syntax = "proto3";

//for why oneof everywhere, see the sad decision here:
//https://github.com/protocolbuffers/protobuf/issues/1606

option java_multiple_files = true;
option java_package = "io.grpc.pybullet_grpc";
option java_outer_classname = "PyBulletProto";
option objc_class_prefix = "PBG";


package pybullet_grpc;

service PyBulletAPI {
  // Sends a greeting
  rpc SubmitCommand (PyBulletCommand) returns (PyBulletStatus) {}
}


message vec3
{
	double x=1;
	double y=2;
	double z=3;
};


message quat4
{
	double x=1;
	double y=2;
	double z=3;
	double w=4;
};

message vec4
{
	double x=1;
	double y=2;
	double z=3;
	double w=4;
};


message transform
{
	vec3 	origin=1;
	quat4 orientation=2;
};

message matrix4x4
{
	//assume 16 elements, with translation in 12,13,14,
	//'right' vector is elements 0,1,3 and 4
	repeated double elems=1;
};

message CheckVersionCommand
{
	int32 clientVersion=1;	
};

message CheckVersionStatus
{
	int32 serverVersion=1;
};


message TerminateServerCommand
{
	string exitReason=1;
};

message StepSimulationCommand
{
};

message SyncBodiesCommand
{

};

message SyncBodiesStatus
{
	repeated int32 bodyUniqueIds=1;
	repeated int32 userConstraintUniqueIds=2;
};


message RequestBodyInfoCommand
{
	int32 bodyUniqueId=1;
};

message RequestBodyInfoStatus
{
	int32 bodyUniqueId=1;
	string bodyName=2;
};



message LoadUrdfCommand {
	string fileName=1;
	vec3 initialPosition=2;
	quat4 initialOrientation=3;
	//for why oneof here, see the sad decision here:
	//https://github.com/protocolbuffers/protobuf/issues/1606
	oneof hasUseMultiBody	{		int32  useMultiBody=4;	}
	oneof hasUseFixedBase{	bool useFixedBase=5;	}
	int32 flags=6;
	oneof hasGlobalScaling {	double globalScaling=7;
	}
};

message LoadUrdfStatus {
	int32 bodyUniqueId=1;
	string bodyName=2;
	string fileName=3;
}



message LoadSdfCommand {
	string fileName=1;
	oneof hasUseMultiBody	{		int32  useMultiBody=2;	}
	oneof hasGlobalScaling {	double globalScaling=3;
	}
};

message SdfLoadedStatus
{
    repeated int32 bodyUniqueIds=2;
}

message LoadMjcfCommand {
	string fileName=1;
	int32 flags=2;
	
};

message MjcfLoadedStatus
{
    repeated int32 bodyUniqueIds=2;
}


message ChangeDynamicsCommand
{
	int32 bodyUniqueId=1;
	int32 linkIndex=2;
	
	oneof hasMass { double mass=3;}
	oneof hasLateralFriction { double lateralFriction=5;}
	oneof hasSpinningFriction {double spinningFriction=6;}
	oneof hasRollingFriction {double rollingFriction=7;}
	oneof hasRestitution { double restitution=8;}
	oneof haslinearDamping { double linearDamping=9;}
	oneof hasangularDamping { double angularDamping=10;}
	oneof hasContactStiffness { double contactStiffness=11;}
	oneof hasContactDamping { double contactDamping=12;}
	oneof hasLocalInertiaDiagonal { vec3 localInertiaDiagonal=13;}
	oneof hasFrictionAnchor { int32 frictionAnchor=14;}
	oneof hasccdSweptSphereRadius { double ccdSweptSphereRadius=15;}
	oneof hasContactProcessingThreshold { double contactProcessingThreshold=16;}
	oneof hasActivationState { int32 activationState=17;}
};

message GetDynamicsCommand
{
	int32 bodyUniqueId=1;
	int32 linkIndex=2;
};

message GetDynamicsStatus
{
	double mass=3;
	double lateralFriction=5;
	double spinningFriction=6;
	double rollingFriction=7;
	double restitution=8;
	double linearDamping=9;
	double angularDamping=10;
	double contactStiffness=11;
	double contactDamping=12;
	vec3 localInertiaDiagonal=13;
	int32 frictionAnchor=14;
	double ccdSweptSphereRadius=15;
	double contactProcessingThreshold=16;
	int32 activationState=17;
};


message InitPoseCommand
{
	int32 bodyUniqueId=1;
	int32 updateflags=2;
	repeated int32 hasInitialStateQ=3;
	repeated double initialStateQ=4;
	repeated int32 hasInitialStateQdot=5;
	repeated double initialStateQdot=6;
};


message RequestActualStateCommand
{
	int32 bodyUniqueId=1;
	bool computeForwardKinematics=2;
	bool computeLinkVelocities=3;
};


message SendActualStateStatus
{
	int32 bodyUniqueId=1;
	int32 numLinks=2;
	int32 numDegreeOfFreedomQ=3;
	int32 numDegreeOfFreedomU=4;

	repeated double rootLocalInertialFrame=5;
   
	//actual state is only written by the server, read-only access by client is expected
	repeated double actualStateQ=6;
	repeated double actualStateQdot=7;

	//measured 6DOF force/torque sensors: force[x,y,z] and torque[x,y,z]
	repeated double jointReactionForces=8;

	repeated double jointMotorForce=9;
    
	repeated double linkState=10;
	repeated double linkWorldVelocities=11;//linear velocity and angular velocity in world space (x/y/z each).
	repeated double linkLocalInertialFrames=12;
};


message ConfigureOpenGLVisualizerCommand
{
		int32 updateFlags=1;
		
    double cameraDistance=2;
    double cameraPitch=3;
    double cameraYaw=4;
    vec3 cameraTargetPosition=5;
  
    int32 setFlag=6;
    int32 setEnabled=7;
};


message PhysicsSimulationParameters
{
	double deltaTime=1;
	vec3 gravityAcceleration=2;
	int32 numSimulationSubSteps=3;
	int32 numSolverIterations=4;
	int32 useRealTimeSimulation=5;
	int32 useSplitImpulse=6;
	double splitImpulsePenetrationThreshold=7;
	double contactBreakingThreshold=8;
	int32 internalSimFlags=9;
	double defaultContactERP=10;
	int32 collisionFilterMode=11;
	int32 enableFileCaching=12;
	double restitutionVelocityThreshold=13;
	double defaultNonContactERP=14;
	double frictionERP=15;
	double defaultGlobalCFM=16;
	double frictionCFM=17;
	int32 enableConeFriction=18;
	int32 deterministicOverlappingPairs=19;
	double allowedCcdPenetration=20;
	int32 jointFeedbackMode=21;
	double solverResidualThreshold=22;
	double contactSlop=23;
	int32 enableSAT=24;
  int32 constraintSolverType=25;
	int32 minimumSolverIslandSize=26;
};


message PhysicsSimulationParametersCommand
{
	int32 updateFlags=1;
	PhysicsSimulationParameters params=2;
};



message JointMotorControlCommand
{
	int32 bodyUniqueId=1;
	int32 controlMode=2;
	int32 updateFlags=3;
	
	//PD parameters in case controlMode == CONTROL_MODE_POSITION_VELOCITY_PD
	repeated double Kp=4;//indexed by degree of freedom, 6 for base, and then the dofs for each link
	repeated double Kd=5;//indexed by degree of freedom, 6 for base, and then the dofs for each link
	repeated double maxVelocity=6;

  repeated int32 hasDesiredStateFlags=7;
    
	//desired state is only written by the client, read-only access by server is expected

	//desiredStateQ is indexed by position variables, 
	//starting with 3 base position variables, 4 base orientation variables (quaternion), then link position variables
  repeated double desiredStateQ=8;
    
	//desiredStateQdot is index by velocity degrees of freedom, 3 linear and 3 angular variables for the base and then link velocity variables
  repeated double desiredStateQdot=9;
	
	//desiredStateForceTorque is either the actual applied force/torque (in CONTROL_MODE_TORQUE) or
	//or the maximum applied force/torque for the PD/motor/constraint to reach the desired velocity in CONTROL_MODE_VELOCITY and CONTROL_MODE_POSITION_VELOCITY_PD mode
	//indexed by degree of freedom, 6 dof base, and then dofs for each link
	repeated double desiredStateForceTorque=10;
};


message UserConstraintCommand
{
	int32 parentBodyIndex=1;
	int32 parentJointIndex=2;
	int32 childBodyIndex=3;
	int32 childJointIndex=4;
	transform parentFrame=5;
	transform childFrame=6;
	vec3 jointAxis=7;
	int32 jointType=8;
	double maxAppliedForce=9;
	int32 userConstraintUniqueId=10;
	double gearRatio=11;
	int32 gearAuxLink=12;
	double relativePositionTarget=13;
	double erp=14;
	int32 updateFlags=15;
};

message UserConstraintStatus
{
	double maxAppliedForce=9;
	int32 userConstraintUniqueId=10;
};

message UserConstraintStateStatus
{
	vec3 appliedConstraintForcesLinear=1;
	vec3 appliedConstraintForcesAngular=2;
	int32 numDofs=3;
};


message RequestKeyboardEventsCommand
{

};

message KeyboardEvent
{
	int32 keyCode=1;//ascii
	int32 keyState=2;// see b3VRButtonInfo
};


message KeyboardEventsStatus
{
	repeated KeyboardEvent keyboardEvents=1;
};


message RequestCameraImageCommand
{
	int32 updateFlags=1;
	int32 cameraFlags=2;
	matrix4x4 viewMatrix=3;
	matrix4x4 projectionMatrix=4;
	int32 startPixelIndex=5;
	int32 pixelWidth=6;
	int32 pixelHeight=7;
	vec3 lightDirection=8;
	vec3 lightColor=9;
	double lightDistance=10;
	double lightAmbientCoeff=11;
	double lightDiffuseCoeff=12;
	double lightSpecularCoeff=13;
	int32 hasShadow=14;
	matrix4x4 projectiveTextureViewMatrix=15;
	matrix4x4 projectiveTextureProjectionMatrix=16;
};

message RequestCameraImageStatus
{
	int32 imageWidth=1;
	int32 imageHeight=2;

	int32 startingPixelIndex=3;
	int32 numPixelsCopied=4;
	int32 numRemainingPixels=5;
};

message ResetSimulationCommand
{
};

// The request message containing the command
message PyBulletCommand {
  int32 commandType=1;
  
  repeated bytes binaryBlob=2;
  
  repeated bytes unknownCommandBinaryBlob=3;
    
  oneof commands {
  	
    LoadUrdfCommand loadUrdfCommand = 4;
    TerminateServerCommand terminateServerCommand=5;
		StepSimulationCommand stepSimulationCommand= 6;
		LoadSdfCommand loadSdfCommand=7;
		LoadMjcfCommand loadMjcfCommand=8;
		ChangeDynamicsCommand changeDynamicsCommand=9;
		GetDynamicsCommand getDynamicsCommand=10;
		InitPoseCommand initPoseCommand=11;
		RequestActualStateCommand requestActualStateCommand=12;
		ConfigureOpenGLVisualizerCommand configureOpenGLVisualizerCommand =13;
		SyncBodiesCommand syncBodiesCommand=14;
		RequestBodyInfoCommand requestBodyInfoCommand=15;
		PhysicsSimulationParametersCommand setPhysicsSimulationParametersCommand=16;
		JointMotorControlCommand jointMotorControlCommand=17;
		UserConstraintCommand userConstraintCommand=18;
		CheckVersionCommand checkVersionCommand=19;
		RequestKeyboardEventsCommand requestKeyboardEventsCommand=20;
		RequestCameraImageCommand requestCameraImageCommand=21;
		ResetSimulationCommand resetSimulationCommand=22;
  }
  
  
}

// The response message containing the status
message PyBulletStatus {
  int32 statusType=1;
  
  repeated bytes binaryBlob=2;
  
  repeated bytes unknownStatusBinaryBlob=3;
  
  oneof status
  {
  	
  	LoadUrdfStatus urdfStatus = 4;
  	SdfLoadedStatus sdfStatus = 5;
  	MjcfLoadedStatus mjcfStatus = 6;
  	GetDynamicsStatus getDynamicsStatus = 7;
  	SendActualStateStatus actualStateStatus = 8;
  	SyncBodiesStatus syncBodiesStatus=9;
  	RequestBodyInfoStatus requestBodyInfoStatus = 10;
  	PhysicsSimulationParameters requestPhysicsSimulationParametersStatus=11;
  	CheckVersionStatus checkVersionStatus=12;
  	UserConstraintStatus userConstraintStatus=13;
		UserConstraintStateStatus userConstraintStateStatus=14;
		KeyboardEventsStatus keyboardEventsStatus=15;
		RequestCameraImageStatus requestCameraImageStatus=16;
  }
  
  
}