int main(int argc, char* argv[])
{
#ifdef PHYSICS_LOOP_BACK
b3PhysicsClientHandle sm = b3ConnectPhysicsLoopback(SHARED_MEMORY_KEY);
#endif
#ifdef PHYSICS_SERVER_DIRECT
b3PhysicsClientHandle sm = b3ConnectPhysicsDirect();
#endif
#ifdef PHYSICS_IN_PROCESS_EXAMPLE_BROWSER
#ifdef __APPLE__
b3PhysicsClientHandle sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc,argv);
#else
b3PhysicsClientHandle sm = b3CreateInProcessPhysicsServerAndConnect(argc,argv);
#endif //__APPLE__
#endif
#ifdef PHYSICS_SHARED_MEMORY
b3PhysicsClientHandle sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
#endif //PHYSICS_SHARED_MEMORY
#ifdef PHYSICS_UDP
b3PhysicsClientHandle sm = b3ConnectPhysicsUDP("localhost",1234);
#endif //PHYSICS_UDP
testSharedMemory(sm);
}
void PhysicsClientExample::initPhysics()
{
if (m_guiHelper && m_guiHelper->getParameterInterface())
{
int upAxis = 2;
m_guiHelper->setUpAxis(upAxis);
createButtons();
} else
{
MyCallback(CMD_LOAD_URDF, true, this);
MyCallback(CMD_STEP_FORWARD_SIMULATION,true,this);
MyCallback(CMD_STEP_FORWARD_SIMULATION,true,this);
MyCallback(CMD_RESET_SIMULATION,true,this);
}
m_selectedBody = -1;
m_prevSelectedBody = -1;
m_physicsClientHandle = b3ConnectSharedMemory(m_sharedMemoryKey);
//m_physicsClientHandle = b3ConnectPhysicsLoopback(SHARED_MEMORY_KEY);
//m_physicsClientHandle = b3ConnectPhysicsDirect();
if (!b3CanSubmitCommand(m_physicsClientHandle))
{
b3Warning("Cannot connect to physics client");
}
}
static PyObject *
pybullet_connectPhysicsServer(PyObject *self, PyObject *args)
{
if (0!=sm)
{
PyErr_SetString(SpamError, "Already connected to physics server, disconnect first.");
return NULL;
}
{
int method=eCONNECT_GUI;
if (!PyArg_ParseTuple(args, "i", &method))
{
PyErr_SetString(SpamError, "connectPhysicsServer expected argument eCONNECT_GUI, eCONNECT_DIRECT or eCONNECT_SHARED_MEMORY");
return NULL;
}
switch (method)
{
case eCONNECT_GUI:
{
int argc=0;
char* argv[1]={0};
#ifdef __APPLE__
sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv);
#else
sm = b3CreateInProcessPhysicsServerAndConnect(argc, argv);
#endif
break;
}
case eCONNECT_DIRECT:
{
sm = b3ConnectPhysicsDirect();
break;
}
case eCONNECT_SHARED_MEMORY:
{
sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
break;
}
default:
{
PyErr_SetString(SpamError, "connectPhysicsServer unexpected argument");
return NULL;
}
};
}
Py_INCREF(Py_None);
return Py_None;
}
int main(int argc, char* argv[])
{
int i, dofCount , posVarCount, dofIndex, ret ,numJoints, allowSharedMemoryInitialization=0;
int sensorJointIndexLeft=-1;
int sensorJointIndexRight=-1;
int statusType = -1;
const char* urdfFileName = "r2d2.urdf";
double gravx=0, gravy=0, gravz=-9.8;
double timeStep = 1./60.;
double startPosX, startPosY,startPosZ;
int imuLinkIndex = -1;
b3PhysicsClientHandle sm=0;
int bodyIndex = -1;
printf("hello world\n");
#ifdef PHYSICS_LOOP_BACK
sm = b3ConnectPhysicsLoopback(SHARED_MEMORY_KEY);
#else
sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
#endif
if (b3CanSubmitCommand(sm))
{
{
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(sm);
ret = b3PhysicsParamSetGravity(command, gravx,gravy, gravz);
ret = b3PhysicsParamSetTimeStep(command, timeStep);
b3SubmitClientCommandAndWaitStatus(sm, command);
}
{
b3SharedMemoryStatusHandle statusHandle;
b3SharedMemoryCommandHandle command = b3LoadUrdfCommandInit(sm, urdfFileName);
//setting the initial position, orientation and other arguments are optional
startPosX =2;
startPosY =3;
startPosZ = 1;
ret = b3LoadUrdfCommandSetStartPosition(command, startPosX,startPosY,startPosZ);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
bodyIndex = b3GetStatusBodyIndex(statusHandle);
}
if (bodyIndex>=0)
{
numJoints = b3GetNumJoints(sm,bodyIndex);
for (i=0;i<numJoints;i++)
{
struct b3JointInfo jointInfo;
b3GetJointInfo(sm,bodyIndex, i,&jointInfo);
printf("jointInfo[%d].m_jointName=%s\n",i,jointInfo.m_jointName);
//pick the IMU link index based on torso name
if (strstr(jointInfo.m_linkName,"base_link"))
{
imuLinkIndex = i;
}
//pick the joint index based on joint name
if (strstr(jointInfo.m_jointName,"base_to_left_leg"))
{
sensorJointIndexLeft = i;
}
if (strstr(jointInfo.m_jointName,"base_to_right_leg"))
{
sensorJointIndexRight = i;
}
}
if ((sensorJointIndexLeft>=0) || (sensorJointIndexRight>=0))
{
b3SharedMemoryCommandHandle command = b3CreateSensorCommandInit(sm);
b3SharedMemoryStatusHandle statusHandle;
if (imuLinkIndex>=0)
{
ret = b3CreateSensorEnableIMUForLink(command, imuLinkIndex, 1);
}
if (sensorJointIndexLeft>=0)
{
ret = b3CreateSensorEnable6DofJointForceTorqueSensor(command, sensorJointIndexLeft, 1);
}
if(sensorJointIndexRight>=0)
{
ret = b3CreateSensorEnable6DofJointForceTorqueSensor(command, sensorJointIndexRight, 1);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
}
}
{
b3SharedMemoryStatusHandle statusHandle;
b3SharedMemoryCommandHandle command = b3CreateBoxShapeCommandInit(sm);
ret = b3CreateBoxCommandSetStartPosition(command, 0,0,-1);
ret = b3CreateBoxCommandSetStartOrientation(command,0,0,0,1);
ret = b3CreateBoxCommandSetHalfExtents(command, 10,10,1);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
}
{
int statusType;
b3SharedMemoryCommandHandle command = b3RequestActualStateCommandInit(sm,bodyIndex);
b3SharedMemoryStatusHandle statusHandle;
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_ACTUAL_STATE_UPDATE_COMPLETED)
{
b3GetStatusActualState(statusHandle,
0, &posVarCount, &dofCount,
0, 0, 0, 0);
b3Printf("posVarCount = %d\n",posVarCount);
printf("dofCount = %d\n",dofCount);
}
}
{
#if 0
b3SharedMemoryStatusHandle statusHandle;
b3SharedMemoryCommandHandle command = b3JointControlCommandInit( sm, CONTROL_MODE_VELOCITY);
for ( dofIndex=0;dofIndex<dofCount;dofIndex++)
{
b3JointControlSetDesiredVelocity(command,dofIndex,1);
b3JointControlSetMaximumForce(command,dofIndex,100);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
#endif
}
///perform some simulation steps for testing
for ( i=0;i<100;i++)
{
b3SubmitClientCommandAndWaitStatus(sm, b3InitStepSimulationCommand(sm));
}
{
b3SharedMemoryStatusHandle state = b3SubmitClientCommandAndWaitStatus(sm, b3RequestActualStateCommandInit(sm,bodyIndex));
if (sensorJointIndexLeft>=0)
{
struct b3JointSensorState sensorState;
b3GetJointState(sm,state,sensorJointIndexLeft,&sensorState);
b3Printf("Sensor for joint [%d] = %f,%f,%f\n", sensorJointIndexLeft,
sensorState.m_jointForceTorque[0],
sensorState.m_jointForceTorque[1],
sensorState.m_jointForceTorque[2]);
}
if (sensorJointIndexRight>=0)
{
struct b3JointSensorState sensorState;
b3GetJointState(sm,state,sensorJointIndexRight,&sensorState);
b3Printf("Sensor for joint [%d] = %f,%f,%f\n", sensorJointIndexRight,
sensorState.m_jointForceTorque[0],
sensorState.m_jointForceTorque[1],
sensorState.m_jointForceTorque[2]);
}
}
{
b3SubmitClientCommandAndWaitStatus(sm, b3InitResetSimulationCommand(sm));
}
}
b3DisconnectSharedMemory(sm);
}
void PhysicsClientExample::initPhysics()
{
if (m_guiHelper && m_guiHelper->getParameterInterface())
{
int upAxis = 2;
m_guiHelper->setUpAxis(upAxis);
createButtons();
} else
{
MyCallback(CMD_LOAD_URDF, true, this);
MyCallback(CMD_STEP_FORWARD_SIMULATION,true,this);
MyCallback(CMD_STEP_FORWARD_SIMULATION,true,this);
MyCallback(CMD_RESET_SIMULATION,true,this);
}
m_selectedBody = -1;
m_prevSelectedBody = -1;
if (m_options == eCLIENTEXAMPLE_SERVER)
{
m_canvas = m_guiHelper->get2dCanvasInterface();
if (m_canvas)
{
m_canvasIndex = m_canvas->createCanvas("Synthetic Camera",camVisualizerWidth, camVisualizerHeight);
for (int i=0;i<camVisualizerWidth;i++)
{
for (int j=0;j<camVisualizerHeight;j++)
{
unsigned char red=255;
unsigned char green=255;
unsigned char blue=255;
unsigned char alpha=255;
if (i==j)
{
red = 0;
green=0;
blue=0;
}
m_canvas->setPixel(m_canvasIndex,i,j,red,green,blue,alpha);
}
}
m_canvas->refreshImageData(m_canvasIndex);
}
m_isOptionalServerConnected = m_physicsServer.connectSharedMemory( m_guiHelper);
}
m_physicsClientHandle = b3ConnectSharedMemory(m_sharedMemoryKey);
//m_physicsClientHandle = b3ConnectPhysicsLoopback(SHARED_MEMORY_KEY);
//m_physicsClientHandle = b3ConnectPhysicsDirect();
if (!b3CanSubmitCommand(m_physicsClientHandle))
{
b3Warning("Cannot connect to physics client");
}
}
int main(int argc, char* argv[])
{
int i, dofCount , posVarCount, dofIndex, ret ,numJoints, allowSharedMemoryInitialization=0;
int timeout = MAX_TIMEOUT;
int sensorJointIndexLeft=-1;
int sensorJointIndexRight=-1;
const char* urdfFileName = "r2d2.urdf";
double gravx=0, gravy=0, gravz=-9.8;
double timeStep = 1./60.;
double startPosX, startPosY,startPosZ;
int imuLinkIndex = -1;
SharedMemoryCommand_t command;
SharedMemoryStatus_t status;
b3PhysicsClientHandle sm;
b3Printf("timeout = %d\n",timeout);
printf("hello world\n");
sm = b3ConnectSharedMemory( allowSharedMemoryInitialization);
if (b3CanSubmitCommand(sm))
{
ret = b3InitPhysicsParamCommand(&command);
ret = b3PhysicsParamSetGravity(&command, gravx,gravy, gravz);
ret = b3PhysicsParamSetTimeStep(&command, timeStep);
ret = b3SubmitClientCommand(sm, &command);
timeout = MAX_TIMEOUT;
while ((timeout-- > 0) && b3ProcessServerStatus(sm, &status)==0) {}
b3Printf("timeout = %d\n",timeout);
ret = b3LoadUrdfCommandInit(&command, urdfFileName);
//setting the initial position, orientation and other arguments are optional
startPosX =2;
startPosY =3;
startPosZ = 1;
ret = b3LoadUrdfCommandSetStartPosition(&command, startPosX,startPosY,startPosZ);
ret = b3SubmitClientCommand(sm, &command);
timeout = MAX_TIMEOUT;
while ((timeout-- > 0) && b3ProcessServerStatus(sm, &status)==0) {}
b3Printf("timeout = %d\n",timeout);
numJoints = b3GetNumJoints(sm);
for (i=0;i<numJoints;i++)
{
struct b3JointInfo jointInfo;
b3GetJointInfo(sm,i,&jointInfo);
printf("jointInfo[%d].m_jointName=%s\n",i,jointInfo.m_jointName);
//pick the IMU link index based on torso name
if (strstr(jointInfo.m_linkName,"base_link"))
{
imuLinkIndex = i;
}
//pick the joint index based on joint name
if (strstr(jointInfo.m_jointName,"base_to_left_leg"))
{
sensorJointIndexLeft = i;
}
if (strstr(jointInfo.m_jointName,"base_to_right_leg"))
{
sensorJointIndexRight = i;
}
}
if ((sensorJointIndexLeft>=0) || (sensorJointIndexRight>=0))
{
ret = b3CreateSensorCommandInit(&command);
if (imuLinkIndex>=0)
{
ret = b3CreateSensorEnableIMUForLink(&command, imuLinkIndex, 1);
}
if (sensorJointIndexLeft>=0)
{
ret = b3CreateSensorEnable6DofJointForceTorqueSensor(&command, sensorJointIndexLeft, 1);
}
if(sensorJointIndexRight>=0)
{
ret = b3CreateSensorEnable6DofJointForceTorqueSensor(&command, sensorJointIndexRight, 1);
}
ret = b3SubmitClientCommand(sm, &command);
timeout = MAX_TIMEOUT;
while ((timeout-- > 0) && b3ProcessServerStatus(sm, &status)==0) {}
}
ret = b3CreateBoxShapeCommandInit(&command);
ret = b3CreateBoxCommandSetStartPosition(&command, 0,0,-1);
ret = b3CreateBoxCommandSetStartOrientation(&command,0,0,0,1);
ret = b3CreateBoxCommandSetHalfExtents(&command, 10,10,1);
ret = b3SubmitClientCommand(sm, &command);
timeout = MAX_TIMEOUT;
while ((timeout-- > 0) && b3ProcessServerStatus(sm, &status)==0) {}
b3RequestActualStateCommandInit(&command);
ret = b3SubmitClientCommand(sm, &command);
timeout = MAX_TIMEOUT;
while ((timeout-- > 0) && b3ProcessServerStatus(sm, &status)==0) {}
posVarCount =status.m_sendActualStateArgs.m_numDegreeOfFreedomQ;
dofCount =status.m_sendActualStateArgs.m_numDegreeOfFreedomU;
b3Printf("posVarCount = %d\n",posVarCount);
printf("dofCount = %d\n",dofCount);
b3JointControlCommandInit(&command, CONTROL_MODE_VELOCITY);
for ( dofIndex=0;dofIndex<dofCount;dofIndex++)
{
b3JointControlSetDesiredVelocity(&command,dofIndex,1);
b3JointControlSetMaximumForce(&command,dofIndex,100);
}
ret = b3SubmitClientCommand(sm, &command);
timeout = MAX_TIMEOUT;
while ((timeout-- > 0) && b3ProcessServerStatus(sm, &status)==0) {}
///perform some simulation steps for testing
for ( i=0;i<100;i++)
{
ret = b3InitStepSimulationCommand(&command);
ret = b3SubmitClientCommand(sm, &command);
timeout = MAX_TIMEOUT;
while ((timeout-- > 0) && b3ProcessServerStatus(sm, &status)==0) {}
}
b3RequestActualStateCommandInit(&command);
ret = b3SubmitClientCommand(sm, &command);
timeout = MAX_TIMEOUT;
while ((timeout-- > 0) && b3ProcessServerStatus(sm, &status)==0) {}
if (sensorJointIndexLeft>=0)
{
b3Printf("Sensor for joint [%d] = %f,%f,%f\n", sensorJointIndexLeft,
status.m_sendActualStateArgs.m_jointReactionForces[6*sensorJointIndexLeft+0],
status.m_sendActualStateArgs.m_jointReactionForces[6*sensorJointIndexLeft+1],
status.m_sendActualStateArgs.m_jointReactionForces[6*sensorJointIndexLeft+2]);
}
if (sensorJointIndexRight>=0)
{
b3Printf("Sensor for joint [%d] = %f,%f,%f\n", sensorJointIndexRight,
status.m_sendActualStateArgs.m_jointReactionForces[6*sensorJointIndexRight+0],
status.m_sendActualStateArgs.m_jointReactionForces[6*sensorJointIndexRight+1],
status.m_sendActualStateArgs.m_jointReactionForces[6*sensorJointIndexRight+2]);
}
ret = b3InitResetSimulationCommand(&command);
ret = b3SubmitClientCommand(sm, &command);
timeout = MAX_TIMEOUT;
while ((timeout-- > 0) && b3ProcessServerStatus(sm, &status)==0) {}
}
b3DisconnectSharedMemory(sm);
}
