mirror of
https://github.com/bulletphysics/bullet3
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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
103 lines
2.9 KiB
C++
103 lines
2.9 KiB
C++
//todo: turn this into a gtest, comparing maximal and reduced coordinates contact behavior etc
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#include "b3RobotSimulatorClientAPI.h"
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#include "../Utils/b3Clock.h"
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#include <string.h>
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#include <stdio.h>
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#include <assert.h>
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#define ASSERT_EQ(a, b) assert((a) == (b));
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#include "MinitaurSetup.h"
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#define NUM_SIM 1
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int main(int argc, char* argv[])
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{
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b3RobotSimulatorClientAPI* sims[2];
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b3Scalar fixedTimeStep = 1. / 240.;
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for (int i = 0; i < NUM_SIM; i++)
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{
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b3RobotSimulatorClientAPI* sim = new b3RobotSimulatorClientAPI();
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sims[i] = sim;
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sim->connect(eCONNECT_GUI); //eCONNECT_GUI);//DIRECT);
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//Can also use eCONNECT_DIRECT,eCONNECT_SHARED_MEMORY,eCONNECT_UDP,eCONNECT_TCP, for example:
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//sim->connect(eCONNECT_UDP, "localhost", 1234);
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sim->configureDebugVisualizer(COV_ENABLE_GUI, 0);
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// sim->configureDebugVisualizer( COV_ENABLE_SHADOWS, 0);//COV_ENABLE_WIREFRAME
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//sim->setTimeOut(3);
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//syncBodies is only needed when connecting to an existing physics server that has already some bodies
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sim->syncBodies();
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sim->setTimeStep(fixedTimeStep);
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b3Quaternion q = sim->getQuaternionFromEuler(b3MakeVector3(0.1, 0.2, 0.3));
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b3Vector3 rpy;
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rpy = sim->getEulerFromQuaternion(q);
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sim->setGravity(b3MakeVector3(0, 0, -9.8));
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//int blockId = sim->loadURDF("cube.urdf");
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//b3BodyInfo bodyInfo;
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//sim->getBodyInfo(blockId,&bodyInfo);
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b3Quaternion orn;
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orn.setEulerZYX(0, B3_PI * 0.23, 0);
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b3RobotSimulatorLoadUrdfFileArgs args;
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args.m_startPosition.setValue(0, 0, 0);
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args.m_startOrientation = orn;
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args.m_useMultiBody = i == 0 ? false : true; //true : false;//false : true;
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sim->loadURDF("plane.urdf", args);
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args.m_startPosition.setValue(0, 0, 0.66);
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args.m_startOrientation.setEulerZYX(0, B3_PI * 0.23, 0);
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sim->loadURDF("cube_soft.urdf", args);
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double distance = 1.5;
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double yaw = 50;
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sim->resetDebugVisualizerCamera(distance, yaw, 20, b3MakeVector3(0, 0, 0.1));
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sim->setRealTimeSimulation(false);
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}
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int enableSim = 1;
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while (sims[0]->canSubmitCommand())
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{
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#if 0
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b3KeyboardEventsData keyEvents;
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sim->getKeyboardEvents(&keyEvents);
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if (keyEvents.m_numKeyboardEvents)
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{
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//printf("num key events = %d]\n", keyEvents.m_numKeyboardEvents);
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//m_keyState is a flag combination of eButtonIsDown,eButtonTriggered, eButtonReleased
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for (int i=0;i<keyEvents.m_numKeyboardEvents;i++)
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{
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if (keyEvents.m_keyboardEvents[i].m_keyCode=='i' && keyEvents.m_keyboardEvents[i].m_keyState & eButtonTriggered)
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{
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enableSim = !enableSim;
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}
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}
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}
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#endif
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for (int i = 0; i < NUM_SIM; i++)
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{
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sims[i]->setGravity(b3MakeVector3(0, 0, -10));
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//printf(".");
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if (enableSim)
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{
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sims[i]->stepSimulation();
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}
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}
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b3Clock::usleep(1000. * 1000. * fixedTimeStep);
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}
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printf("sim->disconnect\n");
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for (int i = 0; i < NUM_SIM; i++)
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{
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sims[i]->disconnect();
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printf("delete sim\n");
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delete sims[i];
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}
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printf("exit\n");
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}
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