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make one of the cubes in two_cubes.sdf static (immovable) using the <static> tag in SDF

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add an example using 'direct'
fix the send-desired-state commands, to add flags for arguments set, using default values.
Start exposing SDF loading in shared memory api, not fully implemented yet.
This commit is contained in:
erwin coumans
2016-06-03 19:03:56 -07:00
parent 0b69ba7f61
commit 4b2c0f6d89
11 changed files with 202 additions and 32 deletions
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22
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -156,16 +156,12 @@ protected:
{
for (int i=0;i<m_numMotors;i++)
{
// btScalar targetVel = m_motorTargetVelocities[i].m_velTarget;
// int uIndex = m_motorTargetVelocities[i].m_uIndex;
// b3JointControlSetDesiredVelocity(commandHandle, uIndex,targetVel);
btScalar targetPos = m_motorTargetPositions[i].m_posTarget;
int qIndex = m_motorTargetPositions[i].m_qIndex;
int uIndex = m_motorTargetPositions[i].m_uIndex;
b3JointControlSetDesiredPosition(commandHandle, qIndex, targetPos);
b3JointControlSetKp(commandHandle, uIndex, 0.1);
b3JointControlSetKd(commandHandle, uIndex, 0.0);
b3JointControlSetMaximumForce(commandHandle,uIndex,1000);
}
@@ -430,6 +426,11 @@ PhysicsClientExample::~PhysicsClientExample()
bool deInitializeSharedMemory = true;
m_physicsServer.disconnectSharedMemory(deInitializeSharedMemory);
}
if (m_canvas && (m_canvasIndex>=0))
{
m_canvas->destroyCanvas(m_canvasIndex);
}
b3Printf("~PhysicsClientExample\n");
}
@@ -563,10 +564,15 @@ void PhysicsClientExample::initPhysics()
m_isOptionalServerConnected = m_physicsServer.connectSharedMemory( m_guiHelper);
}
m_physicsClientHandle = b3ConnectSharedMemory(m_sharedMemoryKey);
//m_physicsClientHandle = b3ConnectPhysicsLoopback(SHARED_MEMORY_KEY);
//m_physicsClientHandle = b3ConnectPhysicsDirect();
if (m_options == eCLIENTEXAMPLE_DIRECT)
{
m_physicsClientHandle = b3ConnectPhysicsDirect();
} else
{
m_physicsClientHandle = b3ConnectSharedMemory(m_sharedMemoryKey);
//m_physicsClientHandle = b3ConnectPhysicsLoopback(SHARED_MEMORY_KEY);
}
if (!b3CanSubmitCommand(m_physicsClientHandle))
{
b3Warning("Cannot connect to physics client");