mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 21:30:09 +00:00
ab8f16961e
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
49 lines
1.2 KiB
C++
49 lines
1.2 KiB
C++
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#include "b3RobotSimulatorClientAPI_NoGUI.h"
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int main(int argc, char* argv[])
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{
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b3RobotSimulatorClientAPI_NoGUI* sim = new b3RobotSimulatorClientAPI_NoGUI();
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bool isConnected = sim->connect(eCONNECT_SHARED_MEMORY);
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if (!isConnected)
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{
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printf("Using Direct mode\n");
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isConnected = sim->connect(eCONNECT_DIRECT);
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}
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else
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{
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printf("Using shared memory\n");
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}
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//remove all existing objects (if any)
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sim->resetSimulation();
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sim->setGravity(btVector3(0, 0, -9.8));
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sim->setNumSolverIterations(100);
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b3RobotSimulatorSetPhysicsEngineParameters args;
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sim->getPhysicsEngineParameters(args);
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int planeUid = sim->loadURDF("plane.urdf");
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printf("planeUid = %d\n", planeUid);
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int r2d2Uid = sim->loadURDF("r2d2.urdf");
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printf("r2d2 #joints = %d\n", sim->getNumJoints(r2d2Uid));
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btVector3 basePosition = btVector3(0, 0, 0.5);
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btQuaternion baseOrientation = btQuaternion(0, 0, 0, 1);
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sim->resetBasePositionAndOrientation(r2d2Uid, basePosition, baseOrientation);
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while (sim->isConnected())
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{
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btVector3 basePos;
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btQuaternion baseOrn;
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sim->getBasePositionAndOrientation(r2d2Uid, basePos, baseOrn);
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printf("r2d2 basePosition = [%f,%f,%f]\n", basePos[0], basePos[1], basePos[2]);
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sim->stepSimulation();
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}
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delete sim;
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}
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