mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 22:00:05 +00:00
117 lines
3.0 KiB
C++
117 lines
3.0 KiB
C++
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#include "FixJointBoxes.h"
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#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
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#include "Bullet3Common/b3AlignedObjectArray.h"
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#include "../CommonInterfaces/CommonRenderInterface.h"
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#include "../CommonInterfaces/CommonExampleInterface.h"
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#include "../CommonInterfaces/CommonGUIHelperInterface.h"
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#include "../SharedMemory/PhysicsServerSharedMemory.h"
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#include "../SharedMemory/PhysicsClientC_API.h"
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#include "../SharedMemory/SharedMemoryPublic.h"
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#include "../CommonInterfaces/CommonParameterInterface.h"
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#include <string>
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#include <vector>
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#include "../RobotSimulator/b3RobotSimulatorClientAPI.h"
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class FixJointBoxes : public CommonExampleInterface
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{
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GUIHelperInterface* m_guiHelper;
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b3RobotSimulatorClientAPI m_robotSim;
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int m_options;
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public:
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FixJointBoxes(GUIHelperInterface* helper, int options)
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: m_guiHelper(helper),
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m_options(options)
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{
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}
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virtual ~FixJointBoxes()
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{
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}
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virtual void physicsDebugDraw(int debugDrawMode)
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{
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m_robotSim.debugDraw(debugDrawMode);
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}
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virtual void initPhysics()
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{
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int mode = eCONNECT_EXISTING_EXAMPLE_BROWSER;
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m_robotSim.setGuiHelper(m_guiHelper);
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bool connected = m_robotSim.connect(mode);
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b3Printf("robotSim connected = %d", connected);
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m_robotSim.configureDebugVisualizer(COV_ENABLE_RGB_BUFFER_PREVIEW, 0);
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m_robotSim.configureDebugVisualizer(COV_ENABLE_DEPTH_BUFFER_PREVIEW, 0);
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m_robotSim.configureDebugVisualizer(COV_ENABLE_SEGMENTATION_MARK_PREVIEW, 0);
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b3RobotSimulatorLoadUrdfFileArgs args;
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size_t numCubes = 10;
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std::vector<int> cubeIds(numCubes, 0);
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for (int i = 0; i < numCubes; i++)
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{
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args.m_forceOverrideFixedBase = (i == 0);
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args.m_startPosition.setValue(0, i * 0.05, 1);
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cubeIds[i] = m_robotSim.loadURDF("cube_small.urdf", args);
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b3RobotJointInfo jointInfo;
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jointInfo.m_parentFrame[1] = -0.025;
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jointInfo.m_childFrame[1] = 0.025;
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jointInfo.m_jointType = eFixedType;
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// jointInfo.m_jointType = ePoint2PointType;
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// jointInfo.m_jointType = ePrismaticType;
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if (i > 0)
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{
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m_robotSim.createConstraint(cubeIds[i], -1, cubeIds[i - 1], -1, &jointInfo);
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}
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m_robotSim.loadURDF("plane.urdf");
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}
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}
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virtual void exitPhysics()
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{
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m_robotSim.disconnect();
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}
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virtual void stepSimulation(float deltaTime)
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{
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m_robotSim.stepSimulation();
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}
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virtual void renderScene()
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{
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m_robotSim.renderScene();
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}
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virtual bool mouseMoveCallback(float x, float y)
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{
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return m_robotSim.mouseMoveCallback(x, y);
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}
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virtual bool mouseButtonCallback(int button, int state, float x, float y)
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{
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return m_robotSim.mouseButtonCallback(button, state, x, y);
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}
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virtual bool keyboardCallback(int key, int state)
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{
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return false;
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}
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virtual void resetCamera()
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{
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float dist = 1;
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float pitch = -20;
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float yaw = -30;
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float targetPos[3] = {0, 0.2, 0.5};
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m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
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}
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};
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class CommonExampleInterface* FixJointBoxesCreateFunc(struct CommonExampleOptions& options)
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{
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return new FixJointBoxes(options.m_guiHelper, options.m_option);
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}
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