haptix_sim.h

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/*
 * Copyright (C) 2014-2015 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef __HAPTIX_COMM_HAPTIX_SIM_H
#define __HAPTIX_COMM_HAPTIX_SIM_H

#include "haptix/comm/haptix.h"

#ifdef __cplusplus
extern "C" {
#endif

#define hxsMAXCONTACT            30

#define hxsMAXBODY               30

struct _hxsDeviceInfo
{
  int ndynamic;

  int nstatic;

  // Anything else we should provide here?
};

struct _hxsBody
{
  float pos[hxsMAXBODY][3];

  float quat[hxsMAXBODY][4];

  float linvel[hxsMAXBODY][3];

  float angvel[hxsMAXBODY][3];

  float linacc[hxsMAXBODY][3];

  float angacc[hxsMAXBODY][3];
};

struct _hxsJoint
{
  float pos[hxMAXJOINT];

  float vel[hxMAXJOINT];

  float acc[hxMAXJOINT];

  float torque_motor[hxMAXJOINT];

  float torque_passive[hxMAXJOINT];
};

struct _hxsContact
{
  int ncontact;

  int body1[hxsMAXCONTACT];

  int body2[hxsMAXCONTACT];


  float point[hxsMAXCONTACT][3];

  float normal[hxsMAXCONTACT][3];

  float tangent1[hxsMAXCONTACT][3];

  float tangent2[hxsMAXCONTACT][3];


  float distance[hxsMAXCONTACT];

  float velocity[hxsMAXCONTACT][3];

  float force[hxsMAXCONTACT][3];
};

typedef struct _hxsDeviceInfo hxsDeviceInfo;

typedef struct _hxsBody hxsBody;

typedef struct _hxsJoint hxsJoint;

typedef struct _hxsContact hxsContact;

hxResult hxs_getdeviceinfo(int _target,
                           hxsDeviceInfo *_deviceinfo);

hxResult hxs_getbody(int _target,
                     hxsBody *_body);

hxResult hxs_getjoint(int _target,
                      hxsJoint *_joint);

hxResult hxs_getcontact(int _target,
                        hxsContact *_contact);

hxResult hxs_getjacobian(int _target,
                         int _link,
                         const float *_point,
                         float *_jacobian);

hxResult hxs_setstate(int _target,
                      const hxsBody *_body,
                      const hxsJoint *_joint);

hxResult hxs_updatedirect(int _target,
                          const float *_torque,
                          hxSensor *_sensor,
                          int _flg_sleep);

hxResult hxs_message(const char *_message);

#ifdef __cplusplus
}
#endif
#endif