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tweak premake files for ExampleBrowser, allow non-GUI mode for humanoidMotionCapture

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This commit is contained in:
Erwin Coumans
2019-01-28 07:35:57 -08:00
parent 505cb15600
commit 0e4d6b0376
3 changed files with 17 additions and 14 deletions
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data/multibody.bullet
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7
examples/ExampleBrowser/premake4.lua
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@@ -27,7 +27,7 @@ project "App_BulletExampleBrowser"
initOpenCL("clew") initOpenCL("clew")
end end
links{"BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","rbdl_static","LinearMath","BussIK", "Bullet3Common"} links{"BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","BussIK", "Bullet3Common"}
initOpenGL() initOpenGL()
initGlew() initGlew()
@@ -137,13 +137,8 @@ project "App_BulletExampleBrowser"
"../SharedMemory/plugins/stablePDPlugin/Shape.cpp", "../SharedMemory/plugins/stablePDPlugin/Shape.cpp",
"../SharedMemory/plugins/stablePDPlugin/RBDUtil.cpp", "../SharedMemory/plugins/stablePDPlugin/RBDUtil.cpp",
"../SharedMemory/plugins/stablePDPlugin/RBDModel.cpp", "../SharedMemory/plugins/stablePDPlugin/RBDModel.cpp",
"../SharedMemory/plugins/stablePDPlugin/Rand.cpp",
"../SharedMemory/plugins/stablePDPlugin/MathUtil.cpp", "../SharedMemory/plugins/stablePDPlugin/MathUtil.cpp",
"../SharedMemory/plugins/stablePDPlugin/KinTree.cpp", "../SharedMemory/plugins/stablePDPlugin/KinTree.cpp",
"../SharedMemory/plugins/stablePDPlugin/FileUtil.cpp",
"../SharedMemory/plugins/stablePDPlugin/json/json_writer.cpp",
"../SharedMemory/plugins/stablePDPlugin/json/json_value.cpp",
"../SharedMemory/plugins/stablePDPlugin/json/json_reader.cpp",
"../SharedMemory/SharedMemoryCommands.h", "../SharedMemory/SharedMemoryCommands.h",
"../SharedMemory/SharedMemoryPublic.h", "../SharedMemory/SharedMemoryPublic.h",
"../SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp", "../SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp",

24
examples/pybullet/examples/humanoidMotionCapture.py
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@@ -2,7 +2,11 @@ import pybullet as p
import json import json
import time import time
p.connect(p.GUI) useGUI = True
if useGUI:
p.connect(p.GUI)
else:
p.connect(p.DIRECT)
useZUp = False useZUp = False
useYUp = not useZUp useYUp = not useZUp
@@ -198,15 +202,19 @@ p.getCameraImage(320,200)
while (p.isConnected()): while (p.isConnected()):
if useGUI:
erp = p.readUserDebugParameter(erpId) erp = p.readUserDebugParameter(erpId)
kpMotor = p.readUserDebugParameter(kpMotorId)
kpMotor = p.readUserDebugParameter(kpMotorId) maxForce=p.readUserDebugParameter(forceMotorId)
maxForce=p.readUserDebugParameter(forceMotorId) frameReal = p.readUserDebugParameter(frameId)
else:
erp = 0.2
kpMotor = 0.2
maxForce=1000
frameReal = 0
kp=kpMotor kp=kpMotor
frameReal = p.readUserDebugParameter(frameId)
frame = int(frameReal) frame = int(frameReal)
frameNext = frame+1 frameNext = frame+1
if (frameNext >= numFrames): if (frameNext >= numFrames):