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add more tinyaudio preparation, some test wav files, play sound on collision events. Will expose this in the C-API to pick wav files and collision threshold levels etc. Use the premake --audio flag to try it out. The TinyAudio example in the ExampleBrowser works on Mac, Linux and Windows, you can play notes by pressing keys.

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This commit is contained in:
Erwin Coumans
2017-04-29 10:32:30 -07:00
parent c95a1c9c33
commit 2a2c18e959
10 changed files with 196 additions and 9 deletions
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18
examples/RobotSimulator/RobotSimulatorMain.cpp
View File

@@ -35,12 +35,16 @@ int main(int argc, char* argv[])
sim->loadURDF("plane.urdf");
MinitaurSetup minitaur;
int minitaurUid = minitaur.setupMinitaur(sim, b3MakeVector3(0,0,.3));
b3RobotSimulatorLoadUrdfFileArgs args;
args.m_startPosition.setValue(0,0,2);
for (int i=0;i<10;i++)
{
args.m_startPosition[0] = 0.5*i;
args.m_startPosition[1] = 0.5*i;
args.m_startPosition[2] = 2+i*2;
int r2d2 = sim->loadURDF("cube.urdf",args);
}
//b3RobotSimulatorLoadUrdfFileArgs args;
//args.m_startPosition.setValue(2,0,1);
//int r2d2 = sim->loadURDF("r2d2.urdf",args);
//b3RobotSimulatorLoadFileResults sdfResults;
@@ -123,8 +127,8 @@ int main(int argc, char* argv[])
yaw+=0.1;
b3Vector3 basePos;
b3Quaternion baseOrn;
sim->getBasePositionAndOrientation(minitaurUid,basePos,baseOrn);
sim->resetDebugVisualizerCamera(distance,yaw,20,basePos);
// sim->getBasePositionAndOrientation(minitaurUid,basePos,baseOrn);
// sim->resetDebugVisualizerCamera(distance,yaw,20,basePos);
}
b3Clock::usleep(1000.*1000.*fixedTimeStep);
}

29
examples/RobotSimulator/premake4.lua
View File

@@ -87,6 +87,35 @@ if not _OPTIONS["no-enet"] then
defines {"BT_ENABLE_CLSOCKET"}
end
if _OPTIONS["audio"] then
files {
"../TinyAudio/b3ADSR.cpp",
"../TinyAudio/b3AudioListener.cpp",
"../TinyAudio/b3ReadWavFile.cpp",
"../TinyAudio/b3SoundEngine.cpp",
"../TinyAudio/b3SoundSource.cpp",
"../TinyAudio/b3WriteWavFile.cpp",
"../TinyAudio/RtAudio.cpp",
}
defines {"B3_ENABLE_TINY_AUDIO"}
if os.is("Windows") then
links {"winmm","Wsock32","dsound"}
defines {"WIN32","__WINDOWS_MM__","__WINDOWS_DS__"}
end
if os.is("Linux") then initX11()
defines {"__OS_LINUX__","__LINUX_ALSA__"}
links {"asound","pthread"}
end
if os.is("MacOSX") then
links{"Cocoa.framework"}
links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
defines {"__OS_MACOSX__","__MACOSX_CORE__"}
end
end
files {
"RobotSimulatorMain.cpp",
"b3RobotSimulatorClientAPI.cpp",