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Create a demo for one motor gripper grasp.

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This commit is contained in:
yunfeibai
2016-09-21 12:08:03 -07:00
parent bb214e823b
commit 27fab2adb5
6 changed files with 528 additions and 7 deletions
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12
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2502,34 +2502,34 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
btMatrix3x3 frameInParent(btQuaternion(clientCmd.m_createJointArguments.m_parentFrame[3], clientCmd.m_createJointArguments.m_parentFrame[4], clientCmd.m_createJointArguments.m_parentFrame[5], clientCmd.m_createJointArguments.m_parentFrame[6]));
btMatrix3x3 frameInChild(btQuaternion(clientCmd.m_createJointArguments.m_childFrame[3], clientCmd.m_createJointArguments.m_childFrame[4], clientCmd.m_createJointArguments.m_childFrame[5], clientCmd.m_createJointArguments.m_childFrame[6]));
btVector3 jointAxis(clientCmd.m_createJointArguments.m_jointAxis[0], clientCmd.m_createJointArguments.m_jointAxis[1], clientCmd.m_createJointArguments.m_jointAxis[2]);
if (clientCmd.m_createJointArguments.m_jointType == btMultibodyLink::eFixed)
if (clientCmd.m_createJointArguments.m_jointType == eFixedType)
{
if (childBody->m_multiBody)
{
btMultiBodyFixedConstraint* multibodyFixed = new btMultiBodyFixedConstraint(parentBody->m_multiBody,clientCmd.m_createJointArguments.m_parentJointIndex,childBody->m_multiBody,clientCmd.m_createJointArguments.m_childJointIndex,pivotInParent,pivotInChild,frameInParent,frameInChild);
multibodyFixed->setMaxAppliedImpulse(2.0);
multibodyFixed->setMaxAppliedImpulse(500.0);
m_data->m_dynamicsWorld->addMultiBodyConstraint(multibodyFixed);
}
else
{
btMultiBodyFixedConstraint* rigidbodyFixed = new btMultiBodyFixedConstraint(parentBody->m_multiBody,clientCmd.m_createJointArguments.m_parentJointIndex,childBody->m_rigidBody,pivotInParent,pivotInChild,frameInParent,frameInChild);
rigidbodyFixed->setMaxAppliedImpulse(2.0);
rigidbodyFixed->setMaxAppliedImpulse(500.0);
btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld;
world->addMultiBodyConstraint(rigidbodyFixed);
}
}
else if (clientCmd.m_createJointArguments.m_jointType == btMultibodyLink::ePrismatic)
else if (clientCmd.m_createJointArguments.m_jointType == ePrismaticType)
{
if (childBody->m_multiBody)
{
btMultiBodySliderConstraint* multibodySlider = new btMultiBodySliderConstraint(parentBody->m_multiBody,clientCmd.m_createJointArguments.m_parentJointIndex,childBody->m_multiBody,clientCmd.m_createJointArguments.m_childJointIndex,pivotInParent,pivotInChild,frameInParent,frameInChild,jointAxis);
multibodySlider->setMaxAppliedImpulse(2.0);
multibodySlider->setMaxAppliedImpulse(500.0);
m_data->m_dynamicsWorld->addMultiBodyConstraint(multibodySlider);
}
else
{
btMultiBodySliderConstraint* rigidbodySlider = new btMultiBodySliderConstraint(parentBody->m_multiBody,clientCmd.m_createJointArguments.m_parentJointIndex,childBody->m_rigidBody,pivotInParent,pivotInChild,frameInParent,frameInChild,jointAxis);
rigidbodySlider->setMaxAppliedImpulse(2.0);
rigidbodySlider->setMaxAppliedImpulse(500.0);
btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld;
world->addMultiBodyConstraint(rigidbodySlider);
}