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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/RobotSimulatorMain.cpp
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@@ -37,15 +37,15 @@ int main(int argc, char* argv[])
sim->setTimeOut(10);
//syncBodies is only needed when connecting to an existing physics server that has already some bodies
sim->syncBodies();
b3Scalar fixedTimeStep = 1./240.;
btScalar fixedTimeStep = 1./240.;
sim->setTimeStep(fixedTimeStep);
b3Quaternion q = sim->getQuaternionFromEuler(b3MakeVector3(0.1,0.2,0.3));
b3Vector3 rpy;
btQuaternion q = sim->getQuaternionFromEuler(btVector3(0.1,0.2,0.3));
btVector3 rpy;
rpy = sim->getEulerFromQuaternion(q);
sim->setGravity(b3MakeVector3(0,0,-9.8));
sim->setGravity(btVector3(0,0,-9.8));
//int blockId = sim->loadURDF("cube.urdf");
//b3BodyInfo bodyInfo;
@@ -54,7 +54,7 @@ int main(int argc, char* argv[])
sim->loadURDF("plane.urdf");
MinitaurSetup minitaur;
int minitaurUid = minitaur.setupMinitaur(sim, b3MakeVector3(0,0,.3));
int minitaurUid = minitaur.setupMinitaur(sim, btVector3(0,0,.3));
//b3RobotSimulatorLoadUrdfFileArgs args;
@@ -139,8 +139,8 @@ int main(int argc, char* argv[])
static double yaw=0;
double distance = 1;
yaw+=0.1;
b3Vector3 basePos;
b3Quaternion baseOrn;
btVector3 basePos;
btQuaternion baseOrn;
sim->getBasePositionAndOrientation(minitaurUid,basePos,baseOrn);
sim->resetDebugVisualizerCamera(distance,-20, yaw,basePos);
}