Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Add C++ version VRGloveSimulatorMain example, using the serial library.

Browse Source 
First run the App_PhysicsServer_SharedMemory_VR_vs2010.exe to run the VR server,
then run App_VRGloveHandSimulator. You likely need to tune the minV/maxV for each finger (check values using Arduino IDE Serial Monitor)
This commit is contained in:
Erwin Coumans
2017-05-01 22:35:33 -07:00
parent 305725e52e
commit 9fef6c1d66
13 changed files with 610 additions and 153 deletions
Download Patch File Download Diff File Expand all files Collapse all files

23
examples/RobotSimulator/RobotSimulatorMain.cpp
View File

@@ -16,7 +16,7 @@ int main(int argc, char* argv[])
//sim->connect(eCONNECT_UDP, "localhost", 1234);
sim->configureDebugVisualizer( COV_ENABLE_GUI, 0);
// sim->configureDebugVisualizer( COV_ENABLE_SHADOWS, 0);//COV_ENABLE_WIREFRAME
sim->setTimeOut(12345);
sim->setTimeOut(10);
//syncBodies is only needed when connecting to an existing physics server that has already some bodies
sim->syncBodies();
b3Scalar fixedTimeStep = 1./240.;
@@ -33,18 +33,14 @@ int main(int argc, char* argv[])
//b3BodyInfo bodyInfo;
//sim->getBodyInfo(blockId,&bodyInfo);
sim->loadURDF("plane_with_collision_audio.urdf");
sim->loadURDF("plane.urdf");
b3RobotSimulatorLoadUrdfFileArgs args;
args.m_startPosition.setValue(0,0,2);
for (int i=0;i<10;i++)
{
args.m_startPosition[0] = 0.5*i;
args.m_startPosition[1] = 0.5*i;
args.m_startPosition[2] = 2+i*2;
int r2d2 = sim->loadURDF("cube.urdf",args);
}
MinitaurSetup minitaur;
int minitaurUid = minitaur.setupMinitaur(sim, b3MakeVector3(0,0,.3));
//b3RobotSimulatorLoadUrdfFileArgs args;
//args.m_startPosition.setValue(2,0,1);
//int r2d2 = sim->loadURDF("r2d2.urdf",args);
//b3RobotSimulatorLoadFileResults sdfResults;
@@ -127,8 +123,8 @@ int main(int argc, char* argv[])
yaw+=0.1;
b3Vector3 basePos;
b3Quaternion baseOrn;
// sim->getBasePositionAndOrientation(minitaurUid,basePos,baseOrn);
// sim->resetDebugVisualizerCamera(distance,yaw,20,basePos);
sim->getBasePositionAndOrientation(minitaurUid,basePos,baseOrn);
sim->resetDebugVisualizerCamera(distance,yaw,20,basePos);
}
b3Clock::usleep(1000.*1000.*fixedTimeStep);
}
@@ -144,4 +140,3 @@ int main(int argc, char* argv[])
}