Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

initial implementation to send debug lines from physics server to client,

Browse Source 
need to add streaming because memory is too small to store all lines
initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
This commit is contained in:
erwincoumans
2015-08-19 22:51:16 -07:00
parent 89765ceccf
commit 081a40d254
14 changed files with 750 additions and 168 deletions
Download Patch File Download Diff File Expand all files Collapse all files

35
examples/SharedMemory/PhysicsClientExample.cpp
View File

@@ -47,11 +47,12 @@ public:
virtual void resetCamera()
{
float dist = 1;
float dist = 5;
float pitch = 50;
float yaw = 35;
float targetPos[3]={-3,2.8,-2.5};
float targetPos[3]={0,0,0};//-3,2.8,-2.5};
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
virtual bool wantsTermination()
@@ -67,7 +68,18 @@ public:
void enqueueCommand(const SharedMemoryCommand& orgCommand);
virtual void exitPhysics(){};
virtual void renderScene(){}
virtual void renderScene()
{
int numLines = m_physicsClient.getNumDebugLines();
const btVector3* fromLines = m_physicsClient.getDebugLinesFrom();
const btVector3* toLines = m_physicsClient.getDebugLinesTo();
const btVector3* colorLines = m_physicsClient.getDebugLinesColor();
btScalar lineWidth = 2;
for (int i=0;i<numLines;i++)
{
this->m_guiHelper->getRenderInterface()->drawLine(fromLines[i],toLines[i],colorLines[i],lineWidth);
}
}
virtual void physicsDebugDraw(int debugFlags){}
virtual bool mouseMoveCallback(float x,float y){return false;};
virtual bool mouseButtonCallback(int button, int state, float x, float y){return false;}
@@ -95,8 +107,11 @@ void MyCallback(int buttonId, bool buttonState, void* userPtr)
case CMD_LOAD_URDF:
{
command.m_type =CMD_LOAD_URDF;
sprintf(command.m_urdfArguments.m_urdfFileName,"kuka_lwr/kuka.urdf");
sprintf(command.m_urdfArguments.m_urdfFileName,"r2d2.urdf");//kuka_lwr/kuka.urdf");
command.m_urdfArguments.m_initialPosition[0] = 0.0;
command.m_updateFlags =
URDF_ARGS_FILE_NAME| URDF_ARGS_INITIAL_POSITION|URDF_ARGS_INITIAL_ORIENTATION|URDF_ARGS_USE_MULTIBODY|URDF_ARGS_USE_FIXED_BASE;
command.m_urdfArguments.m_initialPosition[1] = 0.0;
command.m_urdfArguments.m_initialPosition[2] = 0.0;
command.m_urdfArguments.m_initialOrientation[0] = 0.0;
@@ -129,6 +144,8 @@ void MyCallback(int buttonId, bool buttonState, void* userPtr)
{
command.m_type =CMD_STEP_FORWARD_SIMULATION;
cl->enqueueCommand(command);
command.m_type =CMD_REQUEST_DEBUG_LINES;
cl->enqueueCommand(command);
break;
}
@@ -230,6 +247,9 @@ void PhysicsClientExample::initPhysics()
{
if (m_guiHelper && m_guiHelper->getParameterInterface())
{
int upAxis = 2;
m_guiHelper->setUpAxis(upAxis);
createButtons();
} else
@@ -273,7 +293,12 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
b3Printf("Joint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex);
}
if (hasStatus && status.m_type ==CMD_DEBUG_LINES_COMPLETED)
{
//store the debug lines for drawing
}
if (hasStatus && status.m_type == CMD_URDF_LOADING_COMPLETED)
{
for (int i=0;i<m_physicsClient.getNumJoints();i++)