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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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43
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
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@@ -52,6 +52,47 @@ struct b3RobotSimulatorLoadSdfFileArgs
}
};
struct b3RobotSimulatorLoadSoftBodyArgs
{
btVector3 m_startPosition;
btQuaternion m_startOrientation;
double m_scale;
double m_mass;
double m_collisionMargin;
b3RobotSimulatorLoadSoftBodyArgs(const btVector3 &startPos, const btQuaternion &startOrn, const double& scale, const double& mass, const double& collisionMargin )
: m_startPosition(startPos),
m_startOrientation(startOrn),
m_scale(scale),
m_mass(mass),
m_collisionMargin(collisionMargin)
{
}
b3RobotSimulatorLoadSoftBodyArgs(const btVector3 &startPos, const btQuaternion &startOrn)
{
b3RobotSimulatorLoadSoftBodyArgs(startPos, startOrn, 1.0, 1.0, 0.02);
}
b3RobotSimulatorLoadSoftBodyArgs()
{
b3RobotSimulatorLoadSoftBodyArgs(btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1));
}
b3RobotSimulatorLoadSoftBodyArgs(double scale, double mass, double collisionMargin)
: m_startPosition(btVector3(0, 0, 0)),
m_startOrientation(btQuaternion(0, 0, 0, 1)),
m_scale(scale),
m_mass(mass),
m_collisionMargin(collisionMargin)
{
}
};
struct b3RobotSimulatorLoadFileResults
{
btAlignedObjectArray<int> m_uniqueObjectIds;
@@ -647,7 +688,7 @@ public:
int getConstraintUniqueId(int serialIndex);
void loadSoftBody(const std::string &fileName, double scale, double mass, double collisionMargin);
void loadSoftBody(const std::string &fileName, const struct b3RobotSimulatorLoadSoftBodyArgs& args);
virtual void setGuiHelper(struct GUIHelperInterface *guiHelper);
virtual struct GUIHelperInterface *getGuiHelper();