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use b3RobotJointInfo instead of b3JointInfo, so it is initialized.

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don't reset the camera in SharedMemoryInProcessPhysicsC_API
This commit is contained in:
erwincoumans
2019-03-07 17:55:45 -08:00
parent ba61c0911f
commit d7b54b0265
2 changed files with 7 additions and 8 deletions
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13
examples/BulletRobotics/FixJointBoxes.cpp
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@@ -57,7 +57,7 @@ public:
args.m_startPosition.setValue(0, i * 0.05, 1); args.m_startPosition.setValue(0, i * 0.05, 1);
cubeIds[i] = m_robotSim.loadURDF("cube_small.urdf", args); cubeIds[i] = m_robotSim.loadURDF("cube_small.urdf", args);
b3JointInfo jointInfo; b3RobotJointInfo jointInfo;
jointInfo.m_parentFrame[1] = -0.025; jointInfo.m_parentFrame[1] = -0.025;
jointInfo.m_childFrame[1] = 0.025; jointInfo.m_childFrame[1] = 0.025;
@@ -102,12 +102,11 @@ public:
virtual void resetCamera() virtual void resetCamera()
{ {
// float dist = 1; float dist = 1;
// float pitch = -20; float pitch = -20;
// float yaw = -30; float yaw = -30;
// float targetPos[3] = {0, 0.2, 0.5}; float targetPos[3] = {0, 0.2, 0.5};
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
// m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
} }
}; };

2
examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
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@@ -163,7 +163,7 @@ public:
options.m_skipGraphicsUpdate = skipGraphicsUpdate; options.m_skipGraphicsUpdate = skipGraphicsUpdate;
m_physicsServerExample = PhysicsServerCreateFuncBullet2(options); m_physicsServerExample = PhysicsServerCreateFuncBullet2(options);
m_physicsServerExample->initPhysics(); m_physicsServerExample->initPhysics();
m_physicsServerExample->resetCamera(); //m_physicsServerExample->resetCamera();
setSharedMemoryInterface(m_sharedMem); setSharedMemoryInterface(m_sharedMem);
m_clock.reset(); m_clock.reset();
m_prevTime = m_clock.getTimeMicroseconds(); m_prevTime = m_clock.getTimeMicroseconds();