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tweak Minitaur/RobotSimulator, fix target value from int to double

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This commit is contained in:
Erwin Coumans
2017-02-24 21:40:43 -08:00
parent a4f1e34899
commit 88aa9e899e
5 changed files with 78 additions and 45 deletions
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8
examples/RobotSimulator/RobotSimulatorMain.cpp
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@@ -15,7 +15,7 @@ int main(int argc, char* argv[])
//Can also use eCONNECT_DIRECT,eCONNECT_SHARED_MEMORY,eCONNECT_UDP,eCONNECT_TCP, for example:
//sim->connect(eCONNECT_UDP, "localhost", 1234);
sim->configureDebugVisualizer( COV_ENABLE_GUI, 0);
sim->configureDebugVisualizer( COV_ENABLE_SHADOWS, 0);//COV_ENABLE_WIREFRAME
// sim->configureDebugVisualizer( COV_ENABLE_SHADOWS, 0);//COV_ENABLE_WIREFRAME
//syncBodies is only needed when connecting to an existing physics server that has already some bodies
sim->syncBodies();
@@ -27,7 +27,7 @@ int main(int argc, char* argv[])
sim->loadURDF("plane.urdf");
MinitaurSetup minitaur;
int minitaurUid = minitaur.setupMinitaur(sim, b3MakeVector3(0,0,1));
int minitaurUid = minitaur.setupMinitaur(sim, b3MakeVector3(0,0,.3));
b3RobotSimulatorLoadUrdfFileArgs args;
@@ -43,12 +43,12 @@ int main(int argc, char* argv[])
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double simWallClockSeconds = 20.;
#if 0
while (clock.getTimeInSeconds()-startTime < simWallClockSeconds)
{
sim->stepSimulation();
}
#endif
sim->setRealTimeSimulation(true);
startTime = clock.getTimeInSeconds();