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add gripper with deformable cloth demo

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This commit is contained in:
Xuchen Han
2019-12-13 14:33:54 -08:00
parent 08321b96ba
commit d38ea87027
6 changed files with 239 additions and 5 deletions
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36
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
View File

@@ -89,6 +89,19 @@ void b3RobotSimulatorClientAPI_NoDirect::resetSimulation()
m_data->m_physicsClientHandle, b3InitResetSimulationCommand(m_data->m_physicsClientHandle));
}
void b3RobotSimulatorClientAPI_NoDirect::resetSimulation(int flag)
{
if (!isConnected())
{
b3Warning("Not connected");
return;
}
b3SharedMemoryStatusHandle statusHandle;
b3SharedMemoryCommandHandle command = b3InitResetSimulationCommand(m_data->m_physicsClientHandle);
b3InitResetSimulationSetFlags(command, flag);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
}
bool b3RobotSimulatorClientAPI_NoDirect::canSubmitCommand() const
{
if (!isConnected())
@@ -1151,6 +1164,29 @@ void b3RobotSimulatorClientAPI_NoDirect::loadSoftBody(const std::string& fileNam
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
}
void b3RobotSimulatorClientAPI_NoDirect::loadDeformableBody(const std::string& fileName, const struct b3RobotSimulatorLoadDeformableBodyArgs& args)
{
if (!isConnected())
{
b3Warning("Not connected");
return;
}
b3SharedMemoryCommandHandle command = b3LoadSoftBodyCommandInit(m_data->m_physicsClientHandle, fileName.c_str());
b3LoadSoftBodySetStartPosition(command, args.m_startPosition[0], args.m_startPosition[1], args.m_startPosition[2]);
b3LoadSoftBodySetStartOrientation(command, args.m_startOrientation[0], args.m_startOrientation[1], args.m_startOrientation[2], args.m_startOrientation[3]);
b3LoadSoftBodySetScale(command, args.m_scale);
b3LoadSoftBodySetMass(command, args.m_mass);
b3LoadSoftBodySetCollisionMargin(command, args.m_collisionMargin);
b3LoadSoftBodyAddNeoHookeanForce(command, args.m_NeoHookeanMu, args.m_NeoHookeanLambda, args.m_NeoHookeanDamping);
b3LoadSoftBodyAddMassSpringForce(command, args.m_springElasticStiffness, args.m_springDampingStiffness);
b3LoadSoftBodyUseSelfCollision(command, args.m_useSelfCollision);
b3LoadSoftBodyUseFaceContact(command, args.m_useFaceContact);
b3LoadSoftBodySetFrictionCoefficient(command, args.m_frictionCoeff);
b3LoadSoftBodyUseBendingSprings(command, args.m_useBendingSprings, args.m_springBendingStiffness);
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
}
void b3RobotSimulatorClientAPI_NoDirect::getMouseEvents(b3MouseEventsData* mouseEventsData)
{
mouseEventsData->m_numMouseEvents = 0;

53
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
View File

@@ -89,6 +89,55 @@ struct b3RobotSimulatorLoadSoftBodyArgs
}
};
struct b3RobotSimulatorLoadDeformableBodyArgs
{
btVector3 m_startPosition;
btQuaternion m_startOrientation;
double m_scale;
double m_mass;
double m_collisionMargin;
double m_springElasticStiffness;
double m_springDampingStiffness;
double m_springBendingStiffness;
double m_NeoHookeanMu;
double m_NeoHookeanLambda;
double m_NeoHookeanDamping;
bool m_useSelfCollision;
bool m_useFaceContact;
bool m_useBendingSprings;
double m_frictionCoeff;
b3RobotSimulatorLoadDeformableBodyArgs(const btVector3 &startPos, const btQuaternion &startOrn, const double &scale, const double &mass, const double &collisionMargin)
: m_startPosition(startPos),
m_startOrientation(startOrn),
m_scale(scale),
m_mass(mass),
m_collisionMargin(collisionMargin)
{
}
b3RobotSimulatorLoadDeformableBodyArgs(const btVector3 &startPos, const btQuaternion &startOrn)
{
b3RobotSimulatorLoadSoftBodyArgs(startPos, startOrn, 1.0, 1.0, 0.02);
}
b3RobotSimulatorLoadDeformableBodyArgs()
{
b3RobotSimulatorLoadSoftBodyArgs(btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1));
}
b3RobotSimulatorLoadDeformableBodyArgs(double scale, double mass, double collisionMargin)
: m_startPosition(btVector3(0, 0, 0)),
m_startOrientation(btQuaternion(0, 0, 0, 1)),
m_scale(scale),
m_mass(mass),
m_collisionMargin(collisionMargin)
{
}
};
struct b3RobotSimulatorLoadFileResults
{
btAlignedObjectArray<int> m_uniqueObjectIds;
@@ -534,6 +583,8 @@ public:
void syncBodies();
void resetSimulation();
void resetSimulation(int flag);
btQuaternion getQuaternionFromEuler(const btVector3 &rollPitchYaw);
btVector3 getEulerFromQuaternion(const btQuaternion &quat);
@@ -685,6 +736,8 @@ public:
int getConstraintUniqueId(int serialIndex);
void loadSoftBody(const std::string &fileName, const struct b3RobotSimulatorLoadSoftBodyArgs &args);
void loadDeformableBody(const std::string &fileName, const struct b3RobotSimulatorLoadDeformableBodyArgs &args);
virtual void setGuiHelper(struct GUIHelperInterface *guiHelper);
virtual struct GUIHelperInterface *getGuiHelper();