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fix Lua example

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This commit is contained in:
Erwin Coumans
2016-03-10 21:15:23 -08:00
parent efbb1edecc
commit c69524be9e
2 changed files with 22 additions and 6 deletions
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21
examples/LuaDemo/LuaPhysicsSetup.cpp
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@@ -2,7 +2,7 @@
#include "../CommonInterfaces/CommonMultiBodyBase.h"
#include "../Importers/ImportURDFDemo/MyURDFImporter.h"
#include "../Importers/ImportURDFDemo/BulletURDFImporter.h"
#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
@@ -39,7 +39,12 @@ extern "C" {
}
const char* sLuaFileName = "init_urdf.lua";//init_physics.lua";
const char* sLuaFileName = "init_physics.lua";
static int upaxis = 1;
//const char* sLuaFileName = "init_urdf.lua";
//static int upaxis = 2;
static const float scaling=0.35f;
static LuaPhysicsSetup* sLuaDemo = 0;
@@ -69,7 +74,10 @@ LuaPhysicsSetup::~LuaPhysicsSetup()
static int gCreateDefaultDynamicsWorld(lua_State *L)
{
sLuaDemo->createEmptyDynamicsWorld();
sLuaDemo->m_dynamicsWorld->setGravity(btVector3(0,0,-10));
btVector3 grav(0,0,0);
grav[upaxis] = -10;
sLuaDemo->m_dynamicsWorld->setGravity(grav);
sLuaDemo->m_guiHelper->createPhysicsDebugDrawer(sLuaDemo->m_dynamicsWorld);
lua_pushlightuserdata (L, sLuaDemo->m_dynamicsWorld);
return 1;
@@ -211,8 +219,8 @@ static int gLoadMultiBodyFromUrdf(lua_State *L)
return 0;
}
const char* fileName = lua_tostring(L,2);
MyURDFImporter u2b(sLuaDemo->m_guiHelper);
#if 1
BulletURDFImporter u2b(sLuaDemo->m_guiHelper);
bool loadOk = u2b.loadURDF(fileName);
if (loadOk)
{
@@ -240,6 +248,7 @@ static int gLoadMultiBodyFromUrdf(lua_State *L)
{
b3Printf("can't find %s",fileName);
}
#endif
}
return 0;
@@ -377,7 +386,7 @@ static void report_errors(lua_State *L, int status)
void LuaPhysicsSetup::initPhysics()
{
m_guiHelper->setUpAxis(2);
m_guiHelper->setUpAxis(upaxis);
const char* prefix[]={"./","./data/","../data/","../../data/","../../../data/","../../../../data/"};
int numPrefixes = sizeof(prefix)/sizeof(const char*);
char relativeFileName[1024];