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add single step simulation, using 'o' key. use 'i' key to suspend simulation first

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default background color a bit darker, to show debug lines
tweaked contact point rendering a bit
This commit is contained in:
erwin coumans
2016-08-19 10:30:02 -07:00
parent a68c9ca845
commit 62d5b7c5c0
9 changed files with 174 additions and 122 deletions
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28
examples/RoboticsLearning/GripperGraspExample.cpp
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@@ -58,7 +58,7 @@ public:
virtual void physicsDebugDraw(int debugDrawMode)
{
m_robotSim.debugDraw(debugDrawMode);
}
virtual void initPhysics()
{
@@ -81,7 +81,16 @@ public:
slider.m_maxVal=1;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
b3RobotSimLoadFileArgs args("");
b3RobotSimLoadFileResults results;
args.m_fileName = "cube_small.urdf";
args.m_startPosition.setValue(0, 0, .107);
args.m_startOrientation.setEulerZYX(0, 0, 0);
args.m_useMultiBody = true;
m_robotSim.loadFile(args, results);
}
{
b3RobotSimLoadFileArgs args("");
args.m_fileName = "gripper/wsg50_with_r2d2_gripper.sdf";
@@ -129,15 +138,7 @@ public:
}
}
}
{
b3RobotSimLoadFileArgs args("");
b3RobotSimLoadFileResults results;
args.m_fileName = "cube_small.urdf";
args.m_startPosition.setValue(0,0,.107);
args.m_startOrientation.setEulerZYX(0,0,0);
args.m_useMultiBody = false;
m_robotSim.loadFile(args,results);
}
if (1)
{
b3RobotSimLoadFileArgs args("");
@@ -179,19 +180,20 @@ public:
m_robotSim.setJointMotorControl(m_gripperIndex,fingerJointIndices[i],controlArgs);
}
}
m_robotSim.stepSimulation();
m_robotSim.stepSimulation();
}
virtual void renderScene()
{
m_robotSim.renderScene();
//m_app->m_renderer->renderScene();
}
virtual void physicsDebugDraw()
{
}
virtual bool mouseMoveCallback(float x,float y)
{