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Merge branch 'master' of https://github.com/YunfeiBai/bullet3

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YunfeiBai
2016-09-29 12:09:02 -07:00
parent f181ea4ccd dd10dd6a3f
commit 67c49fa701
5 changed files with 818 additions and 6 deletions
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47
examples/RoboticsLearning/GripperGraspExample.cpp
View File

@@ -235,7 +235,7 @@ public:
{
b3RobotSimLoadFileArgs args("");
b3RobotSimLoadFileResults results;
args.m_fileName = "cube_small.urdf";
args.m_fileName = "sphere_small.urdf";
args.m_startPosition.setValue(0, 0, .107);
args.m_startOrientation.setEulerZYX(0, 0, 0);
args.m_useMultiBody = true;
@@ -244,7 +244,7 @@ public:
{
b3RobotSimLoadFileArgs args("");
args.m_fileName = "gripper/wsg50_one_motor_gripper.sdf";
args.m_fileName = "gripper/wsg50_one_motor_gripper_new.sdf";
args.m_fileType = B3_SDF_FILE;
args.m_useMultiBody = true;
b3RobotSimLoadFileResults results;
@@ -287,6 +287,7 @@ public:
}
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
/*
b3JointInfo sliderJoint1;
sliderJoint1.m_parentFrame[0] = 0;
sliderJoint1.m_parentFrame[1] = 0;
@@ -327,6 +328,47 @@ public:
sliderJoint2.m_jointType = ePrismaticType;
m_robotSim.createJoint(1, 0, 1, 3, &sliderJoint1);
m_robotSim.createJoint(1, 0, 1, 6, &sliderJoint2);
*/
b3JointInfo revoluteJoint1;
revoluteJoint1.m_parentFrame[0] = -0.055;
revoluteJoint1.m_parentFrame[1] = 0;
revoluteJoint1.m_parentFrame[2] = 0.02;
revoluteJoint1.m_parentFrame[3] = 0;
revoluteJoint1.m_parentFrame[4] = 0;
revoluteJoint1.m_parentFrame[5] = 0;
revoluteJoint1.m_parentFrame[6] = 1.0;
revoluteJoint1.m_childFrame[0] = 0;
revoluteJoint1.m_childFrame[1] = 0;
revoluteJoint1.m_childFrame[2] = 0;
revoluteJoint1.m_childFrame[3] = 0;
revoluteJoint1.m_childFrame[4] = 0;
revoluteJoint1.m_childFrame[5] = 0;
revoluteJoint1.m_childFrame[6] = 1.0;
revoluteJoint1.m_jointAxis[0] = 1.0;
revoluteJoint1.m_jointAxis[1] = 0.0;
revoluteJoint1.m_jointAxis[2] = 0.0;
revoluteJoint1.m_jointType = ePoint2PointType;
b3JointInfo revoluteJoint2;
revoluteJoint2.m_parentFrame[0] = 0.055;
revoluteJoint2.m_parentFrame[1] = 0;
revoluteJoint2.m_parentFrame[2] = 0.02;
revoluteJoint2.m_parentFrame[3] = 0;
revoluteJoint2.m_parentFrame[4] = 0;
revoluteJoint2.m_parentFrame[5] = 0;
revoluteJoint2.m_parentFrame[6] = 1.0;
revoluteJoint2.m_childFrame[0] = 0;
revoluteJoint2.m_childFrame[1] = 0;
revoluteJoint2.m_childFrame[2] = 0;
revoluteJoint2.m_childFrame[3] = 0;
revoluteJoint2.m_childFrame[4] = 0;
revoluteJoint2.m_childFrame[5] = 0;
revoluteJoint2.m_childFrame[6] = 1.0;
revoluteJoint2.m_jointAxis[0] = 1.0;
revoluteJoint2.m_jointAxis[1] = 0.0;
revoluteJoint2.m_jointAxis[2] = 0.0;
revoluteJoint2.m_jointType = ePoint2PointType;
m_robotSim.createJoint(1, 2, 1, 4, &revoluteJoint1);
m_robotSim.createJoint(1, 3, 1, 6, &revoluteJoint2);
}
}
@@ -372,6 +414,7 @@ public:
}
}
m_robotSim.stepSimulation();
}
virtual void renderScene()

4
examples/ThirdPartyLibs/BussIK/MatrixRmn.h
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@@ -181,7 +181,7 @@ inline MatrixRmn::MatrixRmn( long numRows, long numCols )
inline MatrixRmn::~MatrixRmn()
{
delete x;
delete[] x;
}
// Resize.
@@ -191,7 +191,7 @@ inline void MatrixRmn::SetSize( long numRows, long numCols )
assert ( numRows>0 && numCols>0 );
long newLength = numRows*numCols;
if ( newLength>AllocSize ) {
delete x;
delete[] x;
AllocSize = Max(newLength, AllocSize<<1);
x = new double[AllocSize];
}

4
examples/ThirdPartyLibs/BussIK/VectorRn.h
View File

@@ -104,7 +104,7 @@ inline VectorRn::VectorRn( long initLength )
inline VectorRn::~VectorRn()
{
delete x;
delete[] x;
}
// Resize.
@@ -113,7 +113,7 @@ inline void VectorRn::SetLength( long newLength )
{
assert ( newLength>0 );
if ( newLength>AllocLength ) {
delete x;
delete[] x;
AllocLength = Max( newLength, AllocLength<<1 );
x = new double[AllocLength];
}