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enable URDF loading throught the 'File/Open' menu

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set a default camera targets for each demo. note that it is only reset when switching to a different demo, so you can restart at your chosen location.
no OpenCL pairbench drawing in OpenGL2 (there is no VBO available etc)
This commit is contained in:
erwincoumans
2015-05-01 11:42:14 -07:00
parent 3dd41b84a8
commit 218e9f9bf9
66 changed files with 562 additions and 217 deletions
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85
examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
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@@ -34,13 +34,22 @@ class ImportUrdfSetup : public CommonMultiBodyBase
bool m_useMultiBody;
public:
ImportUrdfSetup(struct GUIHelperInterface* helper, int option);
ImportUrdfSetup(struct GUIHelperInterface* helper, int option, const char* fileName);
virtual ~ImportUrdfSetup();
virtual void initPhysics();
virtual void stepSimulation(float deltaTime);
void setFileName(const char* urdfFileName);
virtual void resetCamera()
{
float dist = 3.5;
float pitch = -136;
float yaw = 28;
float targetPos[3]={0.47,0,-0.64};
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
};
@@ -62,9 +71,11 @@ struct ImportUrdfInternalData
};
ImportUrdfSetup::ImportUrdfSetup(struct GUIHelperInterface* helper, int option)
ImportUrdfSetup::ImportUrdfSetup(struct GUIHelperInterface* helper, int option, const char* fileName)
:CommonMultiBodyBase(helper)
{
m_data = new ImportUrdfInternalData;
if (option==1)
{
m_useMultiBody = true;
@@ -74,38 +85,44 @@ ImportUrdfSetup::ImportUrdfSetup(struct GUIHelperInterface* helper, int option)
}
static int count = 0;
gFileNameArray.clear();
gFileNameArray.push_back("r2d2.urdf");
m_data = new ImportUrdfInternalData;
//load additional urdf file names from file
FILE* f = fopen("urdf_files.txt","r");
if (f)
{
int result;
//warning: we don't avoid string buffer overflow in this basic example in fscanf
char fileName[1024];
do
{
result = fscanf(f,"%s",fileName);
if (result==1)
{
gFileNameArray.push_back(fileName);
}
} while (result==1);
fclose(f);
}
int numFileNames = gFileNameArray.size();
if (count>=numFileNames)
if (fileName)
{
count=0;
setFileName(fileName);
} else
{
gFileNameArray.clear();
gFileNameArray.push_back("r2d2.urdf");
//load additional urdf file names from file
FILE* f = fopen("urdf_files.txt","r");
if (f)
{
int result;
//warning: we don't avoid string buffer overflow in this basic example in fscanf
char fileName[1024];
do
{
result = fscanf(f,"%s",fileName);
if (result==1)
{
gFileNameArray.push_back(fileName);
}
} while (result==1);
fclose(f);
}
int numFileNames = gFileNameArray.size();
if (count>=numFileNames)
{
count=0;
}
sprintf(m_fileName,gFileNameArray[count++].c_str());
}
sprintf(m_fileName,gFileNameArray[count++].c_str());
}
ImportUrdfSetup::~ImportUrdfSetup()
@@ -270,8 +287,8 @@ void ImportUrdfSetup::stepSimulation(float deltaTime)
}
}
class CommonExampleInterface* ImportURDFCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
class CommonExampleInterface* ImportURDFCreateFunc(struct CommonExampleOptions& options)
{
return new ImportUrdfSetup(helper, option);
return new ImportUrdfSetup(options.m_guiHelper, options.m_option,options.m_fileName);
}