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disable keyboard toggle in Linux/X11

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revert num solver iterations to 50 (from 150)
set solver iterations for one gripper grasp to 150
This commit is contained in:
Erwin Coumans
2017-02-16 15:56:42 -08:00
parent 65deeee64b
commit 8f546acbe8
6 changed files with 17 additions and 5 deletions
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1
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
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@@ -257,7 +257,6 @@ void MyKeyboardCallback(int key, int state)
} else } else
{ {
b3ChromeUtilsStopTimingsAndWriteJsonFile(); b3ChromeUtilsStopTimingsAndWriteJsonFile();
} }
#endif //BT_NO_PROFILE #endif //BT_NO_PROFILE

7
examples/OpenGLWindow/X11OpenGLWindow.cpp
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@@ -839,7 +839,7 @@ void X11OpenGLWindow::pumpMessage()
if (m_data->m_keyboardCallback) if (m_data->m_keyboardCallback)
{ {
#if 0 #if 1
unsigned short is_retriggered = 0; unsigned short is_retriggered = 0;
///filter out keyboard repeat ///filter out keyboard repeat
//see http://stackoverflow.com/questions/2100654/ignore-auto-repeat-in-x11-applications //see http://stackoverflow.com/questions/2100654/ignore-auto-repeat-in-x11-applications
@@ -851,8 +851,8 @@ void X11OpenGLWindow::pumpMessage()
if (nev.type == KeyPress && nev.xkey.time == m_data->m_xev.xkey.time && if (nev.type == KeyPress && nev.xkey.time == m_data->m_xev.xkey.time &&
nev.xkey.keycode == m_data->m_xev.xkey.keycode) nev.xkey.keycode == m_data->m_xev.xkey.keycode)
{ {
fprintf (stdout, "key #%ld was retriggered.\n", //fprintf (stdout, "key #%ld was retriggered.\n",
(long) MyXLookupKeysym(&nev.xkey, 0)); // (long) MyXLookupKeysym(&nev.xkey, 0));
// delete retriggered KeyPress event // delete retriggered KeyPress event
MyXNextEvent(m_data->m_dpy, & m_data->m_xev); MyXNextEvent(m_data->m_dpy, & m_data->m_xev);
@@ -861,6 +861,7 @@ void X11OpenGLWindow::pumpMessage()
} }
#endif #endif
int state = 0; int state = 0;
if (!is_retriggered)
(*m_data->m_keyboardCallback)(keycode,state); (*m_data->m_keyboardCallback)(keycode,state);
} }

1
examples/RoboticsLearning/GripperGraspExample.cpp
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@@ -209,6 +209,7 @@ public:
if ((m_options & eONE_MOTOR_GRASP)!=0) if ((m_options & eONE_MOTOR_GRASP)!=0)
{ {
m_robotSim.setNumSolverIterations(150);
{ {
SliderParams slider("Vertical velocity",&sGripperVerticalVelocity); SliderParams slider("Vertical velocity",&sGripperVerticalVelocity);
slider.m_minVal=-2; slider.m_minVal=-2;

10
examples/RoboticsLearning/b3RobotSimAPI.cpp
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@@ -478,6 +478,16 @@ void b3RobotSimAPI::setGravity(const b3Vector3& gravityAcceleration)
} }
void b3RobotSimAPI::setNumSolverIterations(int numIterations)
{
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClient);
b3SharedMemoryStatusHandle statusHandle;
b3PhysicsParamSetNumSolverIterations(command, numIterations);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);
b3Assert(b3GetStatusType(statusHandle)==CMD_CLIENT_COMMAND_COMPLETED);
}
void b3RobotSimAPI::setNumSimulationSubSteps(int numSubSteps) void b3RobotSimAPI::setNumSimulationSubSteps(int numSubSteps)
{ {
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClient); b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClient);

1
examples/RoboticsLearning/b3RobotSimAPI.h
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@@ -157,6 +157,7 @@ public:
void setGravity(const b3Vector3& gravityAcceleration); void setGravity(const b3Vector3& gravityAcceleration);
void setNumSimulationSubSteps(int numSubSteps); void setNumSimulationSubSteps(int numSubSteps);
void setNumSolverIterations(int numIterations);
bool calculateInverseKinematics(const struct b3RobotSimInverseKinematicArgs& args, struct b3RobotSimInverseKinematicsResults& results); bool calculateInverseKinematics(const struct b3RobotSimInverseKinematicArgs& args, struct b3RobotSimInverseKinematicsResults& results);

2
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -799,7 +799,7 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.08; m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.08;
m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.00001; m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.00001;
m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = 150; m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = 50;
m_data->m_dynamicsWorld->getSolverInfo().m_leastSquaresResidualThreshold = 1e-7; m_data->m_dynamicsWorld->getSolverInfo().m_leastSquaresResidualThreshold = 1e-7;
// m_data->m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = 2; // m_data->m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = 2;
//todo: islands/constraints are buggy in btMultiBodyDynamicsWorld! (performance + see slipping grasp) //todo: islands/constraints are buggy in btMultiBodyDynamicsWorld! (performance + see slipping grasp)