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add set starting position and orientation to softbody

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This commit is contained in:
Chuyuan Fu
2019-04-30 17:41:46 -07:00
parent 55f9f1eb89
commit 3fb0a7c19b
8 changed files with 93 additions and 13 deletions
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8
examples/RoboticsLearning/GripperGraspExample.cpp
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@@ -326,7 +326,10 @@ public:
m_robotSim.loadURDF("plane.urdf", args);
}
m_robotSim.setGravity(btVector3(0, 0, -10));
m_robotSim.loadSoftBody("bunny.obj", 0.1, 0.1, 0.02);
b3RobotSimulatorLoadSoftBodyArgs args(0.1, 1, 0.02);
args.m_startPosition.setValue(0, 0, 5);
args.m_startOrientation.setValue(1, 0, 0, 1);
m_robotSim.loadSoftBody("bunny.obj", args);
b3JointInfo revoluteJoint1;
revoluteJoint1.m_parentFrame[0] = -0.055;
@@ -402,7 +405,8 @@ public:
m_robotSim.loadURDF("plane.urdf", args);
}
m_robotSim.setGravity(btVector3(0, 0, -10));
m_robotSim.loadSoftBody("bunny.obj", 0.3, 10.0, 0.1);
b3RobotSimulatorLoadSoftBodyArgs args(0.3, 10, 0.1);
m_robotSim.loadSoftBody("bunny.obj", args);
}
}
virtual void exitPhysics()