csbindgen/csbindgen-tests/c/bullet3/SharedMemoryPublic.h
2023-02-28 18:13:22 +09:00

1138 lines
28 KiB
C
Vendored

#ifndef SHARED_MEMORY_PUBLIC_H
#define SHARED_MEMORY_PUBLIC_H
#define SHARED_MEMORY_KEY 12347
///increase the SHARED_MEMORY_MAGIC_NUMBER whenever incompatible changes are made in the structures
///my convention is year/month/day/rev
//Please don't replace an existing magic number:
//instead, only ADD a new one at the top, comment-out previous one
#define SHARED_MEMORY_MAGIC_NUMBER 202010061
//#define SHARED_MEMORY_MAGIC_NUMBER 202007060
//#define SHARED_MEMORY_MAGIC_NUMBER 202005070
//#define SHARED_MEMORY_MAGIC_NUMBER 202002030
//#define SHARED_MEMORY_MAGIC_NUMBER 202001230
//#define SHARED_MEMORY_MAGIC_NUMBER 201911280
//#define SHARED_MEMORY_MAGIC_NUMBER 201911180
//#define SHARED_MEMORY_MAGIC_NUMBER 201909030
//#define SHARED_MEMORY_MAGIC_NUMBER 201908110
//#define SHARED_MEMORY_MAGIC_NUMBER 201908050
//#define SHARED_MEMORY_MAGIC_NUMBER 2019060190
//#define SHARED_MEMORY_MAGIC_NUMBER 201904030
//#define SHARED_MEMORY_MAGIC_NUMBER 201902120
//#define SHARED_MEMORY_MAGIC_NUMBER 201811260
//#define SHARED_MEMORY_MAGIC_NUMBER 201810250
//#define SHARED_MEMORY_MAGIC_NUMBER 201809030
//#define SHARED_MEMORY_MAGIC_NUMBER 201809010
//#define SHARED_MEMORY_MAGIC_NUMBER 201807040
//#define SHARED_MEMORY_MAGIC_NUMBER 201806150
//#define SHARED_MEMORY_MAGIC_NUMBER 201806020
//#define SHARED_MEMORY_MAGIC_NUMBER 201801170
//#define SHARED_MEMORY_MAGIC_NUMBER 201801080
//#define SHARED_MEMORY_MAGIC_NUMBER 201801010
//#define SHARED_MEMORY_MAGIC_NUMBER 201710180
//#define SHARED_MEMORY_MAGIC_NUMBER 201710050
//#define SHARED_MEMORY_MAGIC_NUMBER 201708270
//#define SHARED_MEMORY_MAGIC_NUMBER 201707140
//#define SHARED_MEMORY_MAGIC_NUMBER 201706015
//#define SHARED_MEMORY_MAGIC_NUMBER 201706001
//#define SHARED_MEMORY_MAGIC_NUMBER 201703024
enum EnumSharedMemoryClientCommand
{
CMD_INVALID = 0,
CMD_LOAD_SDF,
CMD_LOAD_URDF,
CMD_LOAD_BULLET,
CMD_SAVE_BULLET,
CMD_LOAD_MJCF,
CMD_LOAD_SOFT_BODY,
CMD_SEND_BULLET_DATA_STREAM,
CMD_CREATE_BOX_COLLISION_SHAPE,
CMD_CREATE_RIGID_BODY,
CMD_DELETE_RIGID_BODY,
CMD_CREATE_SENSOR, ///enable or disable joint feedback for force/torque sensors
CMD_INIT_POSE,
CMD_SEND_PHYSICS_SIMULATION_PARAMETERS,
CMD_SEND_DESIRED_STATE, //todo: reconsider naming, for example SET_JOINT_CONTROL_VARIABLE?
CMD_REQUEST_ACTUAL_STATE,
CMD_REQUEST_DEBUG_LINES,
CMD_REQUEST_BODY_INFO,
CMD_REQUEST_INTERNAL_DATA,
CMD_STEP_FORWARD_SIMULATION,
CMD_RESET_SIMULATION,
CMD_PICK_BODY,
CMD_MOVE_PICKED_BODY,
CMD_REMOVE_PICKING_CONSTRAINT_BODY,
CMD_REQUEST_CAMERA_IMAGE_DATA,
CMD_APPLY_EXTERNAL_FORCE,
CMD_CALCULATE_INVERSE_DYNAMICS,
CMD_CALCULATE_INVERSE_KINEMATICS,
CMD_CALCULATE_JACOBIAN,
CMD_CALCULATE_MASS_MATRIX,
CMD_USER_CONSTRAINT,
CMD_REQUEST_CONTACT_POINT_INFORMATION,
CMD_REQUEST_RAY_CAST_INTERSECTIONS,
CMD_REQUEST_AABB_OVERLAP,
CMD_SAVE_WORLD,
CMD_REQUEST_VISUAL_SHAPE_INFO,
CMD_UPDATE_VISUAL_SHAPE,
CMD_LOAD_TEXTURE,
CMD_SET_SHADOW,
CMD_USER_DEBUG_DRAW,
CMD_REQUEST_VR_EVENTS_DATA,
CMD_SET_VR_CAMERA_STATE,
CMD_SYNC_BODY_INFO,
CMD_STATE_LOGGING,
CMD_CONFIGURE_OPENGL_VISUALIZER,
CMD_REQUEST_KEYBOARD_EVENTS_DATA,
CMD_REQUEST_OPENGL_VISUALIZER_CAMERA,
CMD_REMOVE_BODY,
CMD_CHANGE_DYNAMICS_INFO,
CMD_GET_DYNAMICS_INFO,
CMD_PROFILE_TIMING,
CMD_CREATE_COLLISION_SHAPE,
CMD_CREATE_VISUAL_SHAPE,
CMD_CREATE_MULTI_BODY,
CMD_REQUEST_COLLISION_INFO,
CMD_REQUEST_MOUSE_EVENTS_DATA,
CMD_CHANGE_TEXTURE,
CMD_SET_ADDITIONAL_SEARCH_PATH,
CMD_CUSTOM_COMMAND,
CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS,
CMD_SAVE_STATE,
CMD_RESTORE_STATE,
CMD_REMOVE_STATE,
CMD_REQUEST_COLLISION_SHAPE_INFO,
CMD_SYNC_USER_DATA,
CMD_REQUEST_USER_DATA,
CMD_ADD_USER_DATA,
CMD_REMOVE_USER_DATA,
CMD_COLLISION_FILTER,
CMD_REQUEST_MESH_DATA,
CMD_PERFORM_COLLISION_DETECTION,
CMD_RESET_MESH_DATA,
CMD_REQUEST_TETRA_MESH_DATA,
//don't go beyond this command!
CMD_MAX_CLIENT_COMMANDS,
};
enum EnumSharedMemoryServerStatus
{
CMD_SHARED_MEMORY_NOT_INITIALIZED = 0,
CMD_WAITING_FOR_CLIENT_COMMAND,
//CMD_CLIENT_COMMAND_COMPLETED is a generic 'completed' status that doesn't need special handling on the client
CMD_CLIENT_COMMAND_COMPLETED,
//the server will skip unknown command and report a status 'CMD_UNKNOWN_COMMAND_FLUSHED'
CMD_UNKNOWN_COMMAND_FLUSHED,
CMD_SDF_LOADING_COMPLETED,
CMD_SDF_LOADING_FAILED,
CMD_URDF_LOADING_COMPLETED,
CMD_URDF_LOADING_FAILED,
CMD_BULLET_LOADING_COMPLETED,
CMD_BULLET_LOADING_FAILED,
CMD_BULLET_SAVING_COMPLETED,
CMD_BULLET_SAVING_FAILED,
CMD_MJCF_LOADING_COMPLETED,
CMD_MJCF_LOADING_FAILED,
CMD_REQUEST_INTERNAL_DATA_COMPLETED,
CMD_REQUEST_INTERNAL_DATA_FAILED,
CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED,
CMD_BULLET_DATA_STREAM_RECEIVED_FAILED,
CMD_BOX_COLLISION_SHAPE_CREATION_COMPLETED,
CMD_RIGID_BODY_CREATION_COMPLETED,
CMD_SET_JOINT_FEEDBACK_COMPLETED,
CMD_ACTUAL_STATE_UPDATE_COMPLETED,
CMD_ACTUAL_STATE_UPDATE_FAILED,
CMD_DEBUG_LINES_COMPLETED,
CMD_DEBUG_LINES_OVERFLOW_FAILED,
CMD_DESIRED_STATE_RECEIVED_COMPLETED,
CMD_STEP_FORWARD_SIMULATION_COMPLETED,
CMD_RESET_SIMULATION_COMPLETED,
CMD_CAMERA_IMAGE_COMPLETED,
CMD_CAMERA_IMAGE_FAILED,
CMD_BODY_INFO_COMPLETED,
CMD_BODY_INFO_FAILED,
CMD_INVALID_STATUS,
CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED,
CMD_CALCULATED_INVERSE_DYNAMICS_FAILED,
CMD_CALCULATED_JACOBIAN_COMPLETED,
CMD_CALCULATED_JACOBIAN_FAILED,
CMD_CALCULATED_MASS_MATRIX_COMPLETED,
CMD_CALCULATED_MASS_MATRIX_FAILED,
CMD_CONTACT_POINT_INFORMATION_COMPLETED,
CMD_CONTACT_POINT_INFORMATION_FAILED,
CMD_REQUEST_AABB_OVERLAP_COMPLETED,
CMD_REQUEST_AABB_OVERLAP_FAILED,
CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED,
CMD_CALCULATE_INVERSE_KINEMATICS_FAILED,
CMD_SAVE_WORLD_COMPLETED,
CMD_SAVE_WORLD_FAILED,
CMD_VISUAL_SHAPE_INFO_COMPLETED,
CMD_VISUAL_SHAPE_INFO_FAILED,
CMD_VISUAL_SHAPE_UPDATE_COMPLETED,
CMD_VISUAL_SHAPE_UPDATE_FAILED,
CMD_LOAD_TEXTURE_COMPLETED,
CMD_LOAD_TEXTURE_FAILED,
CMD_USER_DEBUG_DRAW_COMPLETED,
CMD_USER_DEBUG_DRAW_PARAMETER_COMPLETED,
CMD_USER_DEBUG_DRAW_FAILED,
CMD_USER_CONSTRAINT_COMPLETED,
CMD_USER_CONSTRAINT_INFO_COMPLETED,
CMD_USER_CONSTRAINT_REQUEST_STATE_COMPLETED,
CMD_REMOVE_USER_CONSTRAINT_COMPLETED,
CMD_CHANGE_USER_CONSTRAINT_COMPLETED,
CMD_REMOVE_USER_CONSTRAINT_FAILED,
CMD_CHANGE_USER_CONSTRAINT_FAILED,
CMD_USER_CONSTRAINT_FAILED,
CMD_REQUEST_VR_EVENTS_DATA_COMPLETED,
CMD_REQUEST_RAY_CAST_INTERSECTIONS_COMPLETED,
CMD_SYNC_BODY_INFO_COMPLETED,
CMD_SYNC_BODY_INFO_FAILED,
CMD_STATE_LOGGING_COMPLETED,
CMD_STATE_LOGGING_START_COMPLETED,
CMD_STATE_LOGGING_FAILED,
CMD_REQUEST_KEYBOARD_EVENTS_DATA_COMPLETED,
CMD_REQUEST_KEYBOARD_EVENTS_DATA_FAILED,
CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_FAILED,
CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_COMPLETED,
CMD_REMOVE_BODY_COMPLETED,
CMD_REMOVE_BODY_FAILED,
CMD_GET_DYNAMICS_INFO_COMPLETED,
CMD_GET_DYNAMICS_INFO_FAILED,
CMD_CREATE_COLLISION_SHAPE_FAILED,
CMD_CREATE_COLLISION_SHAPE_COMPLETED,
CMD_CREATE_VISUAL_SHAPE_FAILED,
CMD_CREATE_VISUAL_SHAPE_COMPLETED,
CMD_CREATE_MULTI_BODY_FAILED,
CMD_CREATE_MULTI_BODY_COMPLETED,
CMD_REQUEST_COLLISION_INFO_COMPLETED,
CMD_REQUEST_COLLISION_INFO_FAILED,
CMD_REQUEST_MOUSE_EVENTS_DATA_COMPLETED,
CMD_CHANGE_TEXTURE_COMMAND_FAILED,
CMD_CUSTOM_COMMAND_COMPLETED,
CMD_CUSTOM_COMMAND_FAILED,
CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS_COMPLETED,
CMD_SAVE_STATE_FAILED,
CMD_SAVE_STATE_COMPLETED,
CMD_RESTORE_STATE_FAILED,
CMD_RESTORE_STATE_COMPLETED,
CMD_COLLISION_SHAPE_INFO_COMPLETED,
CMD_COLLISION_SHAPE_INFO_FAILED,
CMD_LOAD_SOFT_BODY_FAILED,
CMD_LOAD_SOFT_BODY_COMPLETED,
CMD_SYNC_USER_DATA_COMPLETED,
CMD_SYNC_USER_DATA_FAILED,
CMD_REQUEST_USER_DATA_COMPLETED,
CMD_REQUEST_USER_DATA_FAILED,
CMD_ADD_USER_DATA_COMPLETED,
CMD_ADD_USER_DATA_FAILED,
CMD_REMOVE_USER_DATA_COMPLETED,
CMD_REMOVE_USER_DATA_FAILED,
CMD_REMOVE_STATE_COMPLETED,
CMD_REMOVE_STATE_FAILED,
CMD_REQUEST_MESH_DATA_COMPLETED,
CMD_REQUEST_MESH_DATA_FAILED,
CMD_PERFORM_COLLISION_DETECTION_COMPLETED,
CMD_RESET_MESH_DATA_COMPLETED,
CMD_RESET_MESH_DATA_FAILED,
CMD_REQUEST_TETRA_MESH_DATA_COMPLETED,
CMD_REQUEST_TETRA_MESH_DATA_FAILED,
//don't go beyond 'CMD_MAX_SERVER_COMMANDS!
CMD_MAX_SERVER_COMMANDS
};
enum JointInfoFlags
{
JOINT_HAS_MOTORIZED_POWER = 1,
};
enum
{
COLLISION_SHAPE_TYPE_BOX = 1,
COLLISION_SHAPE_TYPE_CYLINDER_X,
COLLISION_SHAPE_TYPE_CYLINDER_Y,
COLLISION_SHAPE_TYPE_CYLINDER_Z,
COLLISION_SHAPE_TYPE_CAPSULE_X,
COLLISION_SHAPE_TYPE_CAPSULE_Y,
COLLISION_SHAPE_TYPE_CAPSULE_Z,
COLLISION_SHAPE_TYPE_SPHERE
};
// copied from btMultiBodyLink.h
enum JointType
{
eRevoluteType = 0,
ePrismaticType = 1,
eSphericalType = 2,
ePlanarType = 3,
eFixedType = 4,
ePoint2PointType = 5,
eGearType = 6
};
enum b3JointInfoFlags
{
eJointChangeMaxForce = 1,
eJointChangeChildFramePosition = 2,
eJointChangeChildFrameOrientation = 4,
};
struct b3JointInfo
{
char m_linkName[1024];
char m_jointName[1024];
int m_jointType;
int m_qIndex;
int m_uIndex;
int m_jointIndex;
int m_flags;
double m_jointDamping;
double m_jointFriction;
double m_jointLowerLimit;
double m_jointUpperLimit;
double m_jointMaxForce;
double m_jointMaxVelocity;
double m_parentFrame[7]; // position and orientation (quaternion)
double m_childFrame[7]; // ^^^
double m_jointAxis[3]; // joint axis in parent local frame
int m_parentIndex;
int m_qSize;
int m_uSize;
};
enum UserDataValueType
{
// Data represents generic byte array.
USER_DATA_VALUE_TYPE_BYTES = 0,
// Data represents C-string
USER_DATA_VALUE_TYPE_STRING = 1,
};
struct b3UserDataValue
{
int m_type;
int m_length;
const char* m_data1;
};
enum EnumUserConstraintFlags
{
USER_CONSTRAINT_ADD_CONSTRAINT = 1,
USER_CONSTRAINT_REMOVE_CONSTRAINT = 2,
USER_CONSTRAINT_CHANGE_CONSTRAINT = 4,
USER_CONSTRAINT_CHANGE_PIVOT_IN_B = 8,
USER_CONSTRAINT_CHANGE_FRAME_ORN_IN_B = 16,
USER_CONSTRAINT_CHANGE_MAX_FORCE = 32,
USER_CONSTRAINT_REQUEST_INFO = 64,
USER_CONSTRAINT_CHANGE_GEAR_RATIO = 128,
USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK = 256,
USER_CONSTRAINT_CHANGE_RELATIVE_POSITION_TARGET = 512,
USER_CONSTRAINT_CHANGE_ERP = 1024,
USER_CONSTRAINT_REQUEST_STATE = 2048,
USER_CONSTRAINT_ADD_SOFT_BODY_ANCHOR = 4096,
};
struct b3UserConstraint
{
int m_parentBodyIndex;
int m_parentJointIndex;
int m_childBodyIndex;
int m_childJointIndex;
double m_parentFrame[7];
double m_childFrame[7];
double m_jointAxis[3];
int m_jointType;
double m_maxAppliedForce;
int m_userConstraintUniqueId;
double m_gearRatio;
int m_gearAuxLink;
double m_relativePositionTarget;
double m_erp;
};
struct b3BodyInfo
{
char m_baseName[1024];
char m_bodyName[1024]; // for btRigidBody, it does not have a base, but can still have a body name from urdf
};
enum DynamicsActivationState
{
eActivationStateEnableSleeping = 1,
eActivationStateDisableSleeping = 2,
eActivationStateWakeUp = 4,
eActivationStateSleep = 8,
eActivationStateEnableWakeup = 16,
eActivationStateDisableWakeup = 32,
};
enum b3BodyType
{
BT_RIGID_BODY = 1,
BT_MULTI_BODY = 2,
BT_SOFT_BODY = 3,
};
struct b3DynamicsInfo
{
double m_mass;
double m_localInertialDiagonal[3];
double m_localInertialFrame[7];
double m_lateralFrictionCoeff;
double m_rollingFrictionCoeff;
double m_spinningFrictionCoeff;
double m_restitution;
double m_contactStiffness;
double m_contactDamping;
int m_activationState;
int m_bodyType;
double m_angularDamping;
double m_linearDamping;
double m_ccdSweptSphereRadius;
double m_contactProcessingThreshold;
int m_frictionAnchor;
double m_collisionMargin;
int m_dynamicType;
};
// copied from btMultiBodyLink.h
enum SensorType
{
eSensorForceTorqueType = 1,
};
struct b3JointSensorState
{
double m_jointPosition;
double m_jointVelocity;
double m_jointForceTorque[6]; /* note to roboticists: this is NOT the motor torque/force, but the spatial reaction force vector at joint */
double m_jointMotorTorque;
};
struct b3JointSensorState2
{
double m_jointPosition[4];
double m_jointVelocity[3];
double m_jointReactionForceTorque[6]; /* note to roboticists: this is NOT the motor torque/force, but the spatial reaction force vector at joint */
double m_jointMotorTorqueMultiDof[3];
int m_qDofSize;
int m_uDofSize;
};
struct b3DebugLines
{
int m_numDebugLines;
const float* m_linesFrom; //float x,y,z times 'm_numDebugLines'.
const float* m_linesTo; //float x,y,z times 'm_numDebugLines'.
const float* m_linesColor; //float red,green,blue times 'm_numDebugLines'.
};
struct b3OverlappingObject
{
int m_objectUniqueId;
int m_linkIndex;
};
struct b3AABBOverlapData
{
int m_numOverlappingObjects;
struct b3OverlappingObject* m_overlappingObjects;
};
struct b3CameraImageData
{
int m_pixelWidth;
int m_pixelHeight;
const unsigned char* m_rgbColorData; //3*m_pixelWidth*m_pixelHeight bytes
const float* m_depthValues; //m_pixelWidth*m_pixelHeight floats
const int* m_segmentationMaskValues; //m_pixelWidth*m_pixelHeight ints
};
struct b3MeshVertex
{
double x, y, z, w;
};
enum eMeshDataFlags
{
B3_MESH_DATA_SIMULATION_MESH = 1,
B3_MESH_DATA_SIMULATION_INDICES = 2,
B3_MESH_DATA_GRAPHICS_INDICES = 4,
B3_MESH_DATA_SIMULATION_MESH_VELOCITY = 8,
};
enum eMeshDataEnum
{
B3_MESH_DATA_COLLISIONSHAPEINDEX=1,
B3_MESH_DATA_FLAGS=2,
};
struct b3MeshData
{
int m_numVertices;
struct b3MeshVertex* m_vertices;
};
enum eTetraMeshDataEnum
{
B3_TETRA_MESH_DATA_FLAGS=2,
};
struct b3TetraMeshData
{
int m_numVertices;
struct b3MeshVertex* m_vertices;
};
struct b3OpenGLVisualizerCameraInfo
{
int m_width;
int m_height;
float m_viewMatrix[16];
float m_projectionMatrix[16];
float m_camUp[3];
float m_camForward[3];
float m_horizontal[3];
float m_vertical[3];
float m_yaw;
float m_pitch;
float m_dist;
float m_target[3];
};
struct b3UserConstraintState
{
double m_appliedConstraintForces[6];
int m_numDofs;
};
enum b3VREventType
{
VR_CONTROLLER_MOVE_EVENT = 1,
VR_CONTROLLER_BUTTON_EVENT = 2,
VR_HMD_MOVE_EVENT = 4,
VR_GENERIC_TRACKER_MOVE_EVENT = 8,
};
#define MAX_VR_ANALOG_AXIS 5
#define MAX_VR_BUTTONS 64
#define MAX_VR_CONTROLLERS 8
#define MAX_KEYBOARD_EVENTS 256
#define MAX_MOUSE_EVENTS 256
#define MAX_SDF_BODIES 512
#define MAX_USER_DATA_KEY_LENGTH 256
#define MAX_REQUESTED_BODIES_LENGTH 256
enum b3VRButtonInfo
{
eButtonIsDown = 1,
eButtonTriggered = 2,
eButtonReleased = 4,
};
enum eVRDeviceTypeEnums
{
VR_DEVICE_CONTROLLER = 1,
VR_DEVICE_HMD = 2,
VR_DEVICE_GENERIC_TRACKER = 4,
};
enum EVRCameraFlags
{
VR_CAMERA_TRACK_OBJECT_ORIENTATION = 1,
};
struct b3VRControllerEvent
{
int m_controllerId; //valid for VR_CONTROLLER_MOVE_EVENT and VR_CONTROLLER_BUTTON_EVENT
int m_deviceType;
int m_numMoveEvents;
int m_numButtonEvents;
float m_pos[4]; //valid for VR_CONTROLLER_MOVE_EVENT and VR_CONTROLLER_BUTTON_EVENT
float m_orn[4]; //valid for VR_CONTROLLER_MOVE_EVENT and VR_CONTROLLER_BUTTON_EVENT
float m_analogAxis; //valid if VR_CONTROLLER_MOVE_EVENT
float m_auxAnalogAxis[MAX_VR_ANALOG_AXIS * 2]; //store x,y per axis, only valid if VR_CONTROLLER_MOVE_EVENT
int m_buttons[MAX_VR_BUTTONS]; //valid if VR_CONTROLLER_BUTTON_EVENT, see b3VRButtonInfo
};
struct b3VREventsData
{
int m_numControllerEvents;
struct b3VRControllerEvent* m_controllerEvents;
};
struct b3KeyboardEvent
{
int m_keyCode; //ascii
int m_keyState; // see b3VRButtonInfo
};
struct b3KeyboardEventsData
{
int m_numKeyboardEvents;
struct b3KeyboardEvent* m_keyboardEvents;
};
enum eMouseEventTypeEnums
{
MOUSE_MOVE_EVENT = 1,
MOUSE_BUTTON_EVENT = 2,
};
struct b3MouseEvent
{
int m_eventType;
float m_mousePosX;
float m_mousePosY;
int m_buttonIndex;
int m_buttonState;
};
struct b3MouseEventsData
{
int m_numMouseEvents;
struct b3MouseEvent* m_mouseEvents;
};
enum b3NotificationType
{
SIMULATION_RESET = 0,
BODY_ADDED = 1,
BODY_REMOVED = 2,
USER_DATA_ADDED = 3,
USER_DATA_REMOVED = 4,
LINK_DYNAMICS_CHANGED = 5,
VISUAL_SHAPE_CHANGED = 6,
TRANSFORM_CHANGED = 7,
SIMULATION_STEPPED = 8,
SOFTBODY_CHANGED = 9,
};
enum b3ResetSimulationFlags
{
RESET_USE_DEFORMABLE_WORLD=1,
RESET_USE_DISCRETE_DYNAMICS_WORLD=2,
RESET_USE_SIMPLE_BROADPHASE=4,
RESET_USE_REDUCED_DEFORMABLE_WORLD=8,
};
struct b3BodyNotificationArgs
{
int m_bodyUniqueId;
};
struct b3UserDataNotificationArgs
{
int m_bodyUniqueId;
int m_linkIndex;
int m_visualShapeIndex;
int m_userDataId;
char m_key[MAX_USER_DATA_KEY_LENGTH];
};
struct b3LinkNotificationArgs
{
int m_bodyUniqueId;
int m_linkIndex;
};
struct b3VisualShapeNotificationArgs
{
int m_bodyUniqueId;
int m_linkIndex;
int m_visualShapeIndex;
};
struct b3TransformChangeNotificationArgs
{
int m_bodyUniqueId;
int m_linkIndex;
double m_worldPosition[3];
double m_worldRotation[4];
double m_localScaling[3];
};
struct b3SoftBodyChangeNotificationArgs
{
int m_bodyUniqueId;
int m_linkIndex;
};
struct b3Notification
{
int m_notificationType;
union {
struct b3BodyNotificationArgs m_bodyArgs;
struct b3UserDataNotificationArgs m_userDataArgs;
struct b3LinkNotificationArgs m_linkArgs;
struct b3VisualShapeNotificationArgs m_visualShapeArgs;
struct b3TransformChangeNotificationArgs m_transformChangeArgs;
struct b3SoftBodyChangeNotificationArgs m_softBodyChangeArgs;
};
};
struct b3ContactPointData
{
//todo: expose some contact flags, such as telling which fields below are valid
int m_contactFlags;
int m_bodyUniqueIdA;
int m_bodyUniqueIdB;
int m_linkIndexA;
int m_linkIndexB;
double m_positionOnAInWS[3]; //contact point location on object A, in world space coordinates
double m_positionOnBInWS[3]; //contact point location on object A, in world space coordinates
double m_contactNormalOnBInWS[3]; //the separating contact normal, pointing from object B towards object A
double m_contactDistance; //negative number is penetration, positive is distance.
double m_normalForce;
double m_linearFrictionForce1;
double m_linearFrictionForce2;
double m_linearFrictionDirection1[3];
double m_linearFrictionDirection2[3];
};
enum
{
CONTACT_QUERY_MODE_REPORT_EXISTING_CONTACT_POINTS = 0,
CONTACT_QUERY_MODE_COMPUTE_CLOSEST_POINTS = 1,
};
enum b3StateLoggingType
{
STATE_LOGGING_MINITAUR = 0,
STATE_LOGGING_GENERIC_ROBOT = 1,
STATE_LOGGING_VR_CONTROLLERS = 2,
STATE_LOGGING_VIDEO_MP4 = 3,
STATE_LOGGING_COMMANDS = 4,
STATE_LOGGING_CONTACT_POINTS = 5,
STATE_LOGGING_PROFILE_TIMINGS = 6,
STATE_LOGGING_ALL_COMMANDS = 7,
STATE_REPLAY_ALL_COMMANDS = 8,
STATE_LOGGING_CUSTOM_TIMER = 9,
};
struct b3ContactInformation
{
int m_numContactPoints;
struct b3ContactPointData* m_contactPointData;
};
struct b3RayData
{
double m_rayFromPosition[3];
double m_rayToPosition[3];
};
struct b3RayHitInfo
{
double m_hitFraction;
int m_hitObjectUniqueId;
int m_hitObjectLinkIndex;
double m_hitPositionWorld[3];
double m_hitNormalWorld[3];
};
struct b3RaycastInformation
{
int m_numRayHits;
struct b3RayHitInfo* m_rayHits;
};
typedef union {
struct b3RayData a;
struct b3RayHitInfo b;
} RAY_DATA_UNION;
#define MAX_RAY_INTERSECTION_BATCH_SIZE 256
#ifdef __APPLE__
#define MAX_RAY_INTERSECTION_BATCH_SIZE_STREAMING (4 * 1024)
#else
#define MAX_RAY_INTERSECTION_BATCH_SIZE_STREAMING (16 * 1024)
#endif
#define MAX_RAY_HITS MAX_RAY_INTERSECTION_BATCH_SIZE
#define VISUAL_SHAPE_MAX_PATH_LEN 1024
enum b3VisualShapeDataFlags
{
eVISUAL_SHAPE_DATA_TEXTURE_UNIQUE_IDS = 1,
};
struct b3VisualShapeData
{
int m_objectUniqueId;
int m_linkIndex;
int m_visualGeometryType; //box primitive, sphere primitive, triangle mesh
double m_dimensions[3]; //meaning depends on m_visualGeometryType
char m_meshAssetFileName[VISUAL_SHAPE_MAX_PATH_LEN];
double m_localVisualFrame[7]; //pos[3], orn[4]
//todo: add more data if necessary (material color etc, although material can be in asset file .obj file)
double m_rgbaColor[4];
int m_tinyRendererTextureId;
int m_textureUniqueId;
int m_openglTextureId;
};
struct b3VisualShapeInformation
{
int m_numVisualShapes;
struct b3VisualShapeData* m_visualShapeData;
};
struct b3CollisionShapeData
{
int m_objectUniqueId;
int m_linkIndex;
int m_collisionGeometryType; //GEOM_BOX, GEOM_SPHERE etc
double m_dimensions[3]; //meaning depends on m_visualGeometryType GEOM_BOX: extents, GEOM_SPHERE: radius, GEOM_CAPSULE+GEOM_CYLINDER:length, radius, GEOM_MESH: mesh scale
double m_localCollisionFrame[7]; //pos[3], orn[4]
char m_meshAssetFileName[VISUAL_SHAPE_MAX_PATH_LEN];
};
struct b3CollisionShapeInformation
{
int m_numCollisionShapes;
struct b3CollisionShapeData* m_collisionShapeData;
};
enum eLinkStateFlags
{
ACTUAL_STATE_COMPUTE_LINKVELOCITY = 1,
ACTUAL_STATE_COMPUTE_FORWARD_KINEMATICS = 2,
};
///b3LinkState provides extra information such as the Cartesian world coordinates
///center of mass (COM) of the link, relative to the world reference frame.
///Orientation is a quaternion x,y,z,w
///Note: to compute the URDF link frame (which equals the joint frame at joint position 0)
///use URDF link frame = link COM frame * inertiaFrame.inverse()
struct b3LinkState
{
//m_worldPosition and m_worldOrientation of the Center Of Mass (COM)
double m_worldPosition[3];
double m_worldOrientation[4];
double m_localInertialPosition[3];
double m_localInertialOrientation[4];
///world position and orientation of the (URDF) link frame
double m_worldLinkFramePosition[3];
double m_worldLinkFrameOrientation[4];
double m_worldLinearVelocity[3]; //only valid when ACTUAL_STATE_COMPUTE_LINKVELOCITY is set (b3RequestActualStateCommandComputeLinkVelocity)
double m_worldAngularVelocity[3]; //only valid when ACTUAL_STATE_COMPUTE_LINKVELOCITY is set (b3RequestActualStateCommandComputeLinkVelocity)
double m_worldAABBMin[3]; //world space bounding minium and maximum box corners.
double m_worldAABBMax[3];
};
//todo: discuss and decide about control mode and combinations
enum
{
// POSITION_CONTROL=0,
CONTROL_MODE_VELOCITY = 0,
CONTROL_MODE_TORQUE,
CONTROL_MODE_POSITION_VELOCITY_PD,
CONTROL_MODE_PD, // The standard PD control implemented as soft constraint.
CONTROL_MODE_STABLE_PD,
};
///flags for b3ApplyExternalTorque and b3ApplyExternalForce
enum EnumExternalForceFlags
{
EF_LINK_FRAME = 1,
EF_WORLD_FRAME = 2,
};
///flags to pick the renderer for synthetic camera
enum EnumRenderer
{
ER_TINY_RENDERER = (1 << 16),
ER_BULLET_HARDWARE_OPENGL = (1 << 17),
//ER_FIRE_RAYS=(1<<18),
};
enum EnumRendererAuxFlags
{
ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX = 1,
ER_USE_PROJECTIVE_TEXTURE = 2,
ER_NO_SEGMENTATION_MASK = 4,
};
///flags to pick the IK solver and other options
enum EnumCalculateInverseKinematicsFlags
{
IK_DLS = 0,
IK_SDLS = 1, //TODO: can add other IK solvers
IK_HAS_TARGET_POSITION = 16,
IK_HAS_TARGET_ORIENTATION = 32,
IK_HAS_NULL_SPACE_VELOCITY = 64,
IK_HAS_JOINT_DAMPING = 128,
IK_HAS_CURRENT_JOINT_POSITIONS = 256,
IK_HAS_MAX_ITERATIONS = 512,
IK_HAS_RESIDUAL_THRESHOLD = 1024,
};
enum b3ConfigureDebugVisualizerEnum
{
COV_ENABLE_GUI = 1,
COV_ENABLE_SHADOWS,
COV_ENABLE_WIREFRAME,
COV_ENABLE_VR_TELEPORTING,
COV_ENABLE_VR_PICKING,
COV_ENABLE_VR_RENDER_CONTROLLERS,
COV_ENABLE_RENDERING,
COV_ENABLE_SYNC_RENDERING_INTERNAL,
COV_ENABLE_KEYBOARD_SHORTCUTS,
COV_ENABLE_MOUSE_PICKING,
COV_ENABLE_Y_AXIS_UP,
COV_ENABLE_TINY_RENDERER,
COV_ENABLE_RGB_BUFFER_PREVIEW,
COV_ENABLE_DEPTH_BUFFER_PREVIEW,
COV_ENABLE_SEGMENTATION_MARK_PREVIEW,
COV_ENABLE_PLANAR_REFLECTION,
COV_ENABLE_SINGLE_STEP_RENDERING,
};
enum b3AddUserDebugItemEnum
{
DEB_DEBUG_TEXT_ALWAYS_FACE_CAMERA = 1,
DEB_DEBUG_TEXT_USE_TRUE_TYPE_FONTS = 2,
DEB_DEBUG_TEXT_HAS_TRACKING_OBJECT = 4,
};
enum eCONNECT_METHOD
{
eCONNECT_GUI = 1,
eCONNECT_DIRECT = 2,
eCONNECT_SHARED_MEMORY = 3,
eCONNECT_UDP = 4,
eCONNECT_TCP = 5,
eCONNECT_EXISTING_EXAMPLE_BROWSER = 6,
eCONNECT_GUI_SERVER = 7,
eCONNECT_GUI_MAIN_THREAD = 8,
eCONNECT_SHARED_MEMORY_SERVER = 9,
eCONNECT_DART = 10,
eCONNECT_MUJOCO = 11,
eCONNECT_GRPC = 12,
eCONNECT_PHYSX=13,
eCONNECT_SHARED_MEMORY_GUI=14,
eCONNECT_GRAPHICS_SERVER = 15,
eCONNECT_GRAPHICS_SERVER_TCP = 16,
eCONNECT_GRAPHICS_SERVER_MAIN_THREAD=17
};
enum eURDF_Flags
{
URDF_USE_INERTIA_FROM_FILE = 2, //sync with URDFJointTypes.h 'ConvertURDFFlags'
URDF_USE_SELF_COLLISION = 8, //see CUF_USE_SELF_COLLISION
URDF_USE_SELF_COLLISION_EXCLUDE_PARENT = 16,
URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS = 32,
URDF_RESERVED = 64,
URDF_USE_IMPLICIT_CYLINDER = 128,
URDF_GLOBAL_VELOCITIES_MB = 256,
MJCF_COLORS_FROM_FILE = 512,
URDF_ENABLE_CACHED_GRAPHICS_SHAPES = 1024,
URDF_ENABLE_SLEEPING = 2048,
URDF_INITIALIZE_SAT_FEATURES = 4096,
URDF_USE_SELF_COLLISION_INCLUDE_PARENT = 8192,
URDF_PARSE_SENSORS = 16384,
URDF_USE_MATERIAL_COLORS_FROM_MTL = 32768,
URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL = 65536,
URDF_MAINTAIN_LINK_ORDER = 131072,
URDF_ENABLE_WAKEUP = 1 << 18,
URDF_MERGE_FIXED_LINKS = 1 << 19,
URDF_IGNORE_VISUAL_SHAPES = 1 << 20,
URDF_IGNORE_COLLISION_SHAPES = 1 << 21,
URDF_PRINT_URDF_INFO = 1 << 22,
URDF_GOOGLEY_UNDEFINED_COLORS = 1 << 23,
};
enum eUrdfGeomTypes //sync with UrdfParser UrdfGeomTypes
{
GEOM_SPHERE = 2,
GEOM_BOX,
GEOM_CYLINDER,
GEOM_MESH,
GEOM_PLANE,
GEOM_CAPSULE, //non-standard URDF?
GEOM_SDF, //signed-distance-field, non-standard URDF
GEOM_HEIGHTFIELD,
GEOM_UNKNOWN,
};
enum eUrdfCollisionFlags
{
GEOM_FORCE_CONCAVE_TRIMESH = 1,
GEOM_CONCAVE_INTERNAL_EDGE = 2,
GEOM_INITIALIZE_SAT_FEATURES = URDF_INITIALIZE_SAT_FEATURES,
};
enum eUrdfVisualFlags
{
GEOM_VISUAL_HAS_RGBA_COLOR = 1,
GEOM_VISUAL_HAS_SPECULAR_COLOR = 2,
};
enum eStateLoggingFlags
{
STATE_LOG_JOINT_MOTOR_TORQUES = 1,
STATE_LOG_JOINT_USER_TORQUES = 2,
STATE_LOG_JOINT_TORQUES = STATE_LOG_JOINT_MOTOR_TORQUES + STATE_LOG_JOINT_USER_TORQUES,
};
enum eJointFeedbackModes
{
JOINT_FEEDBACK_IN_WORLD_SPACE = 1,
JOINT_FEEDBACK_IN_JOINT_FRAME = 2,
};
#define B3_MAX_PLUGIN_ARG_SIZE 128
#define B3_MAX_PLUGIN_ARG_TEXT_LEN 1024
struct b3PluginArguments
{
char m_text[B3_MAX_PLUGIN_ARG_TEXT_LEN];
int m_numInts;
int m_ints[B3_MAX_PLUGIN_ARG_SIZE];
int m_numFloats;
double m_floats[B3_MAX_PLUGIN_ARG_SIZE];
};
enum eInternalSimFlags
{
eVRTinyGUI = 1<<1,
eDeformableAlternativeIndexing = 1<<2,
};
struct b3PhysicsSimulationParameters
{
double m_deltaTime;
double m_simulationTimestamp; // user logging timestamp of simulation.
double m_gravityAcceleration[3];
int m_numSimulationSubSteps;
int m_numSolverIterations;
double m_warmStartingFactor;
double m_articulatedWarmStartingFactor;
int m_useRealTimeSimulation;
int m_useSplitImpulse;
double m_splitImpulsePenetrationThreshold;
double m_contactBreakingThreshold;
int m_internalSimFlags;
double m_defaultContactERP;
int m_collisionFilterMode;
int m_enableFileCaching;
double m_restitutionVelocityThreshold;
double m_defaultNonContactERP;
double m_frictionERP;
double m_defaultGlobalCFM;
double m_frictionCFM;
int m_enableConeFriction;
int m_deterministicOverlappingPairs;
double m_allowedCcdPenetration;
int m_jointFeedbackMode;
double m_solverResidualThreshold;
double m_contactSlop;
int m_enableSAT;
int m_constraintSolverType;
int m_minimumSolverIslandSize;
int m_reportSolverAnalytics;
double m_sparseSdfVoxelSize;
int m_numNonContactInnerIterations;
};
enum eConstraintSolverTypes
{
eConstraintSolverLCP_SI = 1,
eConstraintSolverLCP_PGS,
eConstraintSolverLCP_DANTZIG,
eConstraintSolverLCP_LEMKE,
eConstraintSolverLCP_NNCG,
eConstraintSolverLCP_BLOCK_PGS,
};
struct b3ForwardDynamicsAnalyticsIslandData
{
int m_islandId;
int m_numBodies;
int m_numContactManifolds;
int m_numIterationsUsed;
double m_remainingLeastSquaresResidual;
};
#define MAX_ISLANDS_ANALYTICS 64
struct b3ForwardDynamicsAnalyticsArgs
{
int m_numSteps;
int m_numIslands;
int m_numSolverCalls;
struct b3ForwardDynamicsAnalyticsIslandData m_islandData[MAX_ISLANDS_ANALYTICS];
};
enum eDynamicTypes
{
eDynamic= 0,
eStatic= 1,
eKinematic= 2
};
enum eFileIOActions
{
eAddFileIOAction = 1024,//avoid collision with eFileIOTypes
eRemoveFileIOAction,
};
enum eFileIOTypes
{
ePosixFileIO = 1,
eZipFileIO,
eCNSFileIO,
eInMemoryFileIO,
};
enum eEnumUpdateVisualShapeFlags
{
eVISUAL_SHAPE_DOUBLE_SIDED = 4,//see B3_INSTANCE_DOUBLE_SIDED
};
//limits for vertices/indices in PyBullet::createCollisionShape
//Make sure the data fits in SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE
//(numVertices*sizeof(double)*3 + numIndices*sizeof(int)) < SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE
#ifdef __APPLE__
#define B3_MAX_NUM_VERTICES 8192
#define B3_MAX_NUM_INDICES 32768
#else
#define B3_MAX_NUM_VERTICES 131072
#define B3_MAX_NUM_INDICES 524288
#endif
#endif //SHARED_MEMORY_PUBLIC_H