mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 21:30:09 +00:00
148 lines
4.1 KiB
C++
148 lines
4.1 KiB
C++
#include "MinitaurSimulatorExample.h"
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#include "MinitaurSetup.h"
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#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
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#include "Bullet3Common/b3Quaternion.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/SharedMemoryPublic.h"
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#include "../CommonInterfaces/CommonParameterInterface.h"
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#include "../SharedMemory/PhysicsClientC_API.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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///quick demo showing the right-handed coordinate system and positive rotations around each axis
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class MinitaurSimulatorExample : public CommonExampleInterface
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{
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CommonGraphicsApp* m_app;
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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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double m_time;
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btScalar m_gravityAccelerationZ;
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MinitaurSetup m_minitaur;
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int m_minitaurUid;
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public:
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MinitaurSimulatorExample(GUIHelperInterface* helper, int options)
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: m_app(helper->getAppInterface()),
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m_guiHelper(helper),
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m_options(options),
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m_gravityAccelerationZ(-10),
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m_minitaurUid(-1)
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{
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m_app->setUpAxis(2);
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}
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virtual ~MinitaurSimulatorExample()
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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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//hide the perception camera views for rbd, depth and segmentation mask
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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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b3Printf("robotSim connected = %d", connected);
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SliderParams slider("Gravity", &m_gravityAccelerationZ);
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slider.m_minVal = -10;
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slider.m_maxVal = 10;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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//when in the debugger, don't crash when a command isn't processed immediately, give it 10 seconds
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m_robotSim.setTimeOut(10);
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m_robotSim.loadURDF("plane.urdf");
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m_minitaurUid = m_minitaur.setupMinitaur(&m_robotSim, btVector3(0, 0, .3));
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{
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b3RobotSimulatorLoadUrdfFileArgs args;
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args.m_startPosition.setValue(0, 0, 1);
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args.m_startOrientation.setEulerZYX(0, 0, 0);
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args.m_useMultiBody = true;
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m_robotSim.loadURDF("cube_small.urdf", args);
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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.setGravity(btVector3(0, 0, m_gravityAccelerationZ));
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m_robotSim.stepSimulation();
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for (int i = 0; i < m_robotSim.getNumJoints(m_minitaurUid);i++)
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{
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b3JointSensorState state;
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m_robotSim.getJointState(this->m_minitaurUid, i, &state);
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}
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b3JointStates2 states;
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m_robotSim.getJointStates(m_minitaurUid, states);
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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 = 1.5;
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float pitch = -10;
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float yaw = 18;
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float targetPos[3] = {-0.2, 0.8, 0.3};
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if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
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{
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m_app->m_renderer->getActiveCamera()->setCameraDistance(dist);
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m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch);
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m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw);
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m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0], targetPos[1], targetPos[2]);
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}
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}
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};
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class CommonExampleInterface* MinitaurSimulatorExampleCreateFunc(struct CommonExampleOptions& options)
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{
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return new MinitaurSimulatorExample(options.m_guiHelper, options.m_option);
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}
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