Add boxes joint by fixed joint example\n Onlyp2p joint works

examples/BulletRobotics/FixJointBoxes.cpp

@@ -0,0 +1,117 @@
+
+#include "FixJointBoxes.h"
+
+#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
+#include "Bullet3Common/b3AlignedObjectArray.h"
+#include "../CommonInterfaces/CommonRenderInterface.h"
+#include "../CommonInterfaces/CommonExampleInterface.h"
+#include "../CommonInterfaces/CommonGUIHelperInterface.h"
+#include "../SharedMemory/PhysicsServerSharedMemory.h"
+#include "../SharedMemory/PhysicsClientC_API.h"
+#include "../SharedMemory/SharedMemoryPublic.h"
+#include "../CommonInterfaces/CommonParameterInterface.h"
+#include <string>
+#include <vector>
+#include "../RobotSimulator/b3RobotSimulatorClientAPI.h"
+
+class FixJointBoxes : public CommonExampleInterface
+{
+	GUIHelperInterface* m_guiHelper;
+	b3RobotSimulatorClientAPI m_robotSim;
+	int m_options;
+
+public:
+	FixJointBoxes(GUIHelperInterface* helper, int options)
+		: m_guiHelper(helper),
+		  m_options(options)
+	{
+	}
+
+	virtual ~FixJointBoxes()
+	{
+	}
+
+	virtual void physicsDebugDraw(int debugDrawMode)
+	{
+		m_robotSim.debugDraw(debugDrawMode);
+	}
+	virtual void initPhysics()
+	{
+		int mode = eCONNECT_EXISTING_EXAMPLE_BROWSER;
+		m_robotSim.setGuiHelper(m_guiHelper);
+		bool connected = m_robotSim.connect(mode);
+
+		b3Printf("robotSim connected = %d", connected);
+
+		m_robotSim.configureDebugVisualizer(COV_ENABLE_RGB_BUFFER_PREVIEW, 0);
+		m_robotSim.configureDebugVisualizer(COV_ENABLE_DEPTH_BUFFER_PREVIEW, 0);
+		m_robotSim.configureDebugVisualizer(COV_ENABLE_SEGMENTATION_MARK_PREVIEW, 0);
+
+		b3RobotSimulatorLoadUrdfFileArgs args;
+
+		size_t numCubes = 10;
+		std::vector<int> cubeIds(numCubes, 0);
+		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);
+
+			b3JointInfo jointInfo;
+
+			jointInfo.m_parentFrame[1] = -0.025;
+			jointInfo.m_childFrame[1] = 0.025;
+			jointInfo.m_jointType = eFixedType;
+			// jointInfo.m_jointType = ePoint2PointType;
+			// jointInfo.m_jointType =	ePrismaticType;
+
+			if (i > 0)
+			{
+				m_robotSim.createConstraint(cubeIds[i], -1, cubeIds[i - 1], -1, &jointInfo);
+			}
+
+			m_robotSim.loadURDF("plane.urdf");
+		}
+	}
+
+	virtual void exitPhysics()
+	{
+		m_robotSim.disconnect();
+	}
+	virtual void stepSimulation(float deltaTime)
+	{
+		m_robotSim.stepSimulation();
+	}
+	virtual void renderScene()
+	{
+		m_robotSim.renderScene();
+	}
+
+	virtual bool mouseMoveCallback(float x, float y)
+	{
+		return m_robotSim.mouseMoveCallback(x, y);
+	}
+	virtual bool mouseButtonCallback(int button, int state, float x, float y)
+	{
+		return m_robotSim.mouseButtonCallback(button, state, x, y);
+	}
+	virtual bool keyboardCallback(int key, int state)
+	{
+		return false;
+	}
+
+	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]);
+	}
+};
+
+class CommonExampleInterface* FixJointBoxesCreateFunc(struct CommonExampleOptions& options)
+{
+	return new FixJointBoxes(options.m_guiHelper, options.m_option);
+}