5e09b17baf
shared memory api and pybullet. Will be extended for arbitrary bodies and with target orientation (besides target position)
977 lines
31 KiB
C++
977 lines
31 KiB
C++
#include "b3RobotSimAPI.h"
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//#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
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#include "Bullet3Common/b3Quaternion.h"
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#include "Bullet3Common/b3AlignedObjectArray.h"
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#include "../CommonInterfaces/CommonRenderInterface.h"
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//#include "../CommonInterfaces/CommonExampleInterface.h"
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#include "../CommonInterfaces/CommonGUIHelperInterface.h"
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#include "../SharedMemory/PhysicsServerSharedMemory.h"
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#include "../SharedMemory/PhysicsServerSharedMemory.h"
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#include "../SharedMemory/PhysicsClientC_API.h"
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#include "../SharedMemory/PhysicsDirectC_API.h"
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#include "../SharedMemory/PhysicsDirect.h"
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#include <string>
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#include "../Utils/b3Clock.h"
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#include "../MultiThreading/b3ThreadSupportInterface.h"
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void RobotThreadFunc(void* userPtr,void* lsMemory);
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void* RobotlsMemoryFunc();
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#define MAX_ROBOT_NUM_THREADS 1
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enum
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{
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numCubesX = 20,
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numCubesY = 20
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};
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enum TestRobotSimCommunicationEnums
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{
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eRequestTerminateRobotSim= 13,
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eRobotSimIsUnInitialized,
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eRobotSimIsInitialized,
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eRobotSimInitializationFailed,
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eRobotSimHasTerminated
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};
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enum MultiThreadedGUIHelperCommunicationEnums
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{
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eRobotSimGUIHelperIdle= 13,
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eRobotSimGUIHelperRegisterTexture,
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eRobotSimGUIHelperRegisterGraphicsShape,
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eRobotSimGUIHelperRegisterGraphicsInstance,
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eRobotSimGUIHelperCreateCollisionShapeGraphicsObject,
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eRobotSimGUIHelperCreateCollisionObjectGraphicsObject,
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eRobotSimGUIHelperRemoveAllGraphicsInstances,
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eRobotSimGUIHelperCopyCameraImageData,
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};
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#include <stdio.h>
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//#include "BulletMultiThreaded/PlatformDefinitions.h"
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#ifndef _WIN32
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#include "../MultiThreading/b3PosixThreadSupport.h"
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b3ThreadSupportInterface* createRobotSimThreadSupport(int numThreads)
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{
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b3PosixThreadSupport::ThreadConstructionInfo constructionInfo("RobotSimThreads",
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RobotThreadFunc,
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RobotlsMemoryFunc,
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numThreads);
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b3ThreadSupportInterface* threadSupport = new b3PosixThreadSupport(constructionInfo);
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return threadSupport;
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}
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#elif defined( _WIN32)
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#include "../MultiThreading/b3Win32ThreadSupport.h"
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b3ThreadSupportInterface* createRobotSimThreadSupport(int numThreads)
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{
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b3Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("RobotSimThreads",RobotThreadFunc,RobotlsMemoryFunc,numThreads);
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b3Win32ThreadSupport* threadSupport = new b3Win32ThreadSupport(threadConstructionInfo);
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return threadSupport;
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}
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#endif
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struct RobotSimArgs
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{
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RobotSimArgs()
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:m_physicsServerPtr(0)
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{
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}
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b3CriticalSection* m_cs;
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PhysicsServerSharedMemory* m_physicsServerPtr;
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b3AlignedObjectArray<b3Vector3> m_positions;
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};
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struct RobotSimThreadLocalStorage
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{
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int threadId;
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};
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void RobotThreadFunc(void* userPtr,void* lsMemory)
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{
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printf("RobotThreadFunc thread started\n");
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RobotSimThreadLocalStorage* localStorage = (RobotSimThreadLocalStorage*) lsMemory;
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RobotSimArgs* args = (RobotSimArgs*) userPtr;
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int workLeft = true;
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b3Clock clock;
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clock.reset();
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bool init = true;
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if (init)
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{
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args->m_cs->lock();
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args->m_cs->setSharedParam(0,eRobotSimIsInitialized);
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args->m_cs->unlock();
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do
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{
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//todo(erwincoumans): do we want some sleep to reduce CPU resources in this thread?
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#if 0
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double deltaTimeInSeconds = double(clock.getTimeMicroseconds())/1000000.;
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if (deltaTimeInSeconds<(1./260.))
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{
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if (deltaTimeInSeconds<.001)
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continue;
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}
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clock.reset();
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#endif //
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args->m_physicsServerPtr->processClientCommands();
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} while (args->m_cs->getSharedParam(0)!=eRequestTerminateRobotSim);
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} else
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{
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args->m_cs->lock();
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args->m_cs->setSharedParam(0,eRobotSimInitializationFailed);
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args->m_cs->unlock();
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}
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//do nothing
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}
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void* RobotlsMemoryFunc()
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{
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//don't create local store memory, just return 0
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return new RobotSimThreadLocalStorage;
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}
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ATTRIBUTE_ALIGNED16(class) MultiThreadedOpenGLGuiHelper2 : public GUIHelperInterface
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{
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CommonGraphicsApp* m_app;
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b3CriticalSection* m_cs;
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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GUIHelperInterface* m_childGuiHelper;
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const unsigned char* m_texels;
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int m_textureWidth;
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int m_textureHeight;
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int m_shapeIndex;
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const float* m_position;
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const float* m_quaternion;
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const float* m_color;
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const float* m_scaling;
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const float* m_vertices;
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int m_numvertices;
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const int* m_indices;
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int m_numIndices;
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int m_primitiveType;
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int m_textureId;
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int m_instanceId;
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MultiThreadedOpenGLGuiHelper2(CommonGraphicsApp* app, GUIHelperInterface* guiHelper)
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:m_app(app)
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,m_cs(0),
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m_texels(0),
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m_textureId(-1)
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{
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m_childGuiHelper = guiHelper;;
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}
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virtual ~MultiThreadedOpenGLGuiHelper2()
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{
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delete m_childGuiHelper;
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}
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void setCriticalSection(b3CriticalSection* cs)
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{
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m_cs = cs;
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}
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b3CriticalSection* getCriticalSection()
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{
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return m_cs;
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}
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virtual void createRigidBodyGraphicsObject(btRigidBody* body,const btVector3& color)
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{
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createCollisionObjectGraphicsObject((btCollisionObject*)body, color);
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}
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btCollisionObject* m_obj;
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btVector3 m_color2;
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virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj,const btVector3& color)
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{
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m_obj = obj;
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m_color2 = color;
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m_cs->lock();
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m_cs->setSharedParam(1,eRobotSimGUIHelperCreateCollisionObjectGraphicsObject);
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m_cs->unlock();
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while (m_cs->getSharedParam(1)!=eRobotSimGUIHelperIdle)
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{
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}
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}
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btCollisionShape* m_colShape;
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virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
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{
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m_colShape = collisionShape;
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m_cs->lock();
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m_cs->setSharedParam(1,eRobotSimGUIHelperCreateCollisionShapeGraphicsObject);
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m_cs->unlock();
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while (m_cs->getSharedParam(1)!=eRobotSimGUIHelperIdle)
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{
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}
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}
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virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)
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{
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//this check is to prevent a crash, in case we removed all graphics instances, but there are still physics objects.
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//the check will be obsolete, once we have a better/safer way of synchronizing physics->graphics transforms
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if ( m_childGuiHelper->getRenderInterface()->getTotalNumInstances()>0)
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{
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m_childGuiHelper->syncPhysicsToGraphics(rbWorld);
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}
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}
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virtual void render(const btDiscreteDynamicsWorld* rbWorld)
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{
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m_childGuiHelper->render(0);
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}
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virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld){}
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virtual int registerTexture(const unsigned char* texels, int width, int height)
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{
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m_texels = texels;
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m_textureWidth = width;
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m_textureHeight = height;
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m_cs->lock();
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m_cs->setSharedParam(1,eRobotSimGUIHelperRegisterTexture);
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m_cs->unlock();
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while (m_cs->getSharedParam(1)!=eRobotSimGUIHelperIdle)
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{
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}
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return m_textureId;
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}
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virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
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{
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m_vertices = vertices;
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m_numvertices = numvertices;
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m_indices = indices;
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m_numIndices = numIndices;
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m_primitiveType = primitiveType;
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m_textureId = textureId;
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m_cs->lock();
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m_cs->setSharedParam(1,eRobotSimGUIHelperRegisterGraphicsShape);
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m_cs->unlock();
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while (m_cs->getSharedParam(1)!=eRobotSimGUIHelperIdle)
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{
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}
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return m_shapeIndex;
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}
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virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
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{
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m_shapeIndex = shapeIndex;
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m_position = position;
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m_quaternion = quaternion;
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m_color = color;
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m_scaling = scaling;
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m_cs->lock();
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m_cs->setSharedParam(1,eRobotSimGUIHelperRegisterGraphicsInstance);
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m_cs->unlock();
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while (m_cs->getSharedParam(1)!=eRobotSimGUIHelperIdle)
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{
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}
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return m_instanceId;
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}
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virtual void removeAllGraphicsInstances()
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{
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m_cs->lock();
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m_cs->setSharedParam(1,eRobotSimGUIHelperRemoveAllGraphicsInstances);
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m_cs->unlock();
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while (m_cs->getSharedParam(1)!=eRobotSimGUIHelperIdle)
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{
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}
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}
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virtual Common2dCanvasInterface* get2dCanvasInterface()
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{
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return 0;
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}
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virtual CommonParameterInterface* getParameterInterface()
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{
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return 0;
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}
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virtual CommonRenderInterface* getRenderInterface()
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{
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return 0;
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}
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virtual CommonGraphicsApp* getAppInterface()
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{
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return m_childGuiHelper->getAppInterface();
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}
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virtual void setUpAxis(int axis)
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{
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m_childGuiHelper->setUpAxis(axis);
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}
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virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)
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{
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}
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float m_viewMatrix[16];
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float m_projectionMatrix[16];
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unsigned char* m_pixelsRGBA;
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int m_rgbaBufferSizeInPixels;
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float* m_depthBuffer;
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int m_depthBufferSizeInPixels;
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int* m_segmentationMaskBuffer;
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int m_segmentationMaskBufferSizeInPixels;
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int m_startPixelIndex;
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int m_destinationWidth;
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int m_destinationHeight;
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int* m_numPixelsCopied;
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virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
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unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
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float* depthBuffer, int depthBufferSizeInPixels,
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int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
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int startPixelIndex, int destinationWidth,
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int destinationHeight, int* numPixelsCopied)
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{
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m_cs->lock();
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for (int i=0;i<16;i++)
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{
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m_viewMatrix[i] = viewMatrix[i];
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m_projectionMatrix[i] = projectionMatrix[i];
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}
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m_pixelsRGBA = pixelsRGBA;
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m_rgbaBufferSizeInPixels = rgbaBufferSizeInPixels;
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m_depthBuffer = depthBuffer;
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m_depthBufferSizeInPixels = depthBufferSizeInPixels;
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m_segmentationMaskBuffer = segmentationMaskBuffer;
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m_segmentationMaskBufferSizeInPixels = segmentationMaskBufferSizeInPixels;
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m_startPixelIndex = startPixelIndex;
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m_destinationWidth = destinationWidth;
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m_destinationHeight = destinationHeight;
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m_numPixelsCopied = numPixelsCopied;
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m_cs->setSharedParam(1,eRobotSimGUIHelperCopyCameraImageData);
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m_cs->unlock();
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while (m_cs->getSharedParam(1)!=eRobotSimGUIHelperIdle)
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{
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}
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}
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virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
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{
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}
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virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)
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{
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}
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};
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struct b3RobotSimAPI_InternalData
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{
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//GUIHelperInterface* m_guiHelper;
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PhysicsServerSharedMemory m_physicsServer;
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b3PhysicsClientHandle m_physicsClient;
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b3ThreadSupportInterface* m_threadSupport;
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RobotSimArgs m_args[MAX_ROBOT_NUM_THREADS];
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MultiThreadedOpenGLGuiHelper2* m_multiThreadedHelper;
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PhysicsDirect* m_clientServerDirect;
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bool m_useMultiThreading;
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bool m_connected;
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b3RobotSimAPI_InternalData()
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:m_threadSupport(0),
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m_multiThreadedHelper(0),
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m_clientServerDirect(0),
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m_physicsClient(0),
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m_useMultiThreading(false),
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m_connected(false)
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{
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}
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};
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b3RobotSimAPI::b3RobotSimAPI()
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{
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m_data = new b3RobotSimAPI_InternalData;
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}
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void b3RobotSimAPI::stepSimulation()
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{
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b3SharedMemoryStatusHandle statusHandle;
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int statusType;
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b3Assert(b3CanSubmitCommand(m_data->m_physicsClient));
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if (b3CanSubmitCommand(m_data->m_physicsClient))
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{
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statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, b3InitStepSimulationCommand(m_data->m_physicsClient));
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statusType = b3GetStatusType(statusHandle);
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b3Assert(statusType==CMD_STEP_FORWARD_SIMULATION_COMPLETED);
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}
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}
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void b3RobotSimAPI::setGravity(const b3Vector3& gravityAcceleration)
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{
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b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClient);
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b3SharedMemoryStatusHandle statusHandle;
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b3PhysicsParamSetGravity(command, gravityAcceleration[0],gravityAcceleration[1],gravityAcceleration[2]);
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statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);
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b3Assert(b3GetStatusType(statusHandle)==CMD_CLIENT_COMMAND_COMPLETED);
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}
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void b3RobotSimAPI::setNumSimulationSubSteps(int numSubSteps)
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{
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b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClient);
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b3SharedMemoryStatusHandle statusHandle;
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b3PhysicsParamSetNumSubSteps(command, numSubSteps);
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statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);
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b3Assert(b3GetStatusType(statusHandle)==CMD_CLIENT_COMMAND_COMPLETED);
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}
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/*
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b3SharedMemoryCommandHandle b3CalculateInverseKinematicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex,
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const double* jointPositionsQ, double targetPosition[3]);
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int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle statusHandle,
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int* bodyUniqueId,
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int* dofCount,
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double* jointPositions);
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*/
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bool b3RobotSimAPI::calculateInverseKinematics(const struct b3RobotSimInverseKinematicArgs& args, struct b3RobotSimInverseKinematicsResults& results)
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{
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b3SharedMemoryCommandHandle command = b3CalculateInverseKinematicsCommandInit(m_data->m_physicsClient,args.m_bodyUniqueId,
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args.m_endEffectorTargetPosition);
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b3SharedMemoryStatusHandle statusHandle;
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statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);
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int numPos=0;
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bool result = b3GetStatusInverseKinematicsJointPositions(statusHandle,
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&results.m_bodyUniqueId,
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&numPos,
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0);
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if (result && numPos)
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{
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results.m_calculatedJointPositions.resize(numPos);
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result = b3GetStatusInverseKinematicsJointPositions(statusHandle,
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&results.m_bodyUniqueId,
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&numPos,
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&results.m_calculatedJointPositions[0]);
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}
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return result;
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}
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b3RobotSimAPI::~b3RobotSimAPI()
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{
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delete m_data;
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}
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void b3RobotSimAPI::processMultiThreadedGraphicsRequests()
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{
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if (0==m_data->m_multiThreadedHelper)
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return;
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switch (m_data->m_multiThreadedHelper->getCriticalSection()->getSharedParam(1))
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{
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case eRobotSimGUIHelperCreateCollisionShapeGraphicsObject:
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{
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m_data->m_multiThreadedHelper->m_childGuiHelper->createCollisionShapeGraphicsObject(m_data->m_multiThreadedHelper->m_colShape);
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m_data->m_multiThreadedHelper->getCriticalSection()->lock();
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m_data->m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eRobotSimGUIHelperIdle);
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m_data->m_multiThreadedHelper->getCriticalSection()->unlock();
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break;
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}
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case eRobotSimGUIHelperCreateCollisionObjectGraphicsObject:
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{
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m_data->m_multiThreadedHelper->m_childGuiHelper->createCollisionObjectGraphicsObject(m_data->m_multiThreadedHelper->m_obj,
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m_data->m_multiThreadedHelper->m_color2);
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m_data->m_multiThreadedHelper->getCriticalSection()->lock();
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m_data->m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eRobotSimGUIHelperIdle);
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m_data->m_multiThreadedHelper->getCriticalSection()->unlock();
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|
break;
|
|
}
|
|
case eRobotSimGUIHelperRegisterTexture:
|
|
{
|
|
|
|
m_data->m_multiThreadedHelper->m_textureId = m_data->m_multiThreadedHelper->m_childGuiHelper->registerTexture(m_data->m_multiThreadedHelper->m_texels,
|
|
m_data->m_multiThreadedHelper->m_textureWidth,m_data->m_multiThreadedHelper->m_textureHeight);
|
|
|
|
m_data->m_multiThreadedHelper->getCriticalSection()->lock();
|
|
m_data->m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eRobotSimGUIHelperIdle);
|
|
m_data->m_multiThreadedHelper->getCriticalSection()->unlock();
|
|
|
|
break;
|
|
}
|
|
case eRobotSimGUIHelperRegisterGraphicsShape:
|
|
{
|
|
m_data->m_multiThreadedHelper->m_shapeIndex = m_data->m_multiThreadedHelper->m_childGuiHelper->registerGraphicsShape(
|
|
m_data->m_multiThreadedHelper->m_vertices,
|
|
m_data->m_multiThreadedHelper->m_numvertices,
|
|
m_data->m_multiThreadedHelper->m_indices,
|
|
m_data->m_multiThreadedHelper->m_numIndices,
|
|
m_data->m_multiThreadedHelper->m_primitiveType,
|
|
m_data->m_multiThreadedHelper->m_textureId);
|
|
|
|
m_data->m_multiThreadedHelper->getCriticalSection()->lock();
|
|
m_data->m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eRobotSimGUIHelperIdle);
|
|
m_data->m_multiThreadedHelper->getCriticalSection()->unlock();
|
|
break;
|
|
}
|
|
case eRobotSimGUIHelperRegisterGraphicsInstance:
|
|
{
|
|
m_data->m_multiThreadedHelper->m_instanceId = m_data->m_multiThreadedHelper->m_childGuiHelper->registerGraphicsInstance(
|
|
m_data->m_multiThreadedHelper->m_shapeIndex,
|
|
m_data->m_multiThreadedHelper->m_position,
|
|
m_data->m_multiThreadedHelper->m_quaternion,
|
|
m_data->m_multiThreadedHelper->m_color,
|
|
m_data->m_multiThreadedHelper->m_scaling);
|
|
|
|
m_data->m_multiThreadedHelper->getCriticalSection()->lock();
|
|
m_data->m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eRobotSimGUIHelperIdle);
|
|
m_data->m_multiThreadedHelper->getCriticalSection()->unlock();
|
|
break;
|
|
}
|
|
case eRobotSimGUIHelperRemoveAllGraphicsInstances:
|
|
{
|
|
m_data->m_multiThreadedHelper->m_childGuiHelper->removeAllGraphicsInstances();
|
|
int numRenderInstances = m_data->m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->getTotalNumInstances();
|
|
b3Assert(numRenderInstances==0);
|
|
|
|
m_data->m_multiThreadedHelper->getCriticalSection()->lock();
|
|
m_data->m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eRobotSimGUIHelperIdle);
|
|
m_data->m_multiThreadedHelper->getCriticalSection()->unlock();
|
|
break;
|
|
}
|
|
case eRobotSimGUIHelperCopyCameraImageData:
|
|
{
|
|
m_data->m_multiThreadedHelper->m_childGuiHelper->copyCameraImageData(m_data->m_multiThreadedHelper->m_viewMatrix,
|
|
m_data->m_multiThreadedHelper->m_projectionMatrix,
|
|
m_data->m_multiThreadedHelper->m_pixelsRGBA,
|
|
m_data->m_multiThreadedHelper->m_rgbaBufferSizeInPixels,
|
|
m_data->m_multiThreadedHelper->m_depthBuffer,
|
|
m_data->m_multiThreadedHelper->m_depthBufferSizeInPixels,
|
|
m_data->m_multiThreadedHelper->m_segmentationMaskBuffer,
|
|
m_data->m_multiThreadedHelper->m_segmentationMaskBufferSizeInPixels,
|
|
m_data->m_multiThreadedHelper->m_startPixelIndex,
|
|
m_data->m_multiThreadedHelper->m_destinationWidth,
|
|
m_data->m_multiThreadedHelper->m_destinationHeight,
|
|
m_data->m_multiThreadedHelper->m_numPixelsCopied);
|
|
m_data->m_multiThreadedHelper->getCriticalSection()->lock();
|
|
m_data->m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eRobotSimGUIHelperIdle);
|
|
m_data->m_multiThreadedHelper->getCriticalSection()->unlock();
|
|
|
|
break;
|
|
}
|
|
case eRobotSimGUIHelperIdle:
|
|
default:
|
|
{
|
|
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
b3SharedMemoryStatusHandle b3RobotSimAPI::submitClientCommandAndWaitStatusMultiThreaded(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle)
|
|
{
|
|
int timeout = 1024*1024*1024;
|
|
b3SharedMemoryStatusHandle statusHandle=0;
|
|
|
|
b3SubmitClientCommand(physClient,commandHandle);
|
|
|
|
while ((statusHandle==0) && (timeout-- > 0))
|
|
{
|
|
statusHandle =b3ProcessServerStatus(physClient);
|
|
processMultiThreadedGraphicsRequests();
|
|
}
|
|
return (b3SharedMemoryStatusHandle) statusHandle;
|
|
}
|
|
|
|
int b3RobotSimAPI::getNumJoints(int bodyUniqueId) const
|
|
{
|
|
return b3GetNumJoints(m_data->m_physicsClient,bodyUniqueId);
|
|
}
|
|
|
|
bool b3RobotSimAPI::getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo* jointInfo)
|
|
{
|
|
return (b3GetJointInfo(m_data->m_physicsClient,bodyUniqueId, jointIndex,jointInfo)!=0);
|
|
}
|
|
|
|
void b3RobotSimAPI::createJoint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo)
|
|
{
|
|
b3SharedMemoryStatusHandle statusHandle;
|
|
b3Assert(b3CanSubmitCommand(m_data->m_physicsClient));
|
|
if (b3CanSubmitCommand(m_data->m_physicsClient))
|
|
{
|
|
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, b3CreateJoint(m_data->m_physicsClient, parentBodyIndex, parentJointIndex, childBodyIndex, childJointIndex, jointInfo));
|
|
}
|
|
}
|
|
|
|
|
|
bool b3RobotSimAPI::getJointStates(int bodyUniqueId, b3JointStates& state)
|
|
{
|
|
b3SharedMemoryCommandHandle command = b3RequestActualStateCommandInit(m_data->m_physicsClient,bodyUniqueId);
|
|
b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);
|
|
|
|
if (statusHandle)
|
|
{
|
|
double rootInertialFrame[7];
|
|
const double* rootLocalInertialFrame;
|
|
const double* actualStateQ;
|
|
const double* actualStateQdot;
|
|
const double* jointReactionForces;
|
|
|
|
int stat = b3GetStatusActualState(statusHandle,
|
|
&state.m_bodyUniqueId,
|
|
&state.m_numDegreeOfFreedomQ,
|
|
&state.m_numDegreeOfFreedomU,
|
|
&rootLocalInertialFrame,
|
|
&actualStateQ,
|
|
&actualStateQdot,
|
|
&jointReactionForces);
|
|
if (stat)
|
|
{
|
|
state.m_actualStateQ.resize(state.m_numDegreeOfFreedomQ);
|
|
state.m_actualStateQdot.resize(state.m_numDegreeOfFreedomU);
|
|
|
|
for (int i=0;i<state.m_numDegreeOfFreedomQ;i++)
|
|
{
|
|
state.m_actualStateQ[i] = actualStateQ[i];
|
|
}
|
|
for (int i=0;i<state.m_numDegreeOfFreedomU;i++)
|
|
{
|
|
state.m_actualStateQdot[i] = actualStateQdot[i];
|
|
}
|
|
int numJoints = getNumJoints(bodyUniqueId);
|
|
state.m_jointReactionForces.resize(6*numJoints);
|
|
for (int i=0;i<numJoints*6;i++)
|
|
{
|
|
state.m_jointReactionForces[i] = jointReactionForces[i];
|
|
}
|
|
|
|
return true;
|
|
}
|
|
//rootInertialFrame,
|
|
// &state.m_actualStateQ[0],
|
|
// &state.m_actualStateQdot[0],
|
|
// &state.m_jointReactionForces[0]);
|
|
|
|
|
|
}
|
|
return false;
|
|
}
|
|
|
|
void b3RobotSimAPI::setJointMotorControl(int bodyUniqueId, int jointIndex, const b3JointMotorArgs& args)
|
|
{
|
|
b3SharedMemoryStatusHandle statusHandle;
|
|
switch (args.m_controlMode)
|
|
{
|
|
case CONTROL_MODE_VELOCITY:
|
|
{
|
|
b3SharedMemoryCommandHandle command = b3JointControlCommandInit2( m_data->m_physicsClient, bodyUniqueId, CONTROL_MODE_VELOCITY);
|
|
b3JointInfo jointInfo;
|
|
b3GetJointInfo(m_data->m_physicsClient, bodyUniqueId, jointIndex, &jointInfo);
|
|
int uIndex = jointInfo.m_uIndex;
|
|
b3JointControlSetKd(command,uIndex,args.m_kd);
|
|
b3JointControlSetDesiredVelocity(command,uIndex,args.m_targetVelocity);
|
|
b3JointControlSetMaximumForce(command,uIndex,args.m_maxTorqueValue);
|
|
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);
|
|
break;
|
|
}
|
|
case CONTROL_MODE_POSITION_VELOCITY_PD:
|
|
{
|
|
b3SharedMemoryCommandHandle command = b3JointControlCommandInit2( m_data->m_physicsClient, bodyUniqueId, CONTROL_MODE_POSITION_VELOCITY_PD);
|
|
b3JointInfo jointInfo;
|
|
b3GetJointInfo(m_data->m_physicsClient, bodyUniqueId, jointIndex, &jointInfo);
|
|
int uIndex = jointInfo.m_uIndex;
|
|
int qIndex = jointInfo.m_qIndex;
|
|
|
|
b3JointControlSetDesiredPosition(command,qIndex,args.m_targetPosition);
|
|
b3JointControlSetKp(command,uIndex,args.m_kp);
|
|
b3JointControlSetDesiredVelocity(command,uIndex,args.m_targetVelocity);
|
|
b3JointControlSetKd(command,uIndex,args.m_kd);
|
|
b3JointControlSetMaximumForce(command,uIndex,args.m_maxTorqueValue);
|
|
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);
|
|
break;
|
|
}
|
|
case CONTROL_MODE_TORQUE:
|
|
{
|
|
b3SharedMemoryCommandHandle command = b3JointControlCommandInit2( m_data->m_physicsClient, bodyUniqueId, CONTROL_MODE_TORQUE);
|
|
b3JointInfo jointInfo;
|
|
b3GetJointInfo(m_data->m_physicsClient, bodyUniqueId, jointIndex, &jointInfo);
|
|
int uIndex = jointInfo.m_uIndex;
|
|
b3JointControlSetDesiredForceTorque(command,uIndex,args.m_maxTorqueValue);
|
|
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);
|
|
break;
|
|
}
|
|
default:
|
|
{
|
|
b3Error("Unknown control command in b3RobotSimAPI::setJointMotorControl");
|
|
}
|
|
}
|
|
}
|
|
|
|
bool b3RobotSimAPI::loadFile(const struct b3RobotSimLoadFileArgs& args, b3RobotSimLoadFileResults& results)
|
|
{
|
|
bool statusOk = false;
|
|
|
|
int robotUniqueId = -1;
|
|
b3Assert(m_data->m_connected);
|
|
switch (args.m_fileType)
|
|
{
|
|
case B3_URDF_FILE:
|
|
{
|
|
b3SharedMemoryStatusHandle statusHandle;
|
|
int statusType;
|
|
b3SharedMemoryCommandHandle command = b3LoadUrdfCommandInit(m_data->m_physicsClient, args.m_fileName.c_str());
|
|
|
|
//setting the initial position, orientation and other arguments are optional
|
|
|
|
b3LoadUrdfCommandSetStartPosition(command, args.m_startPosition[0],
|
|
args.m_startPosition[1],
|
|
args.m_startPosition[2]);
|
|
b3LoadUrdfCommandSetStartOrientation(command,args.m_startOrientation[0]
|
|
,args.m_startOrientation[1]
|
|
,args.m_startOrientation[2]
|
|
,args.m_startOrientation[3]);
|
|
if (args.m_forceOverrideFixedBase)
|
|
{
|
|
b3LoadUrdfCommandSetUseFixedBase(command,true);
|
|
}
|
|
b3LoadUrdfCommandSetUseMultiBody(command, args.m_useMultiBody);
|
|
statusHandle = submitClientCommandAndWaitStatusMultiThreaded(m_data->m_physicsClient, command);
|
|
statusType = b3GetStatusType(statusHandle);
|
|
|
|
b3Assert(statusType==CMD_URDF_LOADING_COMPLETED);
|
|
robotUniqueId = b3GetStatusBodyIndex(statusHandle);
|
|
results.m_uniqueObjectIds.push_back(robotUniqueId);
|
|
statusOk = true;
|
|
break;
|
|
}
|
|
case B3_SDF_FILE:
|
|
{
|
|
b3SharedMemoryStatusHandle statusHandle;
|
|
int statusType;
|
|
b3SharedMemoryCommandHandle command = b3LoadSdfCommandInit(m_data->m_physicsClient, args.m_fileName.c_str());
|
|
b3LoadSdfCommandSetUseMultiBody(command, args.m_useMultiBody);
|
|
statusHandle = submitClientCommandAndWaitStatusMultiThreaded(m_data->m_physicsClient, command);
|
|
statusType = b3GetStatusType(statusHandle);
|
|
b3Assert(statusType == CMD_SDF_LOADING_COMPLETED);
|
|
if (statusType == CMD_SDF_LOADING_COMPLETED)
|
|
{
|
|
int numBodies = b3GetStatusBodyIndices(statusHandle, 0,0);
|
|
if (numBodies)
|
|
{
|
|
results.m_uniqueObjectIds.resize(numBodies);
|
|
int numBodies = b3GetStatusBodyIndices(statusHandle, &results.m_uniqueObjectIds[0],results.m_uniqueObjectIds.size());
|
|
|
|
}
|
|
statusOk = true;
|
|
}
|
|
|
|
break;
|
|
}
|
|
default:
|
|
{
|
|
b3Warning("Unknown file type in b3RobotSimAPI::loadFile");
|
|
}
|
|
|
|
}
|
|
|
|
return statusOk;
|
|
}
|
|
|
|
bool b3RobotSimAPI::connect(GUIHelperInterface* guiHelper)
|
|
{
|
|
if (m_data->m_useMultiThreading)
|
|
{
|
|
m_data->m_multiThreadedHelper = new MultiThreadedOpenGLGuiHelper2(guiHelper->getAppInterface(), guiHelper);
|
|
|
|
MultiThreadedOpenGLGuiHelper2* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper2(guiHelper->getAppInterface(), guiHelper);
|
|
|
|
|
|
|
|
|
|
m_data->m_threadSupport = createRobotSimThreadSupport(MAX_ROBOT_NUM_THREADS);
|
|
|
|
for (int i = 0; i < m_data->m_threadSupport->getNumTasks(); i++)
|
|
{
|
|
RobotSimThreadLocalStorage* storage = (RobotSimThreadLocalStorage*)m_data->m_threadSupport->getThreadLocalMemory(i);
|
|
b3Assert(storage);
|
|
storage->threadId = i;
|
|
//storage->m_sharedMem = data->m_sharedMem;
|
|
}
|
|
|
|
|
|
|
|
|
|
for (int w = 0; w < MAX_ROBOT_NUM_THREADS; w++)
|
|
{
|
|
m_data->m_args[w].m_cs = m_data->m_threadSupport->createCriticalSection();
|
|
m_data->m_args[w].m_cs->setSharedParam(0, eRobotSimIsUnInitialized);
|
|
int numMoving = 0;
|
|
m_data->m_args[w].m_positions.resize(numMoving);
|
|
m_data->m_args[w].m_physicsServerPtr = &m_data->m_physicsServer;
|
|
int index = 0;
|
|
|
|
m_data->m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*)&m_data->m_args[w], w);
|
|
while (m_data->m_args[w].m_cs->getSharedParam(0) == eRobotSimIsUnInitialized)
|
|
{
|
|
}
|
|
}
|
|
|
|
m_data->m_args[0].m_cs->setSharedParam(1, eRobotSimGUIHelperIdle);
|
|
m_data->m_multiThreadedHelper->setCriticalSection(m_data->m_args[0].m_cs);
|
|
|
|
bool serverConnected = m_data->m_physicsServer.connectSharedMemory(m_data->m_multiThreadedHelper);
|
|
b3Assert(serverConnected);
|
|
|
|
m_data->m_physicsClient = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
|
|
}
|
|
else
|
|
{
|
|
m_data->m_clientServerDirect = new PhysicsDirect();
|
|
bool connected = m_data->m_clientServerDirect->connect(guiHelper);
|
|
m_data->m_physicsClient = (b3PhysicsClientHandle)m_data->m_clientServerDirect;
|
|
|
|
}
|
|
|
|
//client connected
|
|
m_data->m_connected = b3CanSubmitCommand(m_data->m_physicsClient);
|
|
|
|
b3Assert(m_data->m_connected);
|
|
return m_data->m_connected && m_data->m_connected;
|
|
}
|
|
|
|
void b3RobotSimAPI::disconnect()
|
|
{
|
|
if (m_data->m_useMultiThreading)
|
|
{
|
|
for (int i = 0; i < MAX_ROBOT_NUM_THREADS; i++)
|
|
{
|
|
m_data->m_args[i].m_cs->lock();
|
|
m_data->m_args[i].m_cs->setSharedParam(0, eRequestTerminateRobotSim);
|
|
m_data->m_args[i].m_cs->unlock();
|
|
}
|
|
int numActiveThreads = MAX_ROBOT_NUM_THREADS;
|
|
|
|
while (numActiveThreads)
|
|
{
|
|
int arg0, arg1;
|
|
if (m_data->m_threadSupport->isTaskCompleted(&arg0, &arg1, 0))
|
|
{
|
|
numActiveThreads--;
|
|
printf("numActiveThreads = %d\n", numActiveThreads);
|
|
|
|
}
|
|
else
|
|
{
|
|
}
|
|
};
|
|
|
|
printf("stopping threads\n");
|
|
|
|
delete m_data->m_threadSupport;
|
|
m_data->m_threadSupport = 0;
|
|
}
|
|
b3DisconnectSharedMemory(m_data->m_physicsClient);
|
|
m_data->m_physicsServer.disconnectSharedMemory(true);
|
|
|
|
m_data->m_connected = false;
|
|
}
|
|
|
|
|
|
void b3RobotSimAPI::debugDraw(int debugDrawMode)
|
|
{
|
|
if (m_data->m_clientServerDirect)
|
|
{
|
|
m_data->m_clientServerDirect->debugDraw(debugDrawMode);
|
|
}
|
|
}
|
|
void b3RobotSimAPI::renderScene()
|
|
{
|
|
if (m_data->m_useMultiThreading)
|
|
{
|
|
if (m_data->m_multiThreadedHelper->m_childGuiHelper->getRenderInterface())
|
|
{
|
|
m_data->m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->writeTransforms();
|
|
}
|
|
}
|
|
|
|
if (m_data->m_clientServerDirect)
|
|
{
|
|
m_data->m_clientServerDirect->renderScene();
|
|
}
|
|
m_data->m_physicsServer.renderScene();
|
|
}
|
|
|
|
void b3RobotSimAPI::getBodyJacobian(int bodyUniqueId, int linkIndex, const double* localPosition, const double* jointPositions, const double* jointVelocities, const double* jointAccelerations, double* linearJacobian, double* angularJacobian)
|
|
{
|
|
b3SharedMemoryCommandHandle command = b3CalculateJacobianCommandInit(m_data->m_physicsClient, bodyUniqueId, linkIndex, localPosition, jointPositions, jointVelocities, jointAccelerations);
|
|
b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);
|
|
|
|
if (b3GetStatusType(statusHandle) == CMD_CALCULATED_JACOBIAN_COMPLETED)
|
|
{
|
|
b3GetStatusJacobian(statusHandle, linearJacobian, angularJacobian);
|
|
}
|
|
}
|
|
|
|
void b3RobotSimAPI::getLinkState(int bodyUniqueId, int linkIndex, double* worldPosition)
|
|
{
|
|
b3SharedMemoryCommandHandle command = b3RequestActualStateCommandInit(m_data->m_physicsClient,bodyUniqueId);
|
|
b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);
|
|
|
|
if (b3GetStatusType(statusHandle) == CMD_ACTUAL_STATE_UPDATE_COMPLETED)
|
|
{
|
|
b3LinkState linkState;
|
|
b3GetLinkState(m_data->m_physicsClient, statusHandle, linkIndex, &linkState);
|
|
worldPosition[0] = linkState.m_worldPosition[0];
|
|
worldPosition[1] = linkState.m_worldPosition[1];
|
|
worldPosition[2] = linkState.m_worldPosition[2];
|
|
}
|
|
} |