Add joint limit example.

The demo artifically exceeds joint limit due to numerical errors caused by large ratio.
2019-03-04 17:00:09 -08:00
parent 5d60c274c4
commit 9141caf67e
4 changed files with 138 additions and 2 deletions
--- a/examples/BulletRobotics/JointLimit.cpp
+++ b/examples/BulletRobotics/JointLimit.cpp
@@ -0,0 +1,112 @@
+
+#include "JointLimit.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 "../RobotSimulator/b3RobotSimulatorClientAPI.h"
+#include "../Utils/b3Clock.h"
+
+class JointLimit : public CommonExampleInterface
+{
+	GUIHelperInterface* m_guiHelper;
+	b3RobotSimulatorClientAPI m_robotSim;
+	int m_options;
+
+public:
+	JointLimit(GUIHelperInterface* helper, int options)
+		: m_guiHelper(helper),
+		  m_options(options)
+	{
+	}
+
+	virtual ~JointLimit()
+	{
+	}
+
+	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);
+
+		b3RobotSimulatorSetPhysicsEngineParameters physicsArgs;
+		physicsArgs.m_constraintSolverType = eConstraintSolverLCP_DANTZIG;
+
+		b3Printf(m_robotSim.getSolvername());
+
+		physicsArgs.m_defaultGlobalCFM = 1e-6;
+
+                m_robotSim.setNumSolverIterations(10);
+
+
+		b3RobotSimulatorLoadUrdfFileArgs loadArgs;
+		int humanoid = m_robotSim.loadURDF("test_joints_MB.urdf", loadArgs);
+
+                b3RobotSimulatorChangeDynamicsArgs dynamicsArgs;
+                dynamicsArgs.m_linearDamping = 0;
+                dynamicsArgs.m_angularDamping = 0;
+                m_robotSim.changeDynamics(humanoid, -1, dynamicsArgs);
+
+		m_robotSim.setGravity(btVector3(0, 0, -10));
+	}
+
+	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 = 3;
+		float pitch = -10;
+		float yaw = 18;
+		float targetPos[3] = {0.6, 0.8, 0.3};
+
+		m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
+	}
+};
+
+class CommonExampleInterface* JointLimitCreateFunc(struct CommonExampleOptions& options)
+{
+	return new JointLimit(options.m_guiHelper, options.m_option);
+}