From bcfb0aa473caab71f125d03e944c30fbfb305268 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Fri, 30 Sep 2016 08:40:24 -0700 Subject: [PATCH] enable textured table (no legs), place a few jenga/domino on table --- examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index f07803694..9affdc873 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -3033,7 +3033,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec) for (int i = 0; i < 6; i++) { - loadUrdf("jenga/jenga.urdf", btVector3(-1-0.1*i,-0.5, .07), btQuaternion(btVector3(0,1,0),SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); + loadUrdf("jenga/jenga.urdf", btVector3(-.2-0.1*i,-2., .75), btQuaternion(btVector3(0,1,0),SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); } //loadUrdf("nao/nao.urdf", btVector3(2,5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); @@ -3110,7 +3110,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec) } // Table area - loadUrdf("table.urdf", objectWorldTr[0].getOrigin(), objectWorldTr[0].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); + loadUrdf("table/table.urdf", objectWorldTr[0].getOrigin(), objectWorldTr[0].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); loadUrdf("tray.urdf", objectWorldTr[1].getOrigin(), objectWorldTr[1].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); //loadUrdf("cup_small.urdf", objectWorldTr[2].getOrigin(), objectWorldTr[2].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); //loadUrdf("pitcher_small.urdf", objectWorldTr[3].getOrigin(), objectWorldTr[3].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());