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b3Assert(cl->canSubmitCommand());
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struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
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b3Assert(command);
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command->m_type = CMD_CREATE_SENSOR;
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command->m_updateFlags = 0;
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command->m_createSensorArguments.m_numJointSensorChanges = 0;
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command->m_createSensorArguments.m_bodyUniqueId = 0;
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return (b3SharedMemoryCommandHandle) command;
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}
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int b3CreateSensorEnable6DofJointForceTorqueSensor(b3SharedMemoryCommandHandle commandHandle, int jointIndex, int enable)
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
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b3Assert(command);
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b3Assert(command->m_type == CMD_CREATE_SENSOR);
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int curIndex = command->m_createSensorArguments.m_numJointSensorChanges;
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command->m_createSensorArguments.m_sensorType[curIndex] = SENSOR_FORCE_TORQUE;
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command->m_createSensorArguments.m_jointIndex[curIndex] = jointIndex;
|
|
command->m_createSensorArguments.m_enableJointForceSensor[curIndex] = enable;
|
|
command->m_createSensorArguments.m_numJointSensorChanges++;
|
|
return 0;
|
|
}
|
|
|
|
int b3CreateSensorEnableIMUForLink(b3SharedMemoryCommandHandle commandHandle, int linkIndex, int enable)
|
|
{
|
|
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
|
|
b3Assert(command);
|
|
b3Assert(command->m_type == CMD_CREATE_SENSOR);
|
|
int curIndex = command->m_createSensorArguments.m_numJointSensorChanges;
|
|
command->m_createSensorArguments.m_sensorType[curIndex] = SENSOR_IMU;
|
|
command->m_createSensorArguments.m_linkIndex[curIndex] = linkIndex;
|
|
command->m_createSensorArguments.m_enableSensor[curIndex] = enable;
|
|
command->m_createSensorArguments.m_numJointSensorChanges++;
|
|
return 0;
|
|
}
|
|
|
|
|
|
b3PhysicsClientHandle b3ConnectSharedMemory(int key)
|
|
{
|
|
|
|
PhysicsClientSharedMemory* cl = new PhysicsClientSharedMemory();
|
|
///client should never create shared memory, only the server does
|
|
cl->setSharedMemoryKey(key);
|
|
cl->connect();
|
|
return (b3PhysicsClientHandle ) cl;
|
|
}
|
|
|
|
|
|
void b3DisconnectSharedMemory(b3PhysicsClientHandle physClient)
|
|
{
|
|
PhysicsClient* cl = (PhysicsClient* ) physClient;
|
|
delete cl;
|
|
}
|
|
|
|
b3SharedMemoryStatusHandle b3ProcessServerStatus(b3PhysicsClientHandle physClient)
|
|
{
|
|
PhysicsClient* cl = (PhysicsClient* ) physClient;
|
|
if (cl && cl->isConnected())
|
|
{
|
|
const SharedMemoryStatus* stat = cl->processServerStatus();
|
|
return (b3SharedMemoryStatusHandle) stat;
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
|
|
|
|
|
|
int b3GetStatusType(b3SharedMemoryStatusHandle statusHandle)
|
|
{
|
|
const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
|
|
b3Assert(status);
|
|
if (status)
|
|
{
|
|
return status->m_type;
|
|
}
|
|
return CMD_INVALID_STATUS;
|
|
}
|
|
|
|
int b3GetStatusBodyIndex(b3SharedMemoryStatusHandle statusHandle)
|
|
{
|
|
const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
|
|
b3Assert(status);
|
|
int bodyId = -1;
|
|
|
|
if (status)
|
|
{
|
|
switch (status->m_type)
|
|
{
|
|
case CMD_URDF_LOADING_COMPLETED:
|
|
{
|
|
bodyId = status->m_dataStreamArguments.m_bodyUniqueId;
|
|
break;
|
|
}
|
|
case CMD_RIGID_BODY_CREATION_COMPLETED:
|
|
{
|
|
bodyId = status->m_rigidBodyCreateArgs.m_bodyUniqueId;
|
|
break;
|
|
}
|
|
default:
|
|
{
|
|
b3Assert(0);
|
|
}
|
|
};
|
|
}
|
|
return bodyId;
|
|
}
|
|
|
|
int b3GetStatusActualState(b3SharedMemoryStatusHandle statusHandle,
|
|
int* bodyUniqueId,
|
|
int* numDegreeOfFreedomQ,
|
|
int* numDegreeOfFreedomU,
|
|
const double* rootLocalInertialFrame[],
|
|
const double* actualStateQ[],
|
|
const double* actualStateQdot[],
|
|
const double* jointReactionForces[]) {
|
|
const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
|
|
const SendActualStateArgs &args = status->m_sendActualStateArgs;
|
|
if (bodyUniqueId) {
|
|
*bodyUniqueId = args.m_bodyUniqueId;
|
|
}
|
|
if (numDegreeOfFreedomQ) {
|
|
*numDegreeOfFreedomQ = args.m_numDegreeOfFreedomQ;
|
|
}
|
|
if (numDegreeOfFreedomU) {
|
|
*numDegreeOfFreedomU = args.m_numDegreeOfFreedomU;
|
|
}
|
|
if (rootLocalInertialFrame) {
|
|
*rootLocalInertialFrame = args.m_rootLocalInertialFrame;
|
|
}
|
|
if (actualStateQ) {
|
|
*actualStateQ = args.m_actualStateQ;
|
|
}
|
|
if (actualStateQdot) {
|
|
*actualStateQdot = args.m_actualStateQdot;
|
|
}
|
|
if (jointReactionForces) {
|
|
*jointReactionForces = args.m_jointReactionForces;
|
|
}
|
|
return true;
|
|
}
|
|
|
|
int b3CanSubmitCommand(b3PhysicsClientHandle physClient)
|
|
{
|
|
PhysicsClient* cl = (PhysicsClient* ) physClient;
|
|
if (cl)
|
|
{
|
|
return (int)cl->canSubmitCommand();
|
|
}
|
|
return false;
|
|
}
|
|
|
|
int b3SubmitClientCommand(b3PhysicsClientHandle physClient, const b3SharedMemoryCommandHandle commandHandle)
|
|
{
|
|
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
|
|
PhysicsClient* cl = (PhysicsClient* ) physClient;
|
|
return (int)cl->submitClientCommand(*command);
|
|
}
|
|
|
|
b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHandle physClient, const b3SharedMemoryCommandHandle commandHandle)
|
|
{
|
|
int timeout = 1024*1024*1024;
|
|
b3SharedMemoryStatusHandle statusHandle=0;
|
|
|
|
b3SubmitClientCommand(physClient,commandHandle);
|
|
|
|
while ((statusHandle==0) && (timeout-- > 0))
|
|
{
|
|
statusHandle =b3ProcessServerStatus(physClient);
|
|
}
|
|
return (b3SharedMemoryStatusHandle) statusHandle;
|
|
|
|
}
|
|
|
|
|
|
int b3GetNumJoints(b3PhysicsClientHandle physClient, int bodyId)
|
|
{
|
|
PhysicsClient* cl = (PhysicsClient* ) physClient;
|
|
return cl->getNumJoints(bodyId);
|
|
}
|
|
|
|
|
|
void b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int linkIndex, struct b3JointInfo* info)
|
|
{
|
|
PhysicsClient* cl = (PhysicsClient* ) physClient;
|
|
cl->getJointInfo(bodyIndex, linkIndex,*info);
|
|
}
|
|
|
|
b3SharedMemoryCommandHandle b3PickBody(b3PhysicsClientHandle physClient, double rayFromWorldX,
|
|
double rayFromWorldY, double rayFromWorldZ,
|
|
double rayToWorldX, double rayToWorldY, double rayToWorldZ)
|
|
{
|
|
PhysicsClient *cl = (PhysicsClient *)physClient;
|
|
b3Assert(cl);
|
|
b3Assert(cl->canSubmitCommand());
|
|
struct SharedMemoryCommand *command = cl->getAvailableSharedMemoryCommand();
|
|
b3Assert(command);
|
|
command->m_type = CMD_PICK_BODY;
|
|
command->m_pickBodyArguments.m_rayFromWorld[0] = rayFromWorldX;
|
|
command->m_pickBodyArguments.m_rayFromWorld[1] = rayFromWorldY;
|
|
command->m_pickBodyArguments.m_rayFromWorld[2] = rayFromWorldZ;
|
|
command->m_pickBodyArguments.m_rayToWorld[0] = rayToWorldX;
|
|
command->m_pickBodyArguments.m_rayToWorld[1] = rayToWorldY;
|
|
command->m_pickBodyArguments.m_rayToWorld[2] = rayToWorldZ;
|
|
return (b3SharedMemoryCommandHandle)command;
|
|
}
|
|
|
|
b3SharedMemoryCommandHandle b3MovePickedBody(b3PhysicsClientHandle physClient, double rayFromWorldX,
|
|
double rayFromWorldY, double rayFromWorldZ,
|
|
double rayToWorldX, double rayToWorldY,
|
|
double rayToWorldZ)
|
|
{
|
|
PhysicsClient *cl = (PhysicsClient *)physClient;
|
|
b3Assert(cl);
|
|
b3Assert(cl->canSubmitCommand());
|
|
struct SharedMemoryCommand *command = cl->getAvailableSharedMemoryCommand();
|
|
b3Assert(command);
|
|
command->m_type = CMD_MOVE_PICKED_BODY;
|
|
command->m_pickBodyArguments.m_rayFromWorld[0] = rayFromWorldX;
|
|
command->m_pickBodyArguments.m_rayFromWorld[1] = rayFromWorldY;
|
|
command->m_pickBodyArguments.m_rayFromWorld[2] = rayFromWorldZ;
|
|
command->m_pickBodyArguments.m_rayToWorld[0] = rayToWorldX;
|
|
command->m_pickBodyArguments.m_rayToWorld[1] = rayToWorldY;
|
|
command->m_pickBodyArguments.m_rayToWorld[2] = rayToWorldZ;
|
|
return (b3SharedMemoryCommandHandle)command;
|
|
}
|
|
|
|
b3SharedMemoryCommandHandle b3RemovePickingConstraint(b3PhysicsClientHandle physClient)
|
|
{
|
|
PhysicsClient *cl = (PhysicsClient *)physClient;
|
|
b3Assert(cl);
|
|
b3Assert(cl->canSubmitCommand());
|
|
struct SharedMemoryCommand *command = cl->getAvailableSharedMemoryCommand();
|
|
b3Assert(command);
|
|
command->m_type = CMD_REMOVE_PICKING_CONSTRAINT_BODY;
|
|
return (b3SharedMemoryCommandHandle)command;
|
|
}
|
|
|
|
b3SharedMemoryCommandHandle b3InitRequestDebugLinesCommand(b3PhysicsClientHandle physClient, int debugMode)
|
|
{
|
|
PhysicsClient* cl = (PhysicsClient* ) physClient;
|
|
b3Assert(cl);
|
|
b3Assert(cl->canSubmitCommand());
|
|
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
|
|
b3Assert(command);
|
|
|
|
command->m_type =CMD_REQUEST_DEBUG_LINES;
|
|
command->m_requestDebugLinesArguments.m_debugMode = debugMode;
|
|
command->m_requestDebugLinesArguments.m_startingLineIndex = 0;
|
|
return (b3SharedMemoryCommandHandle) command;
|
|
}
|
|
void b3GetDebugLines(b3PhysicsClientHandle physClient, struct b3DebugLines* lines)
|
|
{
|
|
PhysicsClient* cl = (PhysicsClient* ) physClient;
|
|
|
|
b3Assert(lines);
|
|
if (lines)
|
|
{
|
|
lines->m_numDebugLines = cl->getNumDebugLines();
|
|
lines->m_linesFrom = cl->getDebugLinesFrom();
|
|
lines->m_linesTo = cl->getDebugLinesTo();
|
|
lines->m_linesColor = cl->getDebugLinesColor();
|
|
|
|
}
|
|
|
|
}
|
|
|
|
///request an image from a simulated camera, using a software renderer.
|
|
b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient)
|
|
{
|
|
PhysicsClient* cl = (PhysicsClient* ) physClient;
|
|
b3Assert(cl);
|
|
b3Assert(cl->canSubmitCommand());
|
|
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
|
|
b3Assert(command);
|
|
command->m_type =CMD_REQUEST_CAMERA_IMAGE_DATA;
|
|
command->m_requestPixelDataArguments.m_startPixelIndex = 0;
|
|
return (b3SharedMemoryCommandHandle) command;
|
|
}
|
|
|
|
|
|
void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command, float viewMatrix[16], float projectionMatrix[16])
|
|
{
|
|
|
|
}
|
|
|
|
void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData)
|
|
{
|
|
PhysicsClient* cl = (PhysicsClient* ) physClient;
|
|
if (cl)
|
|
{
|
|
cl->getCachedCameraImage(imageData);
|
|
}
|
|
}
|
|
|