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Move from b3Vector3 to btVector3 to support double precision in examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI API.

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This commit is contained in:
Erwin Coumans
2018-05-27 10:42:33 +10:00
parent e79ae13cde
commit 57b3e0d221
8 changed files with 147 additions and 147 deletions
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14
examples/RobotSimulator/MinitaurSetup.cpp
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@@ -85,8 +85,8 @@ static const char* minitaurURDF="quadruped/minitaur_rainbow_dash_v1.urdf";
"motor_back_leftL_bracket_joint",
};
static b3Vector3 KNEE_CONSTRAINT_POINT_LONG = b3MakeVector3(0, 0.0045, 0.088);
static b3Vector3 KNEE_CONSTRAINT_POINT_SHORT= b3MakeVector3(0, 0.0045, 0.100);
static btVector3 KNEE_CONSTRAINT_POINT_LONG = btVector3(0, 0.0045, 0.088);
static btVector3 KNEE_CONSTRAINT_POINT_SHORT= btVector3(0, 0.0045, 0.100);
#elif defined(MINITAUR_RAINBOWDASH_V0)
static const char* minitaurURDF="quadruped/minitaur_rainbow_dash.urdf";
@@ -119,8 +119,8 @@ static const char* minitaurURDF="quadruped/minitaur_rainbow_dash_v1.urdf";
"motor_front_rightR_joint",//14
"knee_front_rightR_joint",//15
};
static b3Vector3 KNEE_CONSTRAINT_POINT_LONG = b3MakeVector3(0, 0.0045, 0.088);
static b3Vector3 KNEE_CONSTRAINT_POINT_SHORT= b3MakeVector3(0, 0.0045, 0.100);
static btVector3 KNEE_CONSTRAINT_POINT_LONG = btVector3(0, 0.0045, 0.088);
static btVector3 KNEE_CONSTRAINT_POINT_SHORT= btVector3(0, 0.0045, 0.100);
#elif defined(MINITAUR_V0)
static const char* minitaurURDF="quadruped/minitaur.urdf";
@@ -153,8 +153,8 @@ static const char* minitaurURDF="quadruped/minitaur_rainbow_dash_v1.urdf";
"motor_front_rightR_joint",
"knee_front_rightR_link",
};
static b3Vector3 KNEE_CONSTRAINT_POINT_LONG = b3MakeVector3(0, 0.005, 0.2);
static b3Vector3 KNEE_CONSTRAINT_POINT_SHORT= b3MakeVector3(0, 0.01, 0.2);
static btVector3 KNEE_CONSTRAINT_POINT_LONG = btVector3(0, 0.005, 0.2);
static btVector3 KNEE_CONSTRAINT_POINT_SHORT= btVector3(0, 0.01, 0.2);
#endif
@@ -255,7 +255,7 @@ void MinitaurSetup::resetPose(class b3RobotSimulatorClientAPI_NoGUI* sim)
}
int MinitaurSetup::setupMinitaur(class b3RobotSimulatorClientAPI_NoGUI* sim, const b3Vector3& startPos, const b3Quaternion& startOrn)
int MinitaurSetup::setupMinitaur(class b3RobotSimulatorClientAPI_NoGUI* sim, const btVector3& startPos, const btQuaternion& startOrn)
{
b3RobotSimulatorLoadUrdfFileArgs args;