Untrack Grasp box example for now. This example needs more adjustment.

fix compile

examples/BulletRobotics/GraspBox.cpp

@@ -1,186 +0,0 @@
-
-#include "GraspBox.h"
-
-#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
-#include "Bullet3Common/b3AlignedObjectArray.h"
-#include "../CommonInterfaces/CommonRenderInterface.h"
-#include "../CommonInterfaces/CommonExampleInterface.h"
-#include "../CommonInterfaces/CommonGUIHelperInterface.h"
-#include "../SharedMemory/PhysicsServerSharedMemory.h"
-#include "../SharedMemory/PhysicsClientC_API.h"
-#include "../CommonInterfaces/CommonParameterInterface.h"
-#include "../SharedMemory/SharedMemoryPublic.h"
-#include <string>
-#include "../RobotSimulator/b3RobotSimulatorClientAPI.h"
-
-static btScalar x = 0.401f;
-static btScalar y = 0.025f;
-static btScalar z = 0.44f;
-
-class GraspBox : public CommonExampleInterface
-{
-	GUIHelperInterface* m_guiHelper;
-	b3RobotSimulatorClientAPI m_robotSim;
-	int m_options;
-
-	int m_armIndex;
-	int boxId;
-
-public:
-	GraspBox(GUIHelperInterface* helper, int options)
-		: m_guiHelper(helper),
-		  m_options(options)
-	{
-	}
-
-	virtual ~GraspBox()
-	{
-	}
-
-	virtual void physicsDebugDraw(int debugDrawMode)
-	{
-		m_robotSim.debugDraw(debugDrawMode);
-	}
-	virtual void initPhysics()
-	{
-		int mode = eCONNECT_EXISTING_EXAMPLE_BROWSER;
-		m_robotSim.setGuiHelper(m_guiHelper);
-		bool connected = m_robotSim.connect(mode);
-
-		b3Printf("robotSim connected = %d", connected);
-
-		m_robotSim.configureDebugVisualizer(COV_ENABLE_RGB_BUFFER_PREVIEW, 0);
-		m_robotSim.configureDebugVisualizer(COV_ENABLE_DEPTH_BUFFER_PREVIEW, 0);
-		m_robotSim.configureDebugVisualizer(COV_ENABLE_SEGMENTATION_MARK_PREVIEW, 0);
-
-		double cubePos[3] = {0.41, 0, 0.5};
-		double cubeHalfLength = 0.025;
-
-		{
-			SliderParams slider("position x", &x);
-			slider.m_minVal = 0;
-			slider.m_maxVal = 1;
-			m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
-		}
-
-		{
-			SliderParams slider("position y", &y);
-			slider.m_minVal = 0;
-			slider.m_maxVal = 1;
-			m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
-		}
-		{
-			SliderParams slider("position z", &z);
-			slider.m_minVal = 0;
-			slider.m_maxVal = 1;
-			m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
-		}
-
-		{
-			b3RobotSimulatorLoadFileResults results;
-			m_robotSim.loadSDF("kuka_iiwa/kuka_with_gripper.sdf", results);
-			if (results.m_uniqueObjectIds.size() == 1)
-			{
-				m_armIndex = results.m_uniqueObjectIds[0];
-				int numJoints = m_robotSim.getNumJoints(m_armIndex);
-				b3Printf("numJoints = %d", numJoints);
-
-				for (int i = 0; i < numJoints; i++)
-				{
-					b3RobotJointInfo jointInfo;
-					m_robotSim.getJointInfo(m_armIndex, i, &jointInfo);
-					b3Printf("joint[%d].m_jointName=%s", i, jointInfo.m_jointName);
-				}
-
-				//adjust arm position
-				m_robotSim.resetJointState(m_armIndex, 3, -SIMD_HALF_PI);
-				m_robotSim.resetJointState(m_armIndex, 5, SIMD_HALF_PI);
-
-				// adjust gripper position
-				m_robotSim.resetJointState(m_armIndex, 8, -0.12);
-				m_robotSim.resetJointState(m_armIndex, 11, 0.12);
-
-				m_robotSim.resetJointState(m_armIndex, 10, -0.12);
-				m_robotSim.resetJointState(m_armIndex, 13, 0.12);
-
-				// {
-				//   b3RobotJointInfo jointInfo;
-				//   m_robotSim.getJointInfo(m_armIndex, 8, &jointInfo);
-				//   jointInfo.m_jointType = eGearType;
-				//   m_robotSim.createConstraint(m_armIndex, , cubeIds[i - 1], -1, &jointInfo);
-				// }
-				// for(int i = 0; i<14; i++){
-				//   b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
-				//   controlArgs.m_maxTorqueValue = 0.0;
-				//   m_robotSim.setJointMotorControl(m_armIndex, i, controlArgs);
-				// }
-			}
-		}
-
-		{
-			b3RobotSimulatorLoadUrdfFileArgs args;
-			args.m_startPosition.setValue(x, y, z);
-			boxId = m_robotSim.loadURDF("cube_small.urdf", args);
-		}
-		m_robotSim.loadURDF("plane.urdf");
-		m_robotSim.setGravity(btVector3(0, 0, -10));
-	}
-
-	virtual void exitPhysics()
-	{
-		m_robotSim.disconnect();
-	}
-
-	virtual void stepSimulation(float deltaTime)
-	{
-		btScalar sGripperVerticalVelocity = 0.f;
-		btScalar sGripperClosingTargetVelocity = -0.7f;
-
-		int fingerJointIndices[4] = {8, 10, 11, 13};
-		double fingerTargetVelocities[4] = {0.4, 0.4, -0.4, -0.4};
-
-		double maxTorqueValues[4] = {20.0, 20.0, 20.0, 20.0};
-		for (int i = 0; i < 4; i++)
-		{
-			b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
-			controlArgs.m_targetVelocity = fingerTargetVelocities[i];
-			controlArgs.m_maxTorqueValue = maxTorqueValues[i];
-			controlArgs.m_kd = 1.;
-			m_robotSim.setJointMotorControl(m_armIndex, fingerJointIndices[i], controlArgs);
-		}
-
-		m_robotSim.stepSimulation();
-	}
-	virtual void renderScene()
-	{
-		m_robotSim.renderScene();
-	}
-
-	virtual bool mouseMoveCallback(float x, float y)
-	{
-		return m_robotSim.mouseMoveCallback(x, y);
-	}
-	virtual bool mouseButtonCallback(int button, int state, float x, float y)
-	{
-		return m_robotSim.mouseButtonCallback(button, state, x, y);
-	}
-	virtual bool keyboardCallback(int key, int state)
-	{
-		return false;
-	}
-
-	virtual void resetCamera()
-	{
-		float dist = 0.8;
-		float pitch = 0;
-		float yaw = 0;
-		float targetPos[3] = {.4, 0.6, 0.45};
-
-		m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
-	}
-};
-
-class CommonExampleInterface* GraspBoxCreateFunc(struct CommonExampleOptions& options)
-{
-	return new GraspBox(options.m_guiHelper, options.m_option);
-}

examples/BulletRobotics/GraspBox.h

@@ -1,21 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2016 Google Inc. http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef GRASP_BOX_EXAMPLE_H
-#define GRASP_BOX_EXAMPLE_H
-
-class CommonExampleInterface* GraspBoxCreateFunc(struct CommonExampleOptions& options);
-
-#endif  //GRASP_BOX_EXAMPLE_H

examples/ExampleBrowser/CMakeLists.txt

@@ -148,7 +148,7 @@ SET(BulletExampleBrowser_SRCS
 
         ../BulletRobotics/BoxStack.cpp
         ../BulletRobotics/JointLimit.cpp
-        ../BulletRobotics/GraspBox.cpp
+        # ../BulletRobotics/GraspBox.cpp
         ../BulletRobotics/FixJointBoxes.cpp
 
 	../TinyRenderer/geometry.cpp

examples/ExampleBrowser/ExampleEntries.cpp

@@ -6,7 +6,7 @@
 #include "../BulletRobotics/BoxStack.h"
 #include "../BulletRobotics/FixJointBoxes.h"
 #include "../BulletRobotics/JointLimit.h"
-#include "../BulletRobotics/GraspBox.h"
+// #include "../BulletRobotics/GraspBox.h"
 #include "../BulletRobotics/FixJointBoxes.h"
 #include "../RenderingExamples/RenderInstancingDemo.h"
 #include "../RenderingExamples/CoordinateSystemDemo.h"
@@ -138,7 +138,7 @@ static ExampleEntry gDefaultExamples[] =
 		ExampleEntry(0, "Bullet Robotics"),
 		ExampleEntry(1, "Box Stack", "Create a stack of boxes of large mass ratio.", BoxStackExampleCreateFunc),
 		ExampleEntry(1, "Joint Limit", "Create three objects joint together", JointLimitCreateFunc),
-		ExampleEntry(1, "Grasp Box", "A robot arm of large mass tries to grasp a box of small mass", GraspBoxCreateFunc),
+		// ExampleEntry(1, "Grasp Box", "A robot arm of large mass tries to grasp a box of small mass", GraspBoxCreateFunc),
 		ExampleEntry(1, "FixJoint Boxes", "FixJoint Boxes", FixJointBoxesCreateFunc),
 
 		ExampleEntry(0, "MultiBody"),