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Add chess pieces.

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YunfeiBai
2016-09-28 13:46:41 -07:00
parent 61fccba5be
commit a967163665
2 changed files with 11 additions and 2 deletions
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2
data/kuka_iiwa/model.sdf
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@@ -1,7 +1,7 @@
<sdf version='1.6'> <sdf version='1.6'>
<world name='default'> <world name='default'>
<model name='lbr_iiwa'> <model name='lbr_iiwa'>
<static>1</static> <pose frame=''>0 -2.3 0.7 0 0 0</pose>
<link name='lbr_iiwa_link_0'> <link name='lbr_iiwa_link_0'>
<pose frame=''>0 0 0 0 -0 0</pose> <pose frame=''>0 0 0 0 -0 0</pose>
<inertial> <inertial>

11
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -3022,6 +3022,15 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
loadUrdf("cube_small.urdf", btVector3(0.1, -1.8, 0.7), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); loadUrdf("cube_small.urdf", btVector3(0.1, -1.8, 0.7), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("sphere_small.urdf", btVector3(-0.2, -1.7, 0.7), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); loadUrdf("sphere_small.urdf", btVector3(-0.2, -1.7, 0.7), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
// Chess area
loadUrdf("table_square.urdf", btVector3(2.0, 0, 0.0), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("pawn.urdf", btVector3(1.8, -0.1, 0.7), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("queen.urdf", btVector3(1.9, -0.2, 0.7), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("king.urdf", btVector3(2.0, 0, 0.7), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("bishop.urdf", btVector3(2.1, 0.1, 0.7), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("rook.urdf", btVector3(2.2, 0, 0.7), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("knight.urdf", btVector3(2.2, 0.2, 0.7), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("husky/husky.urdf", btVector3(5, 2, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); loadUrdf("husky/husky.urdf", btVector3(5, 2, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
m_data->m_huskyId = bodyId; m_data->m_huskyId = bodyId;
@@ -3082,7 +3091,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
{ {
btMultiBody* mb = bodyHandle->m_multiBody; btMultiBody* mb = bodyHandle->m_multiBody;
btScalar sqLen = (mb->getBaseWorldTransform().getOrigin() - gVRController2Pos).length2(); btScalar sqLen = (mb->getBaseWorldTransform().getOrigin() - gVRController2Pos).length2();
btScalar distanceThreshold = 1.5; btScalar distanceThreshold = 1.0;
bool closeToKuka=(sqLen<(distanceThreshold*distanceThreshold)); bool closeToKuka=(sqLen<(distanceThreshold*distanceThreshold));
int numDofs = bodyHandle->m_multiBody->getNumDofs(); int numDofs = bodyHandle->m_multiBody->getNumDofs();