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Merge pull request #839 from erwincoumans/master

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fix r2d2.urdf and avoid self-penetrating limbs
This commit is contained in:
erwincoumans
2016-10-20 14:36:05 -07:00
committed by GitHub
parent ad07b3cf13 0ca1cee6f0
commit 8c140fcc8a
4 changed files with 12 additions and 16 deletions
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12
data/r2d2.urdf
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@@ -11,7 +11,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<cylinder length="0.6" radius="0.2"/> <cylinder length="0.6" radius="0.17"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
@@ -266,7 +266,7 @@
<joint name="left_gripper_joint" type="revolute"> <joint name="left_gripper_joint" type="revolute">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/> <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
<origin rpy="0 0 0" xyz="0.2 0.01 0"/> <origin rpy="0 0 0" xyz="0.2 0.02 0"/>
<parent link="gripper_pole"/> <parent link="gripper_pole"/>
<child link="left_gripper"/> <child link="left_gripper"/>
</joint> </joint>
@@ -317,7 +317,7 @@
<joint name="right_gripper_joint" type="revolute"> <joint name="right_gripper_joint" type="revolute">
<axis xyz="0 0 -1"/> <axis xyz="0 0 -1"/>
<limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/> <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
<origin rpy="0 0 0" xyz="0.2 -0.01 0"/> <origin rpy="0 0 0" xyz="0.2 -0.02 0"/>
<parent link="gripper_pole"/> <parent link="gripper_pole"/>
<child link="right_gripper"/> <child link="right_gripper"/>
</joint> </joint>
@@ -368,13 +368,13 @@
<link name="head"> <link name="head">
<visual> <visual>
<geometry> <geometry>
<sphere radius="0.2"/> <sphere radius="0.16"/>
</geometry> </geometry>
<material name="white"/> <material name="white"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<sphere radius="0.2"/> <sphere radius="0.16"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
@@ -412,7 +412,7 @@
<joint name="tobox" type="fixed"> <joint name="tobox" type="fixed">
<parent link="head"/> <parent link="head"/>
<child link="box"/> <child link="box"/>
<origin xyz="0 0.1414 0.1414"/> <origin xyz="0 0.1214 0.1214"/>
</joint> </joint>
</robot> </robot>

1
examples/CommonInterfaces/CommonCameraInterface.h
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@@ -3,6 +3,7 @@
struct CommonCameraInterface struct CommonCameraInterface
{ {
virtual ~CommonCameraInterface(){}
virtual void getCameraProjectionMatrix(float m[16])const = 0; virtual void getCameraProjectionMatrix(float m[16])const = 0;
virtual void getCameraViewMatrix(float m[16]) const = 0; virtual void getCameraViewMatrix(float m[16]) const = 0;

1
examples/CommonInterfaces/CommonRenderInterface.h
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@@ -19,6 +19,7 @@ enum
struct CommonRenderInterface struct CommonRenderInterface
{ {
virtual ~CommonRenderInterface() {}
virtual void init()=0; virtual void init()=0;
virtual void updateCamera(int upAxis)=0; virtual void updateCamera(int upAxis)=0;
virtual void removeAllInstances() = 0; virtual void removeAllInstances() = 0;

14
examples/SharedMemory/main.cpp
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@@ -15,7 +15,7 @@ subject to the following restrictions:
#include "PhysicsServerExample.h" #include "PhysicsServerExample.h"
#include "PhysicsClientExample.h"
#include "Bullet3Common/b3CommandLineArgs.h" #include "Bullet3Common/b3CommandLineArgs.h"
#include "../CommonInterfaces/CommonExampleInterface.h" #include "../CommonInterfaces/CommonExampleInterface.h"
@@ -73,16 +73,10 @@ int main(int argc, char* argv[])
args.GetCmdLineArgument("shared_memory_key", gSharedMemoryKey); args.GetCmdLineArgument("shared_memory_key", gSharedMemoryKey);
if (args.CheckCmdLineFlag("client")) // options.m_option |= PHYSICS_SERVER_ENABLE_COMMAND_LOGGING;
{ // options.m_option |= PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG;
example = (SharedMemoryCommon*)PhysicsClientCreateFunc(options);
}else
{
// options.m_option |= PHYSICS_SERVER_ENABLE_COMMAND_LOGGING;
// options.m_option |= PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG;
example = (SharedMemoryCommon*)PhysicsServerCreateFunc(options); example = (SharedMemoryCommon*)PhysicsServerCreateFunc(options);
}
example->initPhysics(); example->initPhysics();