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Restore original demo settings.

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This commit is contained in:
yunfeibai
2016-10-17 13:19:34 -07:00
parent b07df4d504
commit 14fc8ae8c2
4 changed files with 9 additions and 14 deletions
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2
examples/RoboticsLearning/GripperGraspExample.cpp
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@@ -231,7 +231,6 @@ public:
slider.m_maxVal=1; slider.m_maxVal=1;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
} }
if (1)
{ {
b3RobotSimLoadFileArgs args(""); b3RobotSimLoadFileArgs args("");
b3RobotSimLoadFileResults results; b3RobotSimLoadFileResults results;
@@ -241,7 +240,6 @@ public:
args.m_useMultiBody = true; args.m_useMultiBody = true;
m_robotSim.loadFile(args, results); m_robotSim.loadFile(args, results);
} }
if (1)
{ {
b3RobotSimLoadFileArgs args(""); b3RobotSimLoadFileArgs args("");
args.m_fileName = "gripper/wsg50_one_motor_gripper_new.sdf"; args.m_fileName = "gripper/wsg50_one_motor_gripper_new.sdf";

2
examples/RoboticsLearning/R2D2GraspExample.cpp
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@@ -179,7 +179,7 @@ public:
} }
virtual void stepSimulation(float deltaTime) virtual void stepSimulation(float deltaTime)
{ {
//m_robotSim.stepSimulation(); m_robotSim.stepSimulation();
} }
virtual void renderScene() virtual void renderScene()
{ {

2
examples/RoboticsLearning/b3RobotSimAPI.cpp
View File

@@ -967,7 +967,7 @@ void b3RobotSimAPI::renderScene()
m_data->m_clientServerDirect->renderScene(); m_data->m_clientServerDirect->renderScene();
} }
//m_data->m_physicsServer.renderScene(); m_data->m_physicsServer.renderScene();
} }
void b3RobotSimAPI::getBodyJacobian(int bodyUniqueId, int linkIndex, const double* localPosition, const double* jointPositions, const double* jointVelocities, const double* jointAccelerations, double* linearJacobian, double* angularJacobian) void b3RobotSimAPI::getBodyJacobian(int bodyUniqueId, int linkIndex, const double* localPosition, const double* jointPositions, const double* jointVelocities, const double* jointAccelerations, double* linearJacobian, double* angularJacobian)

17
examples/SoftDemo/SoftDemo.cpp
View File

@@ -1017,9 +1017,9 @@ static void Init_Bunny(SoftDemo* pdemo)
psb->m_cfg.kDF = 0.5; psb->m_cfg.kDF = 0.5;
psb->randomizeConstraints(); psb->randomizeConstraints();
psb->scale(btVector3(6,6,6)); psb->scale(btVector3(6,6,6));
psb->setTotalMass(1,true); psb->setTotalMass(100,true);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb); pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
//pdemo->m_cutting=true; pdemo->m_cutting=true;
} }
@@ -2097,7 +2097,6 @@ void SoftDemo::initPhysics()
motorcontrol.maxtorque = 0; motorcontrol.maxtorque = 0;
btCollisionShape* groundShape = 0; btCollisionShape* groundShape = 0;
if (0)
{ {
int i; int i;
int j; int j;
@@ -2152,12 +2151,11 @@ void SoftDemo::initPhysics()
groundShape->setMargin(0.5); groundShape->setMargin(0.5);
} }
//m_collisionShapes.push_back(groundShape); m_collisionShapes.push_back(groundShape);
btCollisionShape* groundBox = new btBoxShape (btVector3(100,CUBE_HALF_EXTENTS,100)); btCollisionShape* groundBox = new btBoxShape (btVector3(100,CUBE_HALF_EXTENTS,100));
m_collisionShapes.push_back(groundBox); m_collisionShapes.push_back(groundBox);
/*
btCompoundShape* cylinderCompound = new btCompoundShape; btCompoundShape* cylinderCompound = new btCompoundShape;
btCollisionShape* cylinderShape = new btCylinderShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)); btCollisionShape* cylinderShape = new btCylinderShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS));
btTransform localTransform; btTransform localTransform;
@@ -2168,7 +2166,6 @@ void SoftDemo::initPhysics()
cylinderCompound->addChildShape(localTransform,cylinderShape); cylinderCompound->addChildShape(localTransform,cylinderShape);
m_collisionShapes.push_back(cylinderCompound); m_collisionShapes.push_back(cylinderCompound);
*/
m_dispatcher=0; m_dispatcher=0;
@@ -2214,7 +2211,7 @@ void SoftDemo::initPhysics()
if( g_softBodyOutput ) if( g_softBodyOutput )
delete g_softBodyOutput; delete g_softBodyOutput;
if (0) if (1)
{ {
g_openCLSIMDSolver = new btOpenCLSoftBodySolverSIMDAware( g_cqCommandQue, g_cxMainContext); g_openCLSIMDSolver = new btOpenCLSoftBodySolverSIMDAware( g_cqCommandQue, g_cxMainContext);
// g_openCLSIMDSolver = new btOpenCLSoftBodySolver( g_cqCommandQue, g_cxMainContext); // g_openCLSIMDSolver = new btOpenCLSoftBodySolver( g_cqCommandQue, g_cxMainContext);
@@ -2223,7 +2220,7 @@ void SoftDemo::initPhysics()
//softBodySolver = g_openCLSIMDSolver; softBodySolver = g_openCLSIMDSolver;
g_softBodyOutput = new btSoftBodySolverOutputCLtoCPU; g_softBodyOutput = new btSoftBodySolverOutputCLtoCPU;
#endif //USE_AMD_OPENCL #endif //USE_AMD_OPENCL
@@ -2262,7 +2259,7 @@ void SoftDemo::initPhysics()
newOb->setCollisionShape(m_collisionShapes[0]); newOb->setCollisionShape(m_collisionShapes[0]);
} else } else
{ {
newOb->setCollisionShape(m_collisionShapes[0]); newOb->setCollisionShape(m_collisionShapes[1]);
} }
m_dynamicsWorld->addCollisionObject(newOb); m_dynamicsWorld->addCollisionObject(newOb);
@@ -2289,7 +2286,7 @@ void SoftDemo::initPhysics()
m_autocam = false; m_autocam = false;
m_raycast = false; m_raycast = false;
//m_cutting = false; m_cutting = false;
m_results.fraction = 1.f; m_results.fraction = 1.f;
demofncs[current_demo](this); demofncs[current_demo](this);