From 16542aa7406b114d83d17453403274542851960f Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Wed, 19 Jun 2019 12:07:26 -0700 Subject: [PATCH] tweak Mini Cheetah URDF/MTL use /tmp/timings on Linux/Mac as default location to save profile timings (when you press 'p' in example browser) fix in Graphics Server Example when rendering is disabled --- examples/BlockSolver/RigidBodyBoxes.cpp | 5 +++-- examples/ExampleBrowser/OpenGLExampleBrowser.cpp | 4 ++++ examples/SharedMemory/GraphicsServerExample.cpp | 11 ++++++++--- .../mini_cheetah/meshes/mini_lower_link.obj | 1 - .../gym/pybullet_data/mini_cheetah/mini_cheetah.urdf | 2 +- 5 files changed, 16 insertions(+), 7 deletions(-) diff --git a/examples/BlockSolver/RigidBodyBoxes.cpp b/examples/BlockSolver/RigidBodyBoxes.cpp index 2b3190df2..e475413be 100644 --- a/examples/BlockSolver/RigidBodyBoxes.cpp +++ b/examples/BlockSolver/RigidBodyBoxes.cpp @@ -8,7 +8,7 @@ class RigidBodyBoxes : public CommonRigidBodyBase { int m_option; int m_numIterations; - int m_numBoxes = 4; + int m_numBoxes; btAlignedObjectArray boxes; static btScalar numSolverIterations; @@ -38,7 +38,8 @@ btScalar RigidBodyBoxes::numSolverIterations = 50; RigidBodyBoxes::RigidBodyBoxes(GUIHelperInterface* helper, int option) : CommonRigidBodyBase(helper), m_option(option), - m_numIterations(numSolverIterations) + m_numIterations(numSolverIterations), + m_numBoxes(4) { m_guiHelper->setUpAxis(2); } diff --git a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp index d60390d60..fcfb1c05a 100644 --- a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp +++ b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp @@ -257,7 +257,11 @@ void MyKeyboardCallback(int key, int state) } else { +#ifdef _WIN32 b3ChromeUtilsStopTimingsAndWriteJsonFile("timings"); +#else + b3ChromeUtilsStopTimingsAndWriteJsonFile("/tmp/timings"); +#endif } } diff --git a/examples/SharedMemory/GraphicsServerExample.cpp b/examples/SharedMemory/GraphicsServerExample.cpp index 944a363d1..a4837cf67 100644 --- a/examples/SharedMemory/GraphicsServerExample.cpp +++ b/examples/SharedMemory/GraphicsServerExample.cpp @@ -10,6 +10,7 @@ #include "Bullet3Common/b3AlignedObjectArray.h" #include "GraphicsSharedMemoryBlock.h" #include "../CommonInterfaces/CommonGUIHelperInterface.h" +#include "SharedMemoryPublic.h" #define MAX_GRAPHICS_SHARED_MEMORY_BLOCKS 1 @@ -108,11 +109,15 @@ public: } case GFX_CMD_SET_VISUALIZER_FLAG: { - //printf("clientCmd.m_visualizerFlag.m_visualizerFlag: %d, clientCmd.m_visualizerFlag.m_enable %d\n", - // clientCmd.m_visualizerFlagCommand.m_visualizerFlag, clientCmd.m_visualizerFlagCommand.m_enable); + if (clientCmd.m_visualizerFlagCommand.m_visualizerFlag!=COV_ENABLE_RENDERING) + { + //printf("clientCmd.m_visualizerFlag.m_visualizerFlag: %d, clientCmd.m_visualizerFlag.m_enable %d\n", + // clientCmd.m_visualizerFlagCommand.m_visualizerFlag, clientCmd.m_visualizerFlagCommand.m_enable); - this->m_guiHelper->setVisualizerFlag(clientCmd.m_visualizerFlagCommand.m_visualizerFlag, clientCmd.m_visualizerFlagCommand.m_enable); + this->m_guiHelper->setVisualizerFlag(clientCmd.m_visualizerFlagCommand.m_visualizerFlag, clientCmd.m_visualizerFlagCommand.m_enable); + } break; + } case GFX_CMD_UPLOAD_DATA: diff --git a/examples/pybullet/gym/pybullet_data/mini_cheetah/meshes/mini_lower_link.obj b/examples/pybullet/gym/pybullet_data/mini_cheetah/meshes/mini_lower_link.obj index 8da1ffc5d..749a62d6f 100644 --- a/examples/pybullet/gym/pybullet_data/mini_cheetah/meshes/mini_lower_link.obj +++ b/examples/pybullet/gym/pybullet_data/mini_cheetah/meshes/mini_lower_link.obj @@ -1,6 +1,5 @@ # Blender v2.76 (sub 0) OBJ File: '' # www.blender.org -mtllib l_link_mini.mtl o lower_link v -0.007927 -0.006511 0.072209 v -0.007918 -0.006511 0.072209 diff --git a/examples/pybullet/gym/pybullet_data/mini_cheetah/mini_cheetah.urdf b/examples/pybullet/gym/pybullet_data/mini_cheetah/mini_cheetah.urdf index 57da7c0a4..4c830106b 100644 --- a/examples/pybullet/gym/pybullet_data/mini_cheetah/mini_cheetah.urdf +++ b/examples/pybullet/gym/pybullet_data/mini_cheetah/mini_cheetah.urdf @@ -4,7 +4,7 @@ - +