Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Use two SI solvers as blocks in block solver.

Browse Source 
In the btBlockSolver we are experimenting with, we have SI for both multibody and rigid body. I'm currently replacing rigid body SI solver with two smaller SI solvers. The two examples provided by RigidBodyBoxes.h should have the same behavior.
This commit is contained in:
Chuyuan Fu
2019-03-25 14:41:58 -07:00
parent 19f3ec8b80
commit 7aba1f9e8a
9 changed files with 369 additions and 128 deletions
Download Patch File Download Diff File Expand all files Collapse all files

23
examples/BulletRobotics/FixJointBoxes.cpp
View File

@@ -1,4 +1,3 @@
#include "FixJointBoxes.h"
#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
@@ -61,7 +60,11 @@ public:
b3RobotSimulatorLoadUrdfFileArgs args;
b3RobotSimulatorChangeDynamicsArgs dynamicsArgs;
b3RobotJointInfo jointInfo;
for (int i = 0; i < numCubes; i++)
{
args.m_forceOverrideFixedBase = (i == 0);
args.m_startPosition.setValue(0, i * 0.05, 1);
cubeIds[i] = m_robotSim.loadURDF("cube_small.urdf", args);
b3RobotJointInfo jointInfo;
@@ -71,7 +74,7 @@ public:
if (i > 0)
{
m_robotSim.createConstraint(cubeIds[i], -1, cubeIds[i - 1], -1, &jointInfo);
m_robotSim.setCollisionFilterGroupMask(cubeIds[i], -1, 0, 0);
m_robotSim.setCollisionFilterGroupMask(cubeIds[i], -1, 0, 0);
}
m_robotSim.loadURDF("plane.urdf");
@@ -107,8 +110,8 @@ public:
{
for (int i = 0; i < numCubes; i++)
{
btVector3 pos (0, i * (btScalar)0.05, 1);
btQuaternion quar (0, 0, 0, 1);
btVector3 pos(0, i * (btScalar)0.05, 1);
btQuaternion quar(0, 0, 0, 1);
m_robotSim.resetBasePositionAndOrientation(cubeIds[i], pos, quar);
}
}
@@ -154,11 +157,11 @@ public:
virtual void resetCamera()
{
float dist = 1;
float pitch = -20;
float yaw = -30;
float targetPos[3] = {0, 0.2, 0.5};
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
float dist = 1;
float pitch = -20;
float yaw = -30;
float targetPos[3] = {0, 0.2, 0.5};
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
}
};