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more work-in-progress on joint-torque sensor sample and server/client shared memory API

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This commit is contained in:
erwin coumans
2015-06-22 15:30:57 -07:00
parent 4688540a98
commit b14afba350
6 changed files with 260 additions and 143 deletions
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45
examples/MultiBody/TestJointTorqueSetup.cpp
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@@ -6,7 +6,7 @@
#include "../CommonInterfaces/CommonMultiBodyBase.h"
btScalar radius(0.2);
struct TestJointTorqueSetup : public CommonMultiBodyBase
{
@@ -78,17 +78,21 @@ void TestJointTorqueSetup::initPhysics()
//create a static ground object
if (1)
{
btVector3 groundHalfExtents(20,20,20);
btVector3 groundHalfExtents(1,1,0.2);
groundHalfExtents[upAxis]=1.f;
btBoxShape* box = new btBoxShape(groundHalfExtents);
box->initializePolyhedralFeatures();
m_guiHelper->createCollisionShapeGraphicsObject(box);
btTransform start; start.setIdentity();
btVector3 groundOrigin(0,0,0);
groundOrigin[upAxis]=-1.5;
btVector3 groundOrigin(-0.4f, 3.f, 0.f);
btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
groundOrigin[upAxis] -=.5;
groundOrigin[2]-=0.6;
start.setOrigin(groundOrigin);
btRigidBody* body = createRigidBody(0,start,box);
body->setFriction(0);
btVector4 color = colors[curColor];
curColor++;
curColor&=3;
@@ -99,7 +103,7 @@ void TestJointTorqueSetup::initPhysics()
bool floating = false;
bool damping = true;
bool gyro = false;
int numLinks = 1;
int numLinks = 2;
bool spherical = false; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
bool canSleep = false;
bool selfCollide = false;
@@ -161,11 +165,25 @@ void TestJointTorqueSetup::initPhysics()
{
//pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, false);
if (i==0)
{
pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1,
btQuaternion(0.f, 0.f, 0.f, 1.f),
hingeJointAxis,
parentComToCurrentPivot,
currentPivotToCurrentCom, false);
} else
{
btVector3 parentComToCurrentCom(0, -radius * 2.f, 0); //par body's COM to cur body's COM offset
btVector3 currentPivotToCurrentCom(0, -radius, 0); //cur body's COM to cur body's PIV offset
btVector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom; //par body's COM to cur body's PIV offset
pMultiBody->setupFixed(i, linkMass, linkInertiaDiag, i - 1,
btQuaternion(0.f, 0.f, 0.f, 1.f),
parentComToCurrentPivot,
currentPivotToCurrentCom, false);
}
//pMultiBody->setupFixed(i,linkMass,linkInertiaDiag,i-1,btQuaternion(0,0,0,1),parentComToCurrentPivot,currentPivotToCurrentCom,false);
@@ -255,7 +273,9 @@ void TestJointTorqueSetup::initPhysics()
//when syncing the btMultiBody link transforms to the btMultiBodyLinkCollider
tr.setOrigin(local_origin[0]);
tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
btQuaternion orn(btVector3(0,0,1),0.25*3.1415926538);
tr.setRotation(orn);
col->setWorldTransform(tr);
bool isDynamic = (baseMass > 0 && floating);
@@ -290,8 +310,17 @@ void TestJointTorqueSetup::initPhysics()
// float pos[4]={posr.x(),posr.y(),posr.z(),1};
float quat[4]={-world_to_local[i+1].x(),-world_to_local[i+1].y(),-world_to_local[i+1].z(),world_to_local[i+1].w()};
btCollisionShape* shape =0;
if (i==0)
{
shape = new btBoxShape(btVector3(linkHalfExtents[0],linkHalfExtents[1],linkHalfExtents[2]));//btSphereShape(linkHalfExtents[0]);
} else
{
shape = new btSphereShape(radius);
}
btCollisionShape* shape = new btBoxShape(btVector3(linkHalfExtents[0],linkHalfExtents[1],linkHalfExtents[2]));//btSphereShape(linkHalfExtents[0]);
m_guiHelper->createCollisionShapeGraphicsObject(shape);
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
@@ -326,7 +355,7 @@ void TestJointTorqueSetup::initPhysics()
void TestJointTorqueSetup::stepSimulation(float deltaTime)
{
//m_multiBody->addLinkForce(0,btVector3(100,100,100));
if (0)//m_once)
if (1)//m_once)
{
m_once=false;
m_multiBody->addJointTorque(0, 10.0);