46fae61c69
only allow server to create and initialize shared memory, client will report failure intercept signals to cleanup shared memory in standalone app, thanks to Roland Philippsen.
76 lines
3.5 KiB
C
76 lines
3.5 KiB
C
#ifndef PHYSICS_CLIENT_C_API_H
|
|
#define PHYSICS_CLIENT_C_API_H
|
|
|
|
#include "SharedMemoryBlock.h"
|
|
|
|
#define B3_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name
|
|
|
|
B3_DECLARE_HANDLE(b3PhysicsClientHandle);
|
|
B3_DECLARE_HANDLE(b3PhysicsRobotHandle);
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
///make sure to start the server first!
|
|
b3PhysicsClientHandle b3ConnectSharedMemory();
|
|
|
|
void b3DisconnectSharedMemory(b3PhysicsClientHandle physClient);
|
|
|
|
int b3ProcessServerStatus(b3PhysicsClientHandle physClient, struct SharedMemoryStatus* status);
|
|
|
|
int b3CanSubmitCommand(b3PhysicsClientHandle physClient);
|
|
|
|
int b3SubmitClientCommand(b3PhysicsClientHandle physClient, struct SharedMemoryCommand* command);
|
|
|
|
int b3GetNumJoints(b3PhysicsClientHandle physClient);
|
|
|
|
void b3GetJointInfo(b3PhysicsClientHandle physClient, int linkIndex, struct b3JointInfo* info);
|
|
|
|
int b3InitPhysicsParamCommand(struct SharedMemoryCommand* command);
|
|
int b3PhysicsParamSetGravity(struct SharedMemoryCommand* command, double gravx,double gravy, double gravz);
|
|
int b3PhysicsParamSetTimeStep(struct SharedMemoryCommand* command, double timeStep);
|
|
|
|
int b3InitStepSimulationCommand(struct SharedMemoryCommand* command);
|
|
|
|
int b3LoadUrdfCommandInit(struct SharedMemoryCommand* command, const char* urdfFileName);
|
|
///all those commands are optional, except for the *Init
|
|
int b3LoadUrdfCommandSetStartPosition(struct SharedMemoryCommand* command, double startPosX,double startPosY,double startPosZ);
|
|
int b3LoadUrdfCommandSetStartOrientation(struct SharedMemoryCommand* command, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
|
|
int b3LoadUrdfCommandSetUseMultiBody(struct SharedMemoryCommand* command, int useMultiBody);
|
|
int b3LoadUrdfCommandSetUseFixedBase(struct SharedMemoryCommand* command, int useFixedBase);
|
|
|
|
///Set joint control variables such as desired position/angle, desired velocity,
|
|
///applied joint forces, dependent on the control mode (CONTROL_MODE_VELOCITY or CONTROL_MODE_TORQUE)
|
|
int b3JointControlCommandInit(struct SharedMemoryCommand* command, int controlMode);
|
|
//Only use when controlMode is CONTROL_MODE_VELOCITY
|
|
int b3JointControlSetDesiredVelocity(struct SharedMemoryCommand* command, int dofIndex, double value);
|
|
int b3JointControlSetMaximumForce(struct SharedMemoryCommand* command, int dofIndex, double value);
|
|
///Only use if when controlMode is CONTROL_MODE_TORQUE,
|
|
int b3JointControlSetDesiredForceTorque(struct SharedMemoryCommand* command, int dofIndex, double value);
|
|
|
|
|
|
///the creation of collision shapes and rigid bodies etc is likely going to change,
|
|
///but good to have a b3CreateBoxShapeCommandInit for now
|
|
|
|
//create a box of size (1,1,1) at world origin (0,0,0) at orientation quat (0,0,0,1)
|
|
//after that, you can optionally adjust the initial position, orientation and size
|
|
int b3CreateBoxShapeCommandInit(struct SharedMemoryCommand* command);
|
|
int b3CreateBoxCommandSetStartPosition(struct SharedMemoryCommand* command, double startPosX,double startPosY,double startPosZ);
|
|
int b3CreateBoxCommandSetStartOrientation(struct SharedMemoryCommand* command, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
|
|
int b3CreateBoxCommandSetHalfExtents(struct SharedMemoryCommand* command, double halfExtentsX,double halfExtentsY,double halfExtentsZ);
|
|
|
|
|
|
int b3CreateSensorCommandInit(struct SharedMemoryCommand* command);
|
|
int b3CreateSensorEnable6DofJointForceTorqueSensor(struct SharedMemoryCommand* command, int dofIndex, int enable);
|
|
|
|
|
|
int b3RequestActualStateCommandInit(struct SharedMemoryCommand* command);
|
|
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif //PHYSICS_CLIENT_C_API_H
|