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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
View File

@@ -231,7 +231,6 @@ public:
slider.m_maxVal=1;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
if (1)
{
b3RobotSimLoadFileArgs args("");
b3RobotSimLoadFileResults results;
@@ -241,7 +240,6 @@ public:
args.m_useMultiBody = true;
m_robotSim.loadFile(args, results);
}
if (1)
{
b3RobotSimLoadFileArgs args("");
args.m_fileName = "gripper/wsg50_one_motor_gripper_new.sdf";

2
examples/RoboticsLearning/R2D2GraspExample.cpp
View File

@@ -179,7 +179,7 @@ public:
}
virtual void stepSimulation(float deltaTime)
{
//m_robotSim.stepSimulation();
m_robotSim.stepSimulation();
}
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_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)

17
examples/SoftDemo/SoftDemo.cpp
View File

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