a9b1544a9f
Expose inverse dynamics to Bullet shared memory API, through b3CalculateInverseDynamicsCommandInit and b3GetStatusInverseDynamicsJointForces command/status. See PhysicsClientExeample or pybullet for usage. Add option for Windows and Linux to set python_lib_dir and python_include_dir for premake and --enable_pybullet option Expose inverse dynamics to pybullet: [force] = p.calculateInverseDynamics(objectIndex,[q],[qdot],[acc]) Thanks to Jeff Bingham for the suggestion.
186 lines
12 KiB
C
186 lines
12 KiB
C
#ifndef PHYSICS_CLIENT_C_API_H
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#define PHYSICS_CLIENT_C_API_H
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//#include "SharedMemoryBlock.h"
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#include "SharedMemoryPublic.h"
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#define B3_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name
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B3_DECLARE_HANDLE(b3PhysicsClientHandle);
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B3_DECLARE_HANDLE(b3SharedMemoryCommandHandle);
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B3_DECLARE_HANDLE(b3SharedMemoryStatusHandle);
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#ifdef __cplusplus
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extern "C" {
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#endif
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///b3ConnectSharedMemory will connect to a physics server over shared memory, so
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///make sure to start the server first.
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///and a way to spawn an OpenGL 3D GUI physics server and connect (b3CreateInProcessPhysicsServerAndConnect)
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b3PhysicsClientHandle b3ConnectSharedMemory(int key);
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///b3DisconnectSharedMemory will disconnect the client from the server and cleanup memory.
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void b3DisconnectSharedMemory(b3PhysicsClientHandle physClient);
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///There can only be 1 outstanding command. Check if a command can be send.
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int b3CanSubmitCommand(b3PhysicsClientHandle physClient);
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///blocking submit command and wait for status
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b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle);
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///In general it is better to use b3SubmitClientCommandAndWaitStatus. b3SubmitClientCommand is a non-blocking submit
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///command, which requires checking for the status manually, using b3ProcessServerStatus. Also, before sending the
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///next command, make sure to check if you can send a command using 'b3CanSubmitCommand'.
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int b3SubmitClientCommand(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle);
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///non-blocking check status
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b3SharedMemoryStatusHandle b3ProcessServerStatus(b3PhysicsClientHandle physClient);
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/// Get the physics server return status type. See EnumSharedMemoryServerStatus in SharedMemoryPublic.h for error codes.
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int b3GetStatusType(b3SharedMemoryStatusHandle statusHandle);
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int b3GetStatusBodyIndices(b3SharedMemoryStatusHandle statusHandle, int* bodyIndicesOut, int bodyIndicesCapacity);
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int b3GetStatusBodyIndex(b3SharedMemoryStatusHandle statusHandle);
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int b3GetStatusActualState(b3SharedMemoryStatusHandle statusHandle,
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int* bodyUniqueId,
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int* numDegreeOfFreedomQ,
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int* numDegreeOfFreedomU,
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const double* rootLocalInertialFrame[],
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const double* actualStateQ[],
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const double* actualStateQdot[],
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const double* jointReactionForces[]);
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///give a unique body index (after loading the body) return the number of joints.
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int b3GetNumJoints(b3PhysicsClientHandle physClient, int bodyIndex);
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///given a body and joint index, return the joint information. See b3JointInfo in SharedMemoryPublic.h
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int b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointIndex, struct b3JointInfo* info);
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///Request debug lines for debug visualization. The flags in debugMode are the same as used in Bullet
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///See btIDebugDraw::DebugDrawModes in Bullet/src/LinearMath/btIDebugDraw.h
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b3SharedMemoryCommandHandle b3InitRequestDebugLinesCommand(b3PhysicsClientHandle physClient, int debugMode);
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///Get the pointers to the debug line information, after b3InitRequestDebugLinesCommand returns
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///status CMD_DEBUG_LINES_COMPLETED
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void b3GetDebugLines(b3PhysicsClientHandle physClient, struct b3DebugLines* lines);
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///request an image from a simulated camera, using a software renderer.
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b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient);
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void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command, float viewMatrix[16], float projectionMatrix[16]);
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void b3RequestCameraImageSetViewMatrix(b3SharedMemoryCommandHandle command, const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3]);
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void b3RequestCameraImageSetViewMatrix2(b3SharedMemoryCommandHandle commandHandle, const float cameraTargetPosition[3], float distance, float yaw, float pitch, float roll, int upAxis);
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void b3RequestCameraImageSetProjectionMatrix(b3SharedMemoryCommandHandle command, float left, float right, float bottom, float top, float nearVal, float farVal);
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void b3RequestCameraImageSetFOVProjectionMatrix(b3SharedMemoryCommandHandle command, float fov, float aspect, float nearVal, float farVal);
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void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle command, int width, int height );
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void b3RequestCameraImageSelectRenderer(b3SharedMemoryCommandHandle commandHandle, int renderer);
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void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData);
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b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient);
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int b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz);
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int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double timeStep);
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int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation);
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b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient);
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b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHandle physClient);
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///Load a robot from a URDF file. Status type will CMD_URDF_LOADING_COMPLETED.
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///Access the robot from the unique body index, through b3GetStatusBodyIndex(statusHandle);
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b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName);
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int b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ);
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int b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
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int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
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int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase);
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///compute the forces to achieve an acceleration, given a state q and qdot using inverse dynamics
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b3SharedMemoryCommandHandle b3CalculateInverseDynamicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex,
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const double* jointPositionsQ, const double* jointVelocitiesQdot, const double* jointAccelerations);
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int b3GetStatusInverseDynamicsJointForces(b3SharedMemoryStatusHandle statusHandle,
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int* bodyUniqueId,
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int* dofCount,
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double* jointForces);
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b3SharedMemoryCommandHandle b3LoadSdfCommandInit(b3PhysicsClientHandle physClient, const char* sdfFileName);
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///The b3JointControlCommandInit method is obsolete, use b3JointControlCommandInit2 instead
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b3SharedMemoryCommandHandle b3JointControlCommandInit(b3PhysicsClientHandle physClient, int controlMode);
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///Set joint motor control variables such as desired position/angle, desired velocity,
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///applied joint forces, dependent on the control mode (CONTROL_MODE_VELOCITY or CONTROL_MODE_TORQUE)
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b3SharedMemoryCommandHandle b3JointControlCommandInit2(b3PhysicsClientHandle physClient, int bodyUniqueId, int controlMode);
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///Only use when controlMode is CONTROL_MODE_POSITION_VELOCITY_PD
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int b3JointControlSetDesiredPosition(b3SharedMemoryCommandHandle commandHandle, int qIndex, double value);
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int b3JointControlSetKp(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
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int b3JointControlSetKd(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
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///Only use when controlMode is CONTROL_MODE_VELOCITY
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int b3JointControlSetDesiredVelocity(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value); /* find a better name for dof/q/u indices, point to b3JointInfo */
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int b3JointControlSetMaximumForce(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
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///Only use if when controlMode is CONTROL_MODE_TORQUE,
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int b3JointControlSetDesiredForceTorque(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
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///the creation of collision shapes and rigid bodies etc is likely going to change,
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///but good to have a b3CreateBoxShapeCommandInit for now
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///create a box of size (1,1,1) at world origin (0,0,0) at orientation quat (0,0,0,1)
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///after that, you can optionally adjust the initial position, orientation and size
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b3SharedMemoryCommandHandle b3CreateBoxShapeCommandInit(b3PhysicsClientHandle physClient);
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int b3CreateBoxCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ);
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int b3CreateBoxCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
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int b3CreateBoxCommandSetHalfExtents(b3SharedMemoryCommandHandle commandHandle, double halfExtentsX,double halfExtentsY,double halfExtentsZ);
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int b3CreateBoxCommandSetMass(b3SharedMemoryCommandHandle commandHandle, double mass);
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int b3CreateBoxCommandSetCollisionShapeType(b3SharedMemoryCommandHandle commandHandle, int collisionShapeType);
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int b3CreateBoxCommandSetColorRGBA(b3SharedMemoryCommandHandle commandHandle, double red,double green,double blue, double alpha);
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///b3CreatePoseCommandInit will initialize (teleport) the pose of a body/robot. You can individually set the base position,
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///base orientation and joint angles. This will set all velocities of base and joints to zero.
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///This is not a robot control command using actuators/joint motors, but manual repositioning the robot.
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b3SharedMemoryCommandHandle b3CreatePoseCommandInit(b3PhysicsClientHandle physClient, int bodyIndex);
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int b3CreatePoseCommandSetBasePosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ);
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int b3CreatePoseCommandSetBaseOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
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int b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle commandHandle, int numJointPositions, const double* jointPositions);
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int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, double jointPosition);
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///We are currently not reading the sensor information from the URDF file, and programmatically assign sensors.
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///This is rather inconsistent, to mix programmatical creation with loading from file.
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b3SharedMemoryCommandHandle b3CreateSensorCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId);
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int b3CreateSensorEnable6DofJointForceTorqueSensor(b3SharedMemoryCommandHandle commandHandle, int jointIndex, int enable);
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///b3CreateSensorEnableIMUForLink is not implemented yet.
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///For now, if the IMU is located in the root link, use the root world transform to mimic an IMU.
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int b3CreateSensorEnableIMUForLink(b3SharedMemoryCommandHandle commandHandle, int linkIndex, int enable);
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b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandle physClient,int bodyUniqueId);
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void b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int jointIndex, struct b3JointSensorState *state);
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void b3GetLinkState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int linkIndex, struct b3LinkState *state);
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b3SharedMemoryCommandHandle b3PickBody(b3PhysicsClientHandle physClient, double rayFromWorldX,
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double rayFromWorldY, double rayFromWorldZ,
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double rayToWorldX, double rayToWorldY, double rayToWorldZ);
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b3SharedMemoryCommandHandle b3MovePickedBody(b3PhysicsClientHandle physClient, double rayFromWorldX,
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double rayFromWorldY, double rayFromWorldZ,
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double rayToWorldX, double rayToWorldY,
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double rayToWorldZ);
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b3SharedMemoryCommandHandle b3RemovePickingConstraint(b3PhysicsClientHandle physClient);
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/// Apply external force at the body (or link) center of mass, in world space/Cartesian coordinates.
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b3SharedMemoryCommandHandle b3ApplyExternalForceCommandInit(b3PhysicsClientHandle physClient);
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void b3ApplyExternalForce(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double force[3], const double position[3], int flags);
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void b3ApplyExternalTorque(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double torque[3], int flags);
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#ifdef __cplusplus
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}
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#endif
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#endif //PHYSICS_CLIENT_C_API_H
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