mirror of
https://github.com/bulletphysics/bullet3
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110 lines
2.8 KiB
C++
110 lines
2.8 KiB
C++
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#include "JointLimit.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 "../RobotSimulator/b3RobotSimulatorClientAPI.h"
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#include "../Utils/b3Clock.h"
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class JointLimit : 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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JointLimit(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 ~JointLimit()
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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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b3RobotSimulatorSetPhysicsEngineParameters physicsArgs;
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physicsArgs.m_constraintSolverType = eConstraintSolverLCP_DANTZIG;
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physicsArgs.m_defaultGlobalCFM = 1e-6;
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m_robotSim.setNumSolverIterations(10);
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b3RobotSimulatorLoadUrdfFileArgs loadArgs;
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int humanoid = m_robotSim.loadURDF("test_joints_MB.urdf", loadArgs);
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b3RobotSimulatorChangeDynamicsArgs dynamicsArgs;
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dynamicsArgs.m_linearDamping = 0;
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dynamicsArgs.m_angularDamping = 0;
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m_robotSim.changeDynamics(humanoid, -1, dynamicsArgs);
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m_robotSim.setGravity(btVector3(0, 0, -10));
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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 = 3;
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float pitch = -10;
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float yaw = 18;
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float targetPos[3] = {0.6, 0.8, 0.3};
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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* JointLimitCreateFunc(struct CommonExampleOptions& options)
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{
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return new JointLimit(options.m_guiHelper, options.m_option);
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}
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