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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", "motor_back_leftL_bracket_joint",
}; };
static b3Vector3 KNEE_CONSTRAINT_POINT_LONG = b3MakeVector3(0, 0.0045, 0.088); static btVector3 KNEE_CONSTRAINT_POINT_LONG = btVector3(0, 0.0045, 0.088);
static b3Vector3 KNEE_CONSTRAINT_POINT_SHORT= b3MakeVector3(0, 0.0045, 0.100); static btVector3 KNEE_CONSTRAINT_POINT_SHORT= btVector3(0, 0.0045, 0.100);
#elif defined(MINITAUR_RAINBOWDASH_V0) #elif defined(MINITAUR_RAINBOWDASH_V0)
static const char* minitaurURDF="quadruped/minitaur_rainbow_dash.urdf"; 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 "motor_front_rightR_joint",//14
"knee_front_rightR_joint",//15 "knee_front_rightR_joint",//15
}; };
static b3Vector3 KNEE_CONSTRAINT_POINT_LONG = b3MakeVector3(0, 0.0045, 0.088); static btVector3 KNEE_CONSTRAINT_POINT_LONG = btVector3(0, 0.0045, 0.088);
static b3Vector3 KNEE_CONSTRAINT_POINT_SHORT= b3MakeVector3(0, 0.0045, 0.100); static btVector3 KNEE_CONSTRAINT_POINT_SHORT= btVector3(0, 0.0045, 0.100);
#elif defined(MINITAUR_V0) #elif defined(MINITAUR_V0)
static const char* minitaurURDF="quadruped/minitaur.urdf"; 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", "motor_front_rightR_joint",
"knee_front_rightR_link", "knee_front_rightR_link",
}; };
static b3Vector3 KNEE_CONSTRAINT_POINT_LONG = b3MakeVector3(0, 0.005, 0.2); static btVector3 KNEE_CONSTRAINT_POINT_LONG = btVector3(0, 0.005, 0.2);
static b3Vector3 KNEE_CONSTRAINT_POINT_SHORT= b3MakeVector3(0, 0.01, 0.2); static btVector3 KNEE_CONSTRAINT_POINT_SHORT= btVector3(0, 0.01, 0.2);
#endif #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; b3RobotSimulatorLoadUrdfFileArgs args;

6
examples/RobotSimulator/MinitaurSetup.h
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@@ -1,8 +1,8 @@
#ifndef MINITAUR_SIMULATION_SETUP_H #ifndef MINITAUR_SIMULATION_SETUP_H
#define MINITAUR_SIMULATION_SETUP_H #define MINITAUR_SIMULATION_SETUP_H
#include "Bullet3Common/b3Vector3.h" #include "LinearMath/btVector3.h"
#include "Bullet3Common/b3Quaternion.h" #include "LinearMath/btQuaternion.h"
class MinitaurSetup class MinitaurSetup
{ {
struct MinitaurSetupInternalData* m_data; struct MinitaurSetupInternalData* m_data;
@@ -12,7 +12,7 @@ public:
MinitaurSetup(); MinitaurSetup();
virtual ~MinitaurSetup(); virtual ~MinitaurSetup();
int setupMinitaur(class b3RobotSimulatorClientAPI_NoGUI* sim, const class b3Vector3& startPos=b3MakeVector3(0,0,0), const class b3Quaternion& startOrn = b3Quaternion(0,0,0,1)); int setupMinitaur(class b3RobotSimulatorClientAPI_NoGUI* sim, const class btVector3& startPos=btVector3(0,0,0), const class btQuaternion& startOrn = btQuaternion(0,0,0,1));
void setDesiredMotorAngle(class b3RobotSimulatorClientAPI_NoGUI* sim, const char* motorName, double desiredAngle, double maxTorque=3,double kp=0.1, double kd=0.9); void setDesiredMotorAngle(class b3RobotSimulatorClientAPI_NoGUI* sim, const char* motorName, double desiredAngle, double maxTorque=3,double kp=0.1, double kd=0.9);

14
examples/RobotSimulator/RobotSimulatorMain.cpp
View File

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

148
examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.cpp
View File

@@ -17,7 +17,7 @@
#include "../SharedMemory/SharedMemoryPublic.h" #include "../SharedMemory/SharedMemoryPublic.h"
#include "Bullet3Common/b3Logging.h" #include "Bullet3Common/b3Logging.h"
static void scalarToDouble3(b3Scalar a[3], double b[3]) static void scalarToDouble3(btScalar a[3], double b[3])
{ {
for (int i = 0; i < 3; i++) for (int i = 0; i < 3; i++)
{ {
@@ -25,7 +25,7 @@ static void scalarToDouble3(b3Scalar a[3], double b[3])
} }
} }
static void scalarToDouble4(b3Scalar a[4], double b[4]) static void scalarToDouble4(btScalar a[4], double b[4])
{ {
for (int i = 0; i < 4; i++) for (int i = 0; i < 4; i++)
{ {
@@ -206,38 +206,38 @@ void b3RobotSimulatorClientAPI_NoGUI::stepSimulation()
{ {
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, b3InitStepSimulationCommand(m_data->m_physicsClientHandle)); statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, b3InitStepSimulationCommand(m_data->m_physicsClientHandle));
statusType = b3GetStatusType(statusHandle); statusType = b3GetStatusType(statusHandle);
//b3Assert(statusType == CMD_STEP_FORWARD_SIMULATION_COMPLETED); //btAssert(statusType == CMD_STEP_FORWARD_SIMULATION_COMPLETED);
} }
} }
void b3RobotSimulatorClientAPI_NoGUI::setGravity(const b3Vector3& gravityAcceleration) void b3RobotSimulatorClientAPI_NoGUI::setGravity(const btVector3& gravityAcceleration)
{ {
if (!isConnected()) if (!isConnected())
{ {
b3Warning("Not connected"); b3Warning("Not connected");
return; return;
} }
b3Assert(b3CanSubmitCommand(m_data->m_physicsClientHandle)); btAssert(b3CanSubmitCommand(m_data->m_physicsClientHandle));
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClientHandle); b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClientHandle);
b3SharedMemoryStatusHandle statusHandle; b3SharedMemoryStatusHandle statusHandle;
b3PhysicsParamSetGravity(command, gravityAcceleration[0], gravityAcceleration[1], gravityAcceleration[2]); b3PhysicsParamSetGravity(command, gravityAcceleration[0], gravityAcceleration[1], gravityAcceleration[2]);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command); statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
// b3Assert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED); // btAssert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
} }
b3Quaternion b3RobotSimulatorClientAPI_NoGUI::getQuaternionFromEuler(const b3Vector3& rollPitchYaw) btQuaternion b3RobotSimulatorClientAPI_NoGUI::getQuaternionFromEuler(const btVector3& rollPitchYaw)
{ {
b3Quaternion q; btQuaternion q;
q.setEulerZYX(rollPitchYaw[2],rollPitchYaw[1],rollPitchYaw[0]); q.setEulerZYX(rollPitchYaw[2],rollPitchYaw[1],rollPitchYaw[0]);
return q; return q;
} }
b3Vector3 b3RobotSimulatorClientAPI_NoGUI::getEulerFromQuaternion(const b3Quaternion& quat) btVector3 b3RobotSimulatorClientAPI_NoGUI::getEulerFromQuaternion(const btQuaternion& quat)
{ {
b3Scalar roll,pitch,yaw; btScalar roll,pitch,yaw;
quat.getEulerZYX(yaw,pitch,roll); quat.getEulerZYX(yaw,pitch,roll);
b3Vector3 rpy2 = b3MakeVector3(roll,pitch,yaw); btVector3 rpy2 = btVector3(roll,pitch,yaw);
return rpy2; return rpy2;
} }
@@ -271,7 +271,7 @@ int b3RobotSimulatorClientAPI_NoGUI::loadURDF(const std::string& fileName, const
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command); statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
statusType = b3GetStatusType(statusHandle); statusType = b3GetStatusType(statusHandle);
b3Assert(statusType == CMD_URDF_LOADING_COMPLETED); btAssert(statusType == CMD_URDF_LOADING_COMPLETED);
if (statusType == CMD_URDF_LOADING_COMPLETED) if (statusType == CMD_URDF_LOADING_COMPLETED)
{ {
robotUniqueId = b3GetStatusBodyIndex(statusHandle); robotUniqueId = b3GetStatusBodyIndex(statusHandle);
@@ -356,7 +356,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::loadSDF(const std::string& fileName, b3Rob
b3LoadSdfCommandSetUseMultiBody(command, args.m_useMultiBody); b3LoadSdfCommandSetUseMultiBody(command, args.m_useMultiBody);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command); statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
statusType = b3GetStatusType(statusHandle); statusType = b3GetStatusType(statusHandle);
b3Assert(statusType == CMD_SDF_LOADING_COMPLETED); btAssert(statusType == CMD_SDF_LOADING_COMPLETED);
if (statusType == CMD_SDF_LOADING_COMPLETED) if (statusType == CMD_SDF_LOADING_COMPLETED)
{ {
int numBodies = b3GetStatusBodyIndices(statusHandle, 0, 0); int numBodies = b3GetStatusBodyIndices(statusHandle, 0, 0);
@@ -384,7 +384,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getBodyInfo(int bodyUniqueId, struct b3Bod
return (result != 0); return (result != 0);
} }
bool b3RobotSimulatorClientAPI_NoGUI::getBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation) const bool b3RobotSimulatorClientAPI_NoGUI::getBasePositionAndOrientation(int bodyUniqueId, btVector3& basePosition, btQuaternion& baseOrientation) const
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -422,7 +422,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getBasePositionAndOrientation(int bodyUniq
return true; return true;
} }
bool b3RobotSimulatorClientAPI_NoGUI::resetBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation) bool b3RobotSimulatorClientAPI_NoGUI::resetBasePositionAndOrientation(int bodyUniqueId, btVector3& basePosition, btQuaternion& baseOrientation)
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -444,7 +444,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::resetBasePositionAndOrientation(int bodyUn
return true; return true;
} }
bool b3RobotSimulatorClientAPI_NoGUI::getBaseVelocity(int bodyUniqueId, b3Vector3& baseLinearVelocity, b3Vector3& baseAngularVelocity) const bool b3RobotSimulatorClientAPI_NoGUI::getBaseVelocity(int bodyUniqueId, btVector3& baseLinearVelocity, btVector3& baseAngularVelocity) const
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -478,7 +478,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getBaseVelocity(int bodyUniqueId, b3Vector
return true; return true;
} }
bool b3RobotSimulatorClientAPI_NoGUI::resetBaseVelocity(int bodyUniqueId, const b3Vector3& linearVelocity, const b3Vector3& angularVelocity) const bool b3RobotSimulatorClientAPI_NoGUI::resetBaseVelocity(int bodyUniqueId, const btVector3& linearVelocity, const btVector3& angularVelocity) const
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -491,11 +491,11 @@ bool b3RobotSimulatorClientAPI_NoGUI::resetBaseVelocity(int bodyUniqueId, const
commandHandle = b3CreatePoseCommandInit(m_data->m_physicsClientHandle, bodyUniqueId); commandHandle = b3CreatePoseCommandInit(m_data->m_physicsClientHandle, bodyUniqueId);
b3Vector3DoubleData linVelDouble; btVector3DoubleData linVelDouble;
linearVelocity.serializeDouble(linVelDouble); linearVelocity.serializeDouble(linVelDouble);
b3CreatePoseCommandSetBaseLinearVelocity(commandHandle, linVelDouble.m_floats); b3CreatePoseCommandSetBaseLinearVelocity(commandHandle, linVelDouble.m_floats);
b3Vector3DoubleData angVelDouble; btVector3DoubleData angVelDouble;
angularVelocity.serializeDouble(angVelDouble); angularVelocity.serializeDouble(angVelDouble);
b3CreatePoseCommandSetBaseAngularVelocity(commandHandle, angVelDouble.m_floats); b3CreatePoseCommandSetBaseAngularVelocity(commandHandle, angVelDouble.m_floats);
@@ -534,7 +534,7 @@ void b3RobotSimulatorClientAPI_NoGUI::setRealTimeSimulation(bool enableRealTimeS
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command); statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
b3Assert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED); btAssert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
} }
int b3RobotSimulatorClientAPI_NoGUI::getNumJoints(int bodyUniqueId) const int b3RobotSimulatorClientAPI_NoGUI::getNumJoints(int bodyUniqueId) const
@@ -565,7 +565,7 @@ int b3RobotSimulatorClientAPI_NoGUI::createConstraint(int parentBodyIndex, int p
return -1; return -1;
} }
b3SharedMemoryStatusHandle statusHandle; b3SharedMemoryStatusHandle statusHandle;
b3Assert(b3CanSubmitCommand(m_data->m_physicsClientHandle)); btAssert(b3CanSubmitCommand(m_data->m_physicsClientHandle));
if (b3CanSubmitCommand(m_data->m_physicsClientHandle)) if (b3CanSubmitCommand(m_data->m_physicsClientHandle))
{ {
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, b3InitCreateUserConstraintCommand(m_data->m_physicsClientHandle, parentBodyIndex, parentJointIndex, childBodyIndex, childJointIndex, jointInfo)); statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, b3InitCreateUserConstraintCommand(m_data->m_physicsClientHandle, parentBodyIndex, parentJointIndex, childBodyIndex, childJointIndex, jointInfo));
@@ -792,7 +792,7 @@ void b3RobotSimulatorClientAPI_NoGUI::setNumSolverIterations(int numIterations)
b3SharedMemoryStatusHandle statusHandle; b3SharedMemoryStatusHandle statusHandle;
b3PhysicsParamSetNumSolverIterations(command, numIterations); b3PhysicsParamSetNumSolverIterations(command, numIterations);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command); statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
b3Assert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED); btAssert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
} }
void b3RobotSimulatorClientAPI_NoGUI::setContactBreakingThreshold(double threshold) void b3RobotSimulatorClientAPI_NoGUI::setContactBreakingThreshold(double threshold)
@@ -806,7 +806,7 @@ void b3RobotSimulatorClientAPI_NoGUI::setContactBreakingThreshold(double thresho
b3SharedMemoryStatusHandle statusHandle; b3SharedMemoryStatusHandle statusHandle;
b3PhysicsParamSetContactBreakingThreshold(command,threshold); b3PhysicsParamSetContactBreakingThreshold(command,threshold);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command); statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
b3Assert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED); btAssert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
} }
@@ -836,7 +836,7 @@ void b3RobotSimulatorClientAPI_NoGUI::setNumSimulationSubSteps(int numSubSteps)
b3SharedMemoryStatusHandle statusHandle; b3SharedMemoryStatusHandle statusHandle;
b3PhysicsParamSetNumSubSteps(command, numSubSteps); b3PhysicsParamSetNumSubSteps(command, numSubSteps);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command); statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
b3Assert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED); btAssert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
} }
bool b3RobotSimulatorClientAPI_NoGUI::calculateInverseKinematics(const struct b3RobotSimulatorInverseKinematicArgs& args, struct b3RobotSimulatorInverseKinematicsResults& results) bool b3RobotSimulatorClientAPI_NoGUI::calculateInverseKinematics(const struct b3RobotSimulatorInverseKinematicArgs& args, struct b3RobotSimulatorInverseKinematicsResults& results)
@@ -846,8 +846,8 @@ bool b3RobotSimulatorClientAPI_NoGUI::calculateInverseKinematics(const struct b3
b3Warning("Not connected"); b3Warning("Not connected");
return false; return false;
} }
b3Assert(args.m_endEffectorLinkIndex >= 0); btAssert(args.m_endEffectorLinkIndex >= 0);
b3Assert(args.m_bodyUniqueId >= 0); btAssert(args.m_bodyUniqueId >= 0);
b3SharedMemoryCommandHandle command = b3CalculateInverseKinematicsCommandInit(m_data->m_physicsClientHandle, args.m_bodyUniqueId); b3SharedMemoryCommandHandle command = b3CalculateInverseKinematicsCommandInit(m_data->m_physicsClientHandle, args.m_bodyUniqueId);
if ((args.m_flags & B3_HAS_IK_TARGET_ORIENTATION) && (args.m_flags & B3_HAS_NULL_SPACE_VELOCITY)) if ((args.m_flags & B3_HAS_IK_TARGET_ORIENTATION) && (args.m_flags & B3_HAS_NULL_SPACE_VELOCITY))
@@ -989,7 +989,7 @@ void b3RobotSimulatorClientAPI_NoGUI::getKeyboardEvents(b3KeyboardEventsData* ke
b3GetKeyboardEventsData(m_data->m_physicsClientHandle, keyboardEventsData); b3GetKeyboardEventsData(m_data->m_physicsClientHandle, keyboardEventsData);
} }
int b3RobotSimulatorClientAPI_NoGUI::startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const b3AlignedObjectArray<int>& objectUniqueIds, int maxLogDof) int b3RobotSimulatorClientAPI_NoGUI::startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const btAlignedObjectArray<int>& objectUniqueIds, int maxLogDof)
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -1039,7 +1039,7 @@ void b3RobotSimulatorClientAPI_NoGUI::stopStateLogging(int stateLoggerUniqueId)
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle); statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
} }
void b3RobotSimulatorClientAPI_NoGUI::resetDebugVisualizerCamera(double cameraDistance, double cameraPitch, double cameraYaw, const b3Vector3& targetPos) void b3RobotSimulatorClientAPI_NoGUI::resetDebugVisualizerCamera(double cameraDistance, double cameraPitch, double cameraYaw, const btVector3& targetPos)
{ {
if (!isConnected()) if (!isConnected())
{ {
@@ -1052,7 +1052,7 @@ void b3RobotSimulatorClientAPI_NoGUI::resetDebugVisualizerCamera(double cameraDi
{ {
if ((cameraDistance >= 0)) if ((cameraDistance >= 0))
{ {
b3Vector3FloatData camTargetPos; btVector3FloatData camTargetPos;
targetPos.serializeFloat(camTargetPos); targetPos.serializeFloat(camTargetPos);
b3ConfigureOpenGLVisualizerSetViewMatrix(commandHandle, cameraDistance, cameraPitch, cameraYaw, camTargetPos.m_floats); b3ConfigureOpenGLVisualizerSetViewMatrix(commandHandle, cameraDistance, cameraPitch, cameraYaw, camTargetPos.m_floats);
} }
@@ -1428,12 +1428,12 @@ int b3RobotSimulatorClientAPI_NoGUI::addUserDebugText(char *text, double *posXYZ
return -1; return -1;
} }
int b3RobotSimulatorClientAPI_NoGUI::addUserDebugText(char *text, b3Vector3 &posXYZ, struct b3RobotSimulatorAddUserDebugTextArgs & args) int b3RobotSimulatorClientAPI_NoGUI::addUserDebugText(char *text, btVector3 &posXYZ, struct b3RobotSimulatorAddUserDebugTextArgs & args)
{ {
double dposXYZ[3]; double dposXYZ[3];
dposXYZ[0] = posXYZ.x; dposXYZ[0] = posXYZ.x();
dposXYZ[1] = posXYZ.y; dposXYZ[1] = posXYZ.y();
dposXYZ[2] = posXYZ.z; dposXYZ[2] = posXYZ.z();
return addUserDebugText(text, &dposXYZ[0], args); return addUserDebugText(text, &dposXYZ[0], args);
} }
@@ -1466,17 +1466,17 @@ int b3RobotSimulatorClientAPI_NoGUI::addUserDebugLine(double *fromXYZ, double *t
return -1; return -1;
} }
int b3RobotSimulatorClientAPI_NoGUI::addUserDebugLine(b3Vector3 &fromXYZ, b3Vector3 &toXYZ, struct b3RobotSimulatorAddUserDebugLineArgs & args) int b3RobotSimulatorClientAPI_NoGUI::addUserDebugLine(btVector3 &fromXYZ, btVector3 &toXYZ, struct b3RobotSimulatorAddUserDebugLineArgs & args)
{ {
double dfromXYZ[3]; double dfromXYZ[3];
double dtoXYZ[3]; double dtoXYZ[3];
dfromXYZ[0] = fromXYZ.x; dfromXYZ[0] = fromXYZ.x();
dfromXYZ[1] = fromXYZ.y; dfromXYZ[1] = fromXYZ.y();
dfromXYZ[2] = fromXYZ.z; dfromXYZ[2] = fromXYZ.z();
dtoXYZ[0] = toXYZ.x; dtoXYZ[0] = toXYZ.x();
dtoXYZ[1] = toXYZ.y; dtoXYZ[1] = toXYZ.y();
dtoXYZ[2] = toXYZ.z; dtoXYZ[2] = toXYZ.z();
return addUserDebugLine(&dfromXYZ[0], &dtoXYZ[0], args); return addUserDebugLine(&dfromXYZ[0], &dtoXYZ[0], args);
} }
@@ -1647,18 +1647,18 @@ bool b3RobotSimulatorClientAPI_NoGUI::applyExternalForce(int objectUniqueId, int
return true; return true;
} }
bool b3RobotSimulatorClientAPI_NoGUI::applyExternalForce(int objectUniqueId, int linkIndex, b3Vector3 &force, b3Vector3 &position, int flags) bool b3RobotSimulatorClientAPI_NoGUI::applyExternalForce(int objectUniqueId, int linkIndex, btVector3 &force, btVector3 &position, int flags)
{ {
double dforce[3]; double dforce[3];
double dposition[3]; double dposition[3];
dforce[0] = force.x; dforce[0] = force.x();
dforce[1] = force.y; dforce[1] = force.y();
dforce[2] = force.z; dforce[2] = force.z();
dposition[0] = position.x; dposition[0] = position.x();
dposition[1] = position.y; dposition[1] = position.y();
dposition[2] = position.z; dposition[2] = position.z();
return applyExternalForce(objectUniqueId, linkIndex, &dforce[0], &dposition[0], flags); return applyExternalForce(objectUniqueId, linkIndex, &dforce[0], &dposition[0], flags);
} }
@@ -1680,13 +1680,13 @@ bool b3RobotSimulatorClientAPI_NoGUI::applyExternalTorque(int objectUniqueId, in
return true; return true;
} }
bool b3RobotSimulatorClientAPI_NoGUI::applyExternalTorque(int objectUniqueId, int linkIndex, b3Vector3 &torque, int flags) bool b3RobotSimulatorClientAPI_NoGUI::applyExternalTorque(int objectUniqueId, int linkIndex, btVector3 &torque, int flags)
{ {
double dtorque[3]; double dtorque[3];
dtorque[0] = torque.x; dtorque[0] = torque.x();
dtorque[1] = torque.y; dtorque[1] = torque.y();
dtorque[2] = torque.z; dtorque[2] = torque.z();
return applyExternalTorque(objectUniqueId, linkIndex, &dtorque[0], flags); return applyExternalTorque(objectUniqueId, linkIndex, &dtorque[0], flags);
} }
@@ -1829,18 +1829,18 @@ bool b3RobotSimulatorClientAPI_NoGUI::getOverlappingObjects(double *aabbMin, dou
} }
bool b3RobotSimulatorClientAPI_NoGUI::getOverlappingObjects(b3Vector3 &aabbMin, b3Vector3 &aabbMax, struct b3AABBOverlapData *overlapData) bool b3RobotSimulatorClientAPI_NoGUI::getOverlappingObjects(btVector3 &aabbMin, btVector3 &aabbMax, struct b3AABBOverlapData *overlapData)
{ {
double daabbMin[3]; double daabbMin[3];
double daabbMax[3]; double daabbMax[3];
daabbMin[0] = aabbMin.x; daabbMin[0] = aabbMin.x();
daabbMin[1] = aabbMin.y; daabbMin[1] = aabbMin.y();
daabbMin[2] = aabbMin.z; daabbMin[2] = aabbMin.z();
daabbMax[0] = aabbMax.x; daabbMax[0] = aabbMax.x();
daabbMax[1] = aabbMax.y; daabbMax[1] = aabbMax.y();
daabbMax[2] = aabbMax.z; daabbMax[2] = aabbMax.z();
return getOverlappingObjects(&daabbMin[0], &daabbMax[0], overlapData); return getOverlappingObjects(&daabbMin[0], &daabbMax[0], overlapData);
} }
@@ -1886,20 +1886,20 @@ bool b3RobotSimulatorClientAPI_NoGUI::getAABB(int bodyUniqueId, int linkIndex, d
return false; return false;
} }
bool b3RobotSimulatorClientAPI_NoGUI::getAABB(int bodyUniqueId, int linkIndex, b3Vector3 &aabbMin, b3Vector3 &aabbMax) bool b3RobotSimulatorClientAPI_NoGUI::getAABB(int bodyUniqueId, int linkIndex, btVector3 &aabbMin, btVector3 &aabbMax)
{ {
double daabbMin[3]; double daabbMin[3];
double daabbMax[3]; double daabbMax[3];
bool status = getAABB(bodyUniqueId, linkIndex, &daabbMin[0], &daabbMax[0]); bool status = getAABB(bodyUniqueId, linkIndex, &daabbMin[0], &daabbMax[0]);
aabbMin.x = (float)daabbMin[0]; aabbMin[0] = (float)daabbMin[0];
aabbMin.y = (float)daabbMin[1]; aabbMin[1] = (float)daabbMin[1];
aabbMin.z = (float)daabbMin[2]; aabbMin[2] = (float)daabbMin[2];
aabbMax.x = (float)daabbMax[0]; aabbMax[0] = (float)daabbMax[0];
aabbMax.y = (float)daabbMax[1]; aabbMax[1] = (float)daabbMax[1];
aabbMax.z = (float)daabbMax[2]; aabbMax[2] = (float)daabbMax[2];
return status; return status;
} }
@@ -1975,8 +1975,8 @@ int b3RobotSimulatorClientAPI_NoGUI::createMultiBody(struct b3RobotSimulatorCrea
double doubleBaseOrientation[4]; double doubleBaseOrientation[4];
double doubleBaseInertialFrameOrientation[4]; double doubleBaseInertialFrameOrientation[4];
scalarToDouble4(args.m_baseOrientation.m_floats, doubleBaseOrientation); scalarToDouble4(args.m_baseOrientation, doubleBaseOrientation);
scalarToDouble4(args.m_baseInertialFrameOrientation.m_floats, doubleBaseInertialFrameOrientation); scalarToDouble4(args.m_baseInertialFrameOrientation, doubleBaseInertialFrameOrientation);
command = b3CreateMultiBodyCommandInit(sm); command = b3CreateMultiBodyCommandInit(sm);
@@ -1987,13 +1987,13 @@ int b3RobotSimulatorClientAPI_NoGUI::createMultiBody(struct b3RobotSimulatorCrea
double linkMass = args.m_linkMasses[i]; double linkMass = args.m_linkMasses[i];
int linkCollisionShapeIndex = args.m_linkCollisionShapeIndices[i]; int linkCollisionShapeIndex = args.m_linkCollisionShapeIndices[i];
int linkVisualShapeIndex = args.m_linkVisualShapeIndices[i]; int linkVisualShapeIndex = args.m_linkVisualShapeIndices[i];
b3Vector3 linkPosition = args.m_linkPositions[i]; btVector3 linkPosition = args.m_linkPositions[i];
b3Quaternion linkOrientation = args.m_linkOrientations[i]; btQuaternion linkOrientation = args.m_linkOrientations[i];
b3Vector3 linkInertialFramePosition = args.m_linkInertialFramePositions[i]; btVector3 linkInertialFramePosition = args.m_linkInertialFramePositions[i];
b3Quaternion linkInertialFrameOrientation = args.m_linkInertialFrameOrientations[i]; btQuaternion linkInertialFrameOrientation = args.m_linkInertialFrameOrientations[i];
int linkParentIndex = args.m_linkParentIndices[i]; int linkParentIndex = args.m_linkParentIndices[i];
int linkJointType = args.m_linkJointTypes[i]; int linkJointType = args.m_linkJointTypes[i];
b3Vector3 linkJointAxis = args.m_linkJointAxes[i]; btVector3 linkJointAxis = args.m_linkJointAxes[i];
double doubleLinkPosition[3]; double doubleLinkPosition[3];
double doubleLinkInertialFramePosition[3]; double doubleLinkInertialFramePosition[3];
@@ -2004,8 +2004,8 @@ int b3RobotSimulatorClientAPI_NoGUI::createMultiBody(struct b3RobotSimulatorCrea
double doubleLinkOrientation[4]; double doubleLinkOrientation[4];
double doubleLinkInertialFrameOrientation[4]; double doubleLinkInertialFrameOrientation[4];
scalarToDouble4(linkOrientation.m_floats, doubleLinkOrientation); scalarToDouble4(linkOrientation, doubleLinkOrientation);
scalarToDouble4(linkInertialFrameOrientation.m_floats, doubleLinkInertialFrameOrientation); scalarToDouble4(linkInertialFrameOrientation, doubleLinkInertialFrameOrientation);
b3CreateMultiBodyLink(command, b3CreateMultiBodyLink(command,
linkMass, linkMass,

94
examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.h
View File

@@ -2,22 +2,22 @@
#define B3_ROBOT_SIMULATOR_CLIENT_API_H #define B3_ROBOT_SIMULATOR_CLIENT_API_H
#include "SharedMemoryPublic.h" #include "SharedMemoryPublic.h"
#include "Bullet3Common/b3Vector3.h" #include "LinearMath/btVector3.h"
#include "Bullet3Common/b3Quaternion.h" #include "LinearMath/btQuaternion.h"
#include "Bullet3Common/b3Transform.h" #include "LinearMath/btTransform.h"
#include "Bullet3Common/b3AlignedObjectArray.h" #include "LinearMath/btAlignedObjectArray.h"
#include <string> #include <string>
struct b3RobotSimulatorLoadUrdfFileArgs struct b3RobotSimulatorLoadUrdfFileArgs
{ {
b3Vector3 m_startPosition; btVector3 m_startPosition;
b3Quaternion m_startOrientation; btQuaternion m_startOrientation;
bool m_forceOverrideFixedBase; bool m_forceOverrideFixedBase;
bool m_useMultiBody; bool m_useMultiBody;
int m_flags; int m_flags;
b3RobotSimulatorLoadUrdfFileArgs(const b3Vector3& startPos, const b3Quaternion& startOrn) b3RobotSimulatorLoadUrdfFileArgs(const btVector3& startPos, const btQuaternion& startOrn)
: m_startPosition(startPos), : m_startPosition(startPos),
m_startOrientation(startOrn), m_startOrientation(startOrn),
m_forceOverrideFixedBase(false), m_forceOverrideFixedBase(false),
@@ -27,8 +27,8 @@ struct b3RobotSimulatorLoadUrdfFileArgs
} }
b3RobotSimulatorLoadUrdfFileArgs() b3RobotSimulatorLoadUrdfFileArgs()
: m_startPosition(b3MakeVector3(0, 0, 0)), : m_startPosition(btVector3(0, 0, 0)),
m_startOrientation(b3Quaternion(0, 0, 0, 1)), m_startOrientation(btQuaternion(0, 0, 0, 1)),
m_forceOverrideFixedBase(false), m_forceOverrideFixedBase(false),
m_useMultiBody(true), m_useMultiBody(true),
m_flags(0) m_flags(0)
@@ -50,7 +50,7 @@ struct b3RobotSimulatorLoadSdfFileArgs
struct b3RobotSimulatorLoadFileResults struct b3RobotSimulatorLoadFileResults
{ {
b3AlignedObjectArray<int> m_uniqueObjectIds; btAlignedObjectArray<int> m_uniqueObjectIds;
b3RobotSimulatorLoadFileResults() b3RobotSimulatorLoadFileResults()
{ {
} }
@@ -96,11 +96,11 @@ struct b3RobotSimulatorInverseKinematicArgs
int m_endEffectorLinkIndex; int m_endEffectorLinkIndex;
int m_flags; int m_flags;
int m_numDegreeOfFreedom; int m_numDegreeOfFreedom;
b3AlignedObjectArray<double> m_lowerLimits; btAlignedObjectArray<double> m_lowerLimits;
b3AlignedObjectArray<double> m_upperLimits; btAlignedObjectArray<double> m_upperLimits;
b3AlignedObjectArray<double> m_jointRanges; btAlignedObjectArray<double> m_jointRanges;
b3AlignedObjectArray<double> m_restPoses; btAlignedObjectArray<double> m_restPoses;
b3AlignedObjectArray<double> m_jointDamping; btAlignedObjectArray<double> m_jointDamping;
b3RobotSimulatorInverseKinematicArgs() b3RobotSimulatorInverseKinematicArgs()
: m_bodyUniqueId(-1), : m_bodyUniqueId(-1),
@@ -121,7 +121,7 @@ struct b3RobotSimulatorInverseKinematicArgs
struct b3RobotSimulatorInverseKinematicsResults struct b3RobotSimulatorInverseKinematicsResults
{ {
int m_bodyUniqueId; int m_bodyUniqueId;
b3AlignedObjectArray<double> m_calculatedJointPositions; btAlignedObjectArray<double> m_calculatedJointPositions;
}; };
struct b3JointStates2 struct b3JointStates2
@@ -129,10 +129,10 @@ struct b3JointStates2
int m_bodyUniqueId; int m_bodyUniqueId;
int m_numDegreeOfFreedomQ; int m_numDegreeOfFreedomQ;
int m_numDegreeOfFreedomU; int m_numDegreeOfFreedomU;
b3Transform m_rootLocalInertialFrame; btTransform m_rootLocalInertialFrame;
b3AlignedObjectArray<double> m_actualStateQ; btAlignedObjectArray<double> m_actualStateQ;
b3AlignedObjectArray<double> m_actualStateQdot; btAlignedObjectArray<double> m_actualStateQdot;
b3AlignedObjectArray<double> m_jointReactionForces; btAlignedObjectArray<double> m_jointReactionForces;
}; };
@@ -322,11 +322,11 @@ struct b3RobotSimulatorCreateCollisionShapeArgs
{ {
int m_shapeType; int m_shapeType;
double m_radius; double m_radius;
b3Vector3 m_halfExtents; btVector3 m_halfExtents;
double m_height; double m_height;
char* m_fileName; char* m_fileName;
b3Vector3 m_meshScale; btVector3 m_meshScale;
b3Vector3 m_planeNormal; btVector3 m_planeNormal;
int m_flags; int m_flags;
b3RobotSimulatorCreateCollisionShapeArgs() b3RobotSimulatorCreateCollisionShapeArgs()
: m_shapeType(-1), : m_shapeType(-1),
@@ -355,22 +355,22 @@ struct b3RobotSimulatorCreateMultiBodyArgs
double m_baseMass; double m_baseMass;
int m_baseCollisionShapeIndex; int m_baseCollisionShapeIndex;
int m_baseVisualShapeIndex; int m_baseVisualShapeIndex;
b3Vector3 m_basePosition; btVector3 m_basePosition;
b3Quaternion m_baseOrientation; btQuaternion m_baseOrientation;
b3Vector3 m_baseInertialFramePosition; btVector3 m_baseInertialFramePosition;
b3Quaternion m_baseInertialFrameOrientation; btQuaternion m_baseInertialFrameOrientation;
int m_numLinks; int m_numLinks;
double *m_linkMasses; double *m_linkMasses;
int *m_linkCollisionShapeIndices; int *m_linkCollisionShapeIndices;
int *m_linkVisualShapeIndices; int *m_linkVisualShapeIndices;
b3Vector3 *m_linkPositions; btVector3 *m_linkPositions;
b3Quaternion *m_linkOrientations; btQuaternion *m_linkOrientations;
b3Vector3 *m_linkInertialFramePositions; btVector3 *m_linkInertialFramePositions;
b3Quaternion *m_linkInertialFrameOrientations; btQuaternion *m_linkInertialFrameOrientations;
int *m_linkParentIndices; int *m_linkParentIndices;
int *m_linkJointTypes; int *m_linkJointTypes;
b3Vector3 *m_linkJointAxes; btVector3 *m_linkJointAxes;
int m_useMaximalCoordinates; int m_useMaximalCoordinates;
@@ -422,8 +422,8 @@ public:
void resetSimulation(); void resetSimulation();
b3Quaternion getQuaternionFromEuler(const b3Vector3& rollPitchYaw); btQuaternion getQuaternionFromEuler(const btVector3& rollPitchYaw);
b3Vector3 getEulerFromQuaternion(const b3Quaternion& quat); btVector3 getEulerFromQuaternion(const btQuaternion& quat);
int loadURDF(const std::string& fileName, const struct b3RobotSimulatorLoadUrdfFileArgs& args = b3RobotSimulatorLoadUrdfFileArgs()); int loadURDF(const std::string& fileName, const struct b3RobotSimulatorLoadUrdfFileArgs& args = b3RobotSimulatorLoadUrdfFileArgs());
bool loadSDF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results, const struct b3RobotSimulatorLoadSdfFileArgs& args = b3RobotSimulatorLoadSdfFileArgs()); bool loadSDF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results, const struct b3RobotSimulatorLoadSdfFileArgs& args = b3RobotSimulatorLoadSdfFileArgs());
@@ -432,11 +432,11 @@ public:
bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo* bodyInfo); bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo* bodyInfo);
bool getBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation) const; bool getBasePositionAndOrientation(int bodyUniqueId, btVector3& basePosition, btQuaternion& baseOrientation) const;
bool resetBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation); bool resetBasePositionAndOrientation(int bodyUniqueId, btVector3& basePosition, btQuaternion& baseOrientation);
bool getBaseVelocity(int bodyUniqueId, b3Vector3& baseLinearVelocity, b3Vector3& baseAngularVelocity) const; bool getBaseVelocity(int bodyUniqueId, btVector3& baseLinearVelocity, btVector3& baseAngularVelocity) const;
bool resetBaseVelocity(int bodyUniqueId, const b3Vector3& linearVelocity, const b3Vector3& angularVelocity) const; bool resetBaseVelocity(int bodyUniqueId, const btVector3& linearVelocity, const btVector3& angularVelocity) const;
int getNumJoints(int bodyUniqueId) const; int getNumJoints(int bodyUniqueId) const;
@@ -468,7 +468,7 @@ public:
void setInternalSimFlags(int flags); void setInternalSimFlags(int flags);
void setGravity(const b3Vector3& gravityAcceleration); void setGravity(const btVector3& gravityAcceleration);
void setTimeStep(double timeStepInSeconds); void setTimeStep(double timeStepInSeconds);
void setNumSimulationSubSteps(int numSubSteps); void setNumSimulationSubSteps(int numSubSteps);
@@ -482,9 +482,9 @@ public:
bool getLinkState(int bodyUniqueId, int linkIndex, b3LinkState* linkState); bool getLinkState(int bodyUniqueId, int linkIndex, b3LinkState* linkState);
void configureDebugVisualizer(enum b3ConfigureDebugVisualizerEnum flag, int enable); void configureDebugVisualizer(enum b3ConfigureDebugVisualizerEnum flag, int enable);
void resetDebugVisualizerCamera(double cameraDistance, double cameraPitch, double cameraYaw, const b3Vector3& targetPos); void resetDebugVisualizerCamera(double cameraDistance, double cameraPitch, double cameraYaw, const btVector3& targetPos);
int startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const b3AlignedObjectArray<int>& objectUniqueIds=b3AlignedObjectArray<int>(), int maxLogDof = -1); int startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const btAlignedObjectArray<int>& objectUniqueIds=btAlignedObjectArray<int>(), int maxLogDof = -1);
void stopStateLogging(int stateLoggerUniqueId); void stopStateLogging(int stateLoggerUniqueId);
void getVREvents(b3VREventsData* vrEventsData, int deviceTypeFilter); void getVREvents(b3VREventsData* vrEventsData, int deviceTypeFilter);
@@ -520,11 +520,11 @@ public:
int addUserDebugText(char *text, double *textPosition, struct b3RobotSimulatorAddUserDebugTextArgs &args); int addUserDebugText(char *text, double *textPosition, struct b3RobotSimulatorAddUserDebugTextArgs &args);
int addUserDebugText(char *text, b3Vector3 &textPosition, struct b3RobotSimulatorAddUserDebugTextArgs &args); int addUserDebugText(char *text, btVector3 &textPosition, struct b3RobotSimulatorAddUserDebugTextArgs &args);
int addUserDebugLine(double *fromXYZ, double *toXYZ, struct b3RobotSimulatorAddUserDebugLineArgs &args); int addUserDebugLine(double *fromXYZ, double *toXYZ, struct b3RobotSimulatorAddUserDebugLineArgs &args);
int addUserDebugLine(b3Vector3 &fromXYZ, b3Vector3 &toXYZ, struct b3RobotSimulatorAddUserDebugLineArgs &args); int addUserDebugLine(btVector3 &fromXYZ, btVector3 &toXYZ, struct b3RobotSimulatorAddUserDebugLineArgs &args);
bool setJointMotorControlArray(int bodyUniqueId, struct b3RobotSimulatorJointMotorArrayArgs &args); bool setJointMotorControlArray(int bodyUniqueId, struct b3RobotSimulatorJointMotorArrayArgs &args);
@@ -532,11 +532,11 @@ public:
bool applyExternalForce(int objectUniqueId, int linkIndex, double *force, double *position, int flags); bool applyExternalForce(int objectUniqueId, int linkIndex, double *force, double *position, int flags);
bool applyExternalForce(int objectUniqueId, int linkIndex, b3Vector3 &force, b3Vector3 &position, int flags); bool applyExternalForce(int objectUniqueId, int linkIndex, btVector3 &force, btVector3 &position, int flags);
bool applyExternalTorque(int objectUniqueId, int linkIndex, double *torque, int flags); bool applyExternalTorque(int objectUniqueId, int linkIndex, double *torque, int flags);
bool applyExternalTorque(int objectUniqueId, int linkIndex, b3Vector3 &torque, int flags); bool applyExternalTorque(int objectUniqueId, int linkIndex, btVector3 &torque, int flags);
bool enableJointForceTorqueSensor(int bodyUniqueId, int linkIndex, bool enable); bool enableJointForceTorqueSensor(int bodyUniqueId, int linkIndex, bool enable);
@@ -548,11 +548,11 @@ public:
bool getOverlappingObjects(double *aabbMin, double *aabbMax, struct b3AABBOverlapData *overlapData); bool getOverlappingObjects(double *aabbMin, double *aabbMax, struct b3AABBOverlapData *overlapData);
bool getOverlappingObjects(b3Vector3 &aabbMin, b3Vector3 &aabbMax, struct b3AABBOverlapData *overlapData); bool getOverlappingObjects(btVector3 &aabbMin, btVector3 &aabbMax, struct b3AABBOverlapData *overlapData);
bool getAABB(int bodyUniqueId, int linkIndex, double *aabbMin, double *aabbMax); bool getAABB(int bodyUniqueId, int linkIndex, double *aabbMin, double *aabbMax);
bool getAABB(int bodyUniqueId, int linkIndex, b3Vector3 &aabbMin, b3Vector3 &aabbMax); bool getAABB(int bodyUniqueId, int linkIndex, btVector3 &aabbMin, btVector3 &aabbMax);
int createCollisionShape(int shapeType, struct b3RobotSimulatorCreateCollisionShapeArgs &args); int createCollisionShape(int shapeType, struct b3RobotSimulatorCreateCollisionShapeArgs &args);

10
examples/RoboticsLearning/GripperGraspExample.cpp
View File

@@ -140,7 +140,7 @@ public:
{ {
m_robotSim.loadURDF("plane.urdf"); m_robotSim.loadURDF("plane.urdf");
} }
m_robotSim.setGravity(b3MakeVector3(0,0,-10)); m_robotSim.setGravity(btVector3(0,0,-10));
m_robotSim.setNumSimulationSubSteps(4); m_robotSim.setNumSimulationSubSteps(4);
} }
@@ -181,7 +181,7 @@ public:
m_robotSim.loadURDF("plane.urdf"); m_robotSim.loadURDF("plane.urdf");
} }
m_robotSim.setGravity(b3MakeVector3(0,0,-10)); m_robotSim.setGravity(btVector3(0,0,-10));
m_robotSim.setNumSimulationSubSteps(4); m_robotSim.setNumSimulationSubSteps(4);
} }
@@ -241,7 +241,7 @@ public:
{ {
m_robotSim.loadURDF("plane.urdf"); m_robotSim.loadURDF("plane.urdf");
} }
m_robotSim.setGravity(b3MakeVector3(0,0,-10)); m_robotSim.setGravity(btVector3(0,0,-10));
b3JointInfo revoluteJoint1; b3JointInfo revoluteJoint1;
revoluteJoint1.m_parentFrame[0] = -0.055; revoluteJoint1.m_parentFrame[0] = -0.055;
@@ -335,7 +335,7 @@ public:
m_robotSim.loadURDF("plane.urdf", args); m_robotSim.loadURDF("plane.urdf", args);
} }
m_robotSim.setGravity(b3MakeVector3(0,0,-10)); m_robotSim.setGravity(btVector3(0,0,-10));
m_robotSim.loadSoftBody("bunny.obj",0.1,0.1,0.02); m_robotSim.loadSoftBody("bunny.obj",0.1,0.1,0.02);
b3JointInfo revoluteJoint1; b3JointInfo revoluteJoint1;
@@ -411,7 +411,7 @@ public:
args.m_useMultiBody = false; args.m_useMultiBody = false;
m_robotSim.loadURDF("plane.urdf", args); m_robotSim.loadURDF("plane.urdf", args);
} }
m_robotSim.setGravity(b3MakeVector3(0,0,-10)); m_robotSim.setGravity(btVector3(0,0,-10));
m_robotSim.loadSoftBody("bunny.obj",0.3,10.0,0.1); m_robotSim.loadSoftBody("bunny.obj",0.3,10.0,0.1);
} }
} }

2
examples/RoboticsLearning/KukaGraspExample.cpp
View File

@@ -111,7 +111,7 @@ public:
{ {
m_robotSim.loadURDF("plane.urdf"); m_robotSim.loadURDF("plane.urdf");
m_robotSim.setGravity(b3MakeVector3(0,0,0)); m_robotSim.setGravity(btVector3(0,0,0));
} }
} }

6
examples/RoboticsLearning/R2D2GraspExample.cpp
View File

@@ -94,7 +94,7 @@ public:
m_robotSim.loadURDF("plane.urdf"); m_robotSim.loadURDF("plane.urdf");
} }
m_robotSim.setGravity(b3MakeVector3(0,0,-10)); m_robotSim.setGravity(btVector3(0,0,-10));
} }
@@ -119,7 +119,7 @@ public:
m_robotSim.loadURDF("plane.urdf",args); m_robotSim.loadURDF("plane.urdf",args);
} }
m_robotSim.setGravity(b3MakeVector3(0,0,-10)); m_robotSim.setGravity(btVector3(0,0,-10));
} }
if ((m_options & eROBOTIC_LEARN_ROLLING_FRICTION)!=0) if ((m_options & eROBOTIC_LEARN_ROLLING_FRICTION)!=0)
@@ -146,7 +146,7 @@ public:
m_robotSim.loadURDF("plane.urdf", args); m_robotSim.loadURDF("plane.urdf", args);
} }
m_robotSim.setGravity(b3MakeVector3(0,0,-10)); m_robotSim.setGravity(btVector3(0,0,-10));
} }