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Pass initial position and orientation for CMD_LOAD_URDF. (public github commit)

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2015-07-12 14:48:43 -07:00
parent 95eff08c51
commit 7452df0964
3 changed files with 22 additions and 8 deletions
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7
examples/SharedMemory/PhysicsClient.cpp
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@@ -341,6 +341,13 @@ void PhysicsClient::createClientCommand()
{ {
m_testBlock1->m_clientCommands[0].m_type =CMD_LOAD_URDF; m_testBlock1->m_clientCommands[0].m_type =CMD_LOAD_URDF;
sprintf(m_testBlock1->m_clientCommands[0].m_urdfArguments.m_urdfFileName,"r2d2.urdf"); sprintf(m_testBlock1->m_clientCommands[0].m_urdfArguments.m_urdfFileName,"r2d2.urdf");
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_initialPosition[0] = 0.0;
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_initialPosition[1] = 0.0;
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_initialPosition[2] = 0.0;
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_initialOrientation[0] = 0.0;
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_initialOrientation[1] = 0.0;
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_initialOrientation[2] = 0.0;
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_initialOrientation[3] = 1.0;
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_useFixedBase = false; m_testBlock1->m_clientCommands[0].m_urdfArguments.m_useFixedBase = false;
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_useMultiBody = true; m_testBlock1->m_clientCommands[0].m_urdfArguments.m_useMultiBody = true;

21
examples/SharedMemory/PhysicsServer.cpp
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@@ -12,7 +12,7 @@
#include "../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h" #include "../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h"
#include "SharedMemoryCommon.h" #include "SharedMemoryCommon.h"
const char* blaatnaam = "basename"; //const char* blaatnaam = "basename";
struct UrdfLinkNameMapUtil struct UrdfLinkNameMapUtil
{ {
btMultiBody* m_mb; btMultiBody* m_mb;
@@ -274,14 +274,19 @@ void PhysicsServer::stepSimulation(float deltaTime)
} }
case CMD_LOAD_URDF: case CMD_LOAD_URDF:
{ {
b3Printf("Processed CMD_LOAD_URDF:%s",clientCmd.m_urdfArguments.m_urdfFileName); const UrdfArgs& urdfArgs = clientCmd.m_urdfArguments;
b3Printf("Processed CMD_LOAD_URDF:%s", urdfArgs.m_urdfFileName);
//load the actual URDF and send a report: completed or failed
//load the actual URDF and send a report: completed or failed
bool completedOk = loadUrdf(urdfArgs.m_urdfFileName,
bool completedOk = loadUrdf(clientCmd.m_urdfArguments.m_urdfFileName, btVector3(urdfArgs.m_initialPosition[0],
btVector3(0,0,0), btQuaternion(0,0,0,1),clientCmd.m_urdfArguments.m_useMultiBody,clientCmd.m_urdfArguments.m_useFixedBase); urdfArgs.m_initialPosition[1],
urdfArgs.m_initialPosition[2]),
btQuaternion(urdfArgs.m_initialOrientation[0],
urdfArgs.m_initialOrientation[1],
urdfArgs.m_initialOrientation[2],
urdfArgs.m_initialOrientation[3]),
urdfArgs.m_useMultiBody, urdfArgs.m_useFixedBase);
SharedMemoryCommand& serverCmd =m_testBlock1->m_serverCommands[0]; SharedMemoryCommand& serverCmd =m_testBlock1->m_serverCommands[0];
if (completedOk) if (completedOk)

2
examples/SharedMemory/SharedMemoryCommands.h
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@@ -44,6 +44,8 @@ enum SharedMemoryClientCommand
struct UrdfArgs struct UrdfArgs
{ {
char m_urdfFileName[MAX_URDF_FILENAME_LENGTH]; char m_urdfFileName[MAX_URDF_FILENAME_LENGTH];
double m_initialPosition[3];
double m_initialOrientation[4];
bool m_useMultiBody; bool m_useMultiBody;
bool m_useFixedBase; bool m_useFixedBase;
}; };