diff --git a/data/mjcf/humanoid_fixed.xml b/data/mjcf/humanoid_fixed.xml new file mode 100644 index 000000000..94e1dd2a0 --- /dev/null +++ b/data/mjcf/humanoid_fixed.xml @@ -0,0 +1,115 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp index fb4128fcd..04b2112c3 100644 --- a/examples/ExampleBrowser/ExampleEntries.cpp +++ b/examples/ExampleBrowser/ExampleEntries.cpp @@ -277,9 +277,10 @@ static ExampleEntry gDefaultExamples[]= ExampleEntry(1,"Gripper Grasp","Grasp experiment with a gripper to improve contact model", GripperGraspExampleCreateFunc,eGRIPPER_GRASP), ExampleEntry(1,"Two Point Grasp","Grasp experiment with two point contact to test rolling friction", GripperGraspExampleCreateFunc, eTWO_POINT_GRASP), ExampleEntry(1,"One Motor Gripper Grasp","Grasp experiment with a gripper with one motor to test slider constraint for closed loop structure", GripperGraspExampleCreateFunc, eONE_MOTOR_GRASP), - ExampleEntry(1,"Grasp Soft Body","Grasp soft body experiment", GripperGraspExampleCreateFunc, eGRASP_SOFT_BODY), - ExampleEntry(1,"Softbody Multibody Coupling","Two way coupling between soft body and multibody experiment", GripperGraspExampleCreateFunc, eSOFTBODY_MULTIBODY_COUPLING), - +#ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD + ExampleEntry(1,"Grasp Soft Body","Grasp soft body experiment", GripperGraspExampleCreateFunc, eGRASP_SOFT_BODY), + ExampleEntry(1,"Softbody Multibody Coupling","Two way coupling between soft body and multibody experiment", GripperGraspExampleCreateFunc, eSOFTBODY_MULTIBODY_COUPLING), +#endif //USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD #ifdef ENABLE_LUA ExampleEntry(1,"Lua Script", "Create the dynamics world, collision shapes and rigid bodies using Lua scripting", diff --git a/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp b/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp index fd744cea9..a0d2c376c 100644 --- a/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp +++ b/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp @@ -290,6 +290,7 @@ void b3RobotSimulatorClientAPI::setGravity(const b3Vector3& gravityAcceleration) b3Warning("Not connected"); return; } + b3Assert(b3CanSubmitCommand(m_data->m_physicsClientHandle)); b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClientHandle); b3SharedMemoryStatusHandle statusHandle; @@ -1142,5 +1143,5 @@ void b3RobotSimulatorClientAPI::loadBunny(double scale, double mass, double coll b3LoadBunnySetScale(command, scale); b3LoadBunnySetMass(command, mass); b3LoadBunnySetCollisionMargin(command, collisionMargin); - b3SubmitClientCommand(m_data->m_physicsClientHandle, command); + b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command); } \ No newline at end of file diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index ea720de67..6f3cd63dd 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -3247,6 +3247,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } case CMD_LOAD_BUNNY: { + serverStatusOut.m_type = CMD_UNKNOWN_COMMAND_FLUSHED; + hasStatus = true; #ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD double scale = 0.1; double mass = 0.1; @@ -3287,6 +3289,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm psb->getCollisionShape()->setMargin(collisionMargin); m_data->m_dynamicsWorld->addSoftBody(psb); + serverStatusOut.m_type = CMD_CLIENT_COMMAND_COMPLETED; #endif break; } diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp index f68036439..cf5f0c275 100644 --- a/examples/SharedMemory/PhysicsServerExample.cpp +++ b/examples/SharedMemory/PhysicsServerExample.cpp @@ -238,8 +238,9 @@ struct MyMouseCommand struct MotionArgs { MotionArgs() - :m_physicsServerPtr(0), - m_debugDrawFlags(0) + : + m_debugDrawFlags(0), + m_physicsServerPtr(0) { for (int i=0;i