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_SIM_API_HAPTIX_H__
#define __HAPTIX_SIM_API_HAPTIX_H__

#ifdef __cplusplus
extern "C" {
#endif

#include "haptix.h"

// ---------- constants ----------

#define hxsMAXCONTACT 200

#define hxsMAXLINKS 100

#define hxsMAXJOINTS 50

#define hxsMAXMODELS 50

#define hxsMAXNAMESIZE 100

typedef enum {hxsNOCOLLIDE, hxsDETECTIONONLY, hxsCOLLIDE} hxsCollideMode;

// ---------- data structures ----------

struct _hxsVector3
{
  float x;
  float y;
  float z;
};

typedef struct _hxsVector3 hxsVector3;

struct _hxsColor
{
  float r;
  float g;
  float b;
  float alpha;
};

typedef struct _hxsColor hxsColor;

struct _hxsQuaternion
{
  float w;
  float x;
  float y;
  float z;
};

typedef struct _hxsQuaternion hxsQuaternion;

struct _hxsTransform
{
  hxsVector3 pos;
  hxsQuaternion orient;
};

typedef struct _hxsTransform hxsTransform;

struct _hxsWrench
{
  hxsVector3 force;

  hxsVector3 torque;
};

typedef struct _hxsWrench hxsWrench;

struct _hxsJoint
{
  char name[hxsMAXNAMESIZE];

  float pos;

  float vel;

  float acc;

  float torque_motor;

  hxsWrench wrench_reactive;
};

typedef struct _hxsJoint hxsJoint;

struct _hxsLink
{
  char name[hxsMAXNAMESIZE];

  hxsTransform transform;

  hxsVector3 lin_vel;

  hxsVector3 ang_vel;

  hxsVector3 lin_acc;

  hxsVector3 ang_acc;
};

typedef struct _hxsLink hxsLink;

struct _hxsModel
{
  char name[hxsMAXNAMESIZE];

  hxsTransform transform;

  int link_count;

  hxsLink links[hxsMAXLINKS];

  int joint_count;

  hxsJoint joints[hxsMAXJOINTS];

  int gravity_mode;
};

typedef struct _hxsModel hxsModel;

struct _hxsContactPoint
{
  char link1[hxsMAXNAMESIZE];

  char link2[hxsMAXNAMESIZE];

  hxsVector3 point;

  hxsVector3 normal;

  float distance;

  hxsWrench wrench;
};

typedef struct _hxsContactPoint hxsContactPoint;

struct _hxsContactPoints
{
  int contact_count;

  hxsContactPoint contacts[hxsMAXCONTACT];
};

typedef struct _hxsContactPoints hxsContactPoints;

struct _hxsSimInfo
{
  int model_count;

  hxsModel models[hxsMAXMODELS];

  hxsTransform camera_transform;
};

typedef struct _hxsSimInfo hxsSimInfo;

// ---------- API functions ----------

hxResult hxs_sim_info(hxsSimInfo *_siminfo);

hxResult hxs_camera_transform(hxsTransform *_transform);

hxResult hxs_set_camera_transform(const hxsTransform *_transform);

hxResult hxs_contacts(const char *_model, hxsContactPoints *_contact);

hxResult hxs_model_joint_state(const char *_model, hxsModel *_state);

hxResult hxs_set_model_joint_state(const char *_model, const char *_joint,
    float _pos, float _vel);

hxResult hxs_add_model(const char *_sdf, const char *_name,
    float _x, float _y, float _z, float _roll, float _pitch, float _yaw,
    int _gravity_mode, hxsModel *_model);

hxResult hxs_remove_model(const char *_name);

hxResult hxs_set_model_transform(const char *_name,
    const hxsTransform *_transform);

hxResult hxs_model_transform(const char *_name, hxsTransform *_transform);

hxResult hxs_model_gravity_mode(const char *_name, int *_gravity_mode);

hxResult hxs_set_model_gravity_mode(const char *_name, const int _gravity_mode);

hxResult hxs_linear_velocity(const char *_name, hxsVector3 *_velocity);

hxResult hxs_set_linear_velocity(const char *_name,
    const hxsVector3 *_velocity);

hxResult hxs_angular_velocity(const char *_name, hxsVector3 *_ang_vel);

hxResult hxs_set_angular_velocity(const char *_name,
  const hxsVector3 *_ang_vel);

hxResult hxs_apply_force(const char *_modelName, const char *_linkName,
    const hxsVector3 *_force, const float _duration);

hxResult hxs_apply_torque(const char *_modelName, const char *_linkName,
    const hxsVector3 *_torque, const float _duration);

hxResult hxs_apply_wrench(const char *_modelName, const char *_linkName,
    const hxsWrench *_wrench, const float _duration);

hxResult hxs_reset(int _resetLimbPose);

hxResult hxs_start_logging(const char *_dirname);

hxResult hxs_is_logging(int *_result);

hxResult hxs_stop_logging();

hxResult hxs_set_model_color(const char *_model, const hxsColor *_color);

hxResult hxs_model_color(const char *_model, hxsColor *_color);

hxResult hxs_set_model_collide_mode(const char *_model,
    const hxsCollideMode *_collide_mode);

hxResult hxs_model_collide_mode(const char *_model,
    hxsCollideMode *_collide_mode);

hxResult hxs_add_constraint(const char *_sdf, const char *_model);

hxResult hxs_remove_constraint(const char *_name, const char *_model);

#ifdef __cplusplus
}
#endif

#endif