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show inverse dynamics demo to use floating base

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This commit is contained in:
Erwin Coumans
2015-12-02 09:33:12 -08:00
parent 5da9e37a05
commit 3dfebe0c45
2 changed files with 59 additions and 22 deletions
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9
examples/MultiBody/InvertedPendulumPDControl.cpp
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@@ -32,7 +32,7 @@ public:
float dist = 5;
float pitch = 270;
float yaw = 21;
float targetPos[3]={-1.34,3.4,-0.44};
float targetPos[3]={-1.34,1.4,3.44};
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
@@ -55,7 +55,7 @@ InvertedPendulumPDControl::~InvertedPendulumPDControl()
extern bool gJointFeedbackInWorldSpace;
extern bool gJointFeedbackInJointFrame;
btMultiBody* createInvertedPendulumMultiBody(btMultiBodyDynamicsWorld* world, GUIHelperInterface* guiHelper, const btTransform& baseWorldTrans)
btMultiBody* createInvertedPendulumMultiBody(btMultiBodyDynamicsWorld* world, GUIHelperInterface* guiHelper, const btTransform& baseWorldTrans, bool fixedBase)
{
btVector4 colors[4] =
{
@@ -66,7 +66,6 @@ btMultiBody* createInvertedPendulumMultiBody(btMultiBodyDynamicsWorld* world, GU
};
int curColor = 0;
bool fixedBase = true;
bool damping = false;
bool gyro = false;
int numLinks = 2;
@@ -80,7 +79,7 @@ btMultiBody* createInvertedPendulumMultiBody(btMultiBodyDynamicsWorld* world, GU
//mbC->forceMultiDof(); //if !spherical, you can comment this line to check the 1DoF algorithm
//init the base
btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
float baseMass = 0.f;
float baseMass = fixedBase ? 0.f : 10.f;
if(baseMass)
{
@@ -356,7 +355,7 @@ void InvertedPendulumPDControl::initPhysics()
btTransform baseWorldTrans;
baseWorldTrans.setIdentity();
baseWorldTrans.setOrigin(btVector3(1,2,3));
m_multiBody = createInvertedPendulumMultiBody(m_dynamicsWorld, m_guiHelper, baseWorldTrans);
m_multiBody = createInvertedPendulumMultiBody(m_dynamicsWorld, m_guiHelper, baseWorldTrans, true);
//for (int i=pMultiBody->getNumLinks()-1;i>=0;i--)//
for (int i=0;i<m_multiBody->getNumLinks();i++)