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#ifndef SHARED_MEMORY_PUBLIC_H
#define SHARED_MEMORY_PUBLIC_H
#define SHARED_MEMORY_KEY 12347
enum EnumSharedMemoryClientCommand
{
CMD_LOAD_URDF,
CMD_SEND_BULLET_DATA_STREAM,
CMD_CREATE_BOX_COLLISION_SHAPE,
// CMD_DELETE_BOX_COLLISION_SHAPE,
CMD_CREATE_RIGID_BODY,
CMD_DELETE_RIGID_BODY,
CMD_CREATE_SENSOR,///enable or disable joint feedback for force/torque sensors
// CMD_REQUEST_SENSOR_MEASUREMENTS,//see CMD_REQUEST_ACTUAL_STATE/CMD_ACTUAL_STATE_UPDATE_COMPLETED
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_STEP_FORWARD_SIMULATION,
CMD_RESET_SIMULATION,
CMD_PICK_BODY,
CMD_MOVE_PICKED_BODY,
CMD_REMOVE_PICKING_CONSTRAINT_BODY,
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_URDF_LOADING_COMPLETED,
CMD_URDF_LOADING_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_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,
};
struct b3JointInfo
{
char* m_linkName;
char* m_jointName;
int m_jointType;
int m_qIndex;
int m_uIndex;
int m_jointIndex;
int m_flags;
};
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 */
};
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'.
};
//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,
};
#endif//SHARED_MEMORY_PUBLIC_H
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