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make husky wheels soft/compliant

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reduce shadow size to make VR on older GPU (Mac Pro 2013) perform more smooth
less sleep in physics thread.
This commit is contained in:
erwin coumans
2016-09-03 08:39:40 -07:00
parent ecd814c9c5
commit de5d1b5cfc
3 changed files with 33 additions and 4 deletions
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28
data/husky/husky.urdf
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@@ -102,6 +102,13 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
</gazebo> </gazebo>
<!-- Husky wheel macros --> <!-- Husky wheel macros -->
<link name="front_left_wheel_link"> <link name="front_left_wheel_link">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<damping value="1000"/>
</contact>
<inertial> <inertial>
<mass value="2.637"/> <mass value="2.637"/>
<origin xyz="0 0 0"/> <origin xyz="0 0 0"/>
@@ -146,6 +153,13 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
</joint> </joint>
</transmission> </transmission>
<link name="front_right_wheel_link"> <link name="front_right_wheel_link">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<damping value="1000"/>
</contact>
<inertial> <inertial>
<mass value="2.637"/> <mass value="2.637"/>
<origin xyz="0 0 0"/> <origin xyz="0 0 0"/>
@@ -190,6 +204,13 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
</joint> </joint>
</transmission> </transmission>
<link name="rear_left_wheel_link"> <link name="rear_left_wheel_link">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<damping value="1000"/>
</contact>
<inertial> <inertial>
<mass value="2.637"/> <mass value="2.637"/>
<origin xyz="0 0 0"/> <origin xyz="0 0 0"/>
@@ -234,6 +255,13 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
</joint> </joint>
</transmission> </transmission>
<link name="rear_right_wheel_link"> <link name="rear_right_wheel_link">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<damping value="1000"/>
</contact>
<inertial> <inertial>
<mass value="2.637"/> <mass value="2.637"/>
<origin xyz="0 0 0"/> <origin xyz="0 0 0"/>

8
examples/OpenGLWindow/GLInstancingRenderer.cpp
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@@ -17,9 +17,9 @@ subject to the following restrictions:
///todo: make this configurable in the gui ///todo: make this configurable in the gui
bool useShadowMap = true;// true;//false;//true; bool useShadowMap = true;// true;//false;//true;
int shadowMapWidth=4096;//8192; int shadowMapWidth= 2048;//8192;
int shadowMapHeight= 4096; int shadowMapHeight= 2048;
float shadowMapWorldSize=25; float shadowMapWorldSize=5;
#define MAX_POINTS_IN_BATCH 1024 #define MAX_POINTS_IN_BATCH 1024
#define MAX_LINES_IN_BATCH 1024 #define MAX_LINES_IN_BATCH 1024
@@ -1475,7 +1475,7 @@ void GLInstancingRenderer::renderSceneInternal(int renderMode)
// m_data->m_shadowMap->disable(); // m_data->m_shadowMap->disable();
// return; // return;
glEnable(GL_CULL_FACE); glEnable(GL_CULL_FACE);
glCullFace(GL_BACK); // Cull back-facing triangles -> draw only front-facing triangles glCullFace(GL_FRONT); // Cull back-facing triangles -> draw only front-facing triangles
b3Assert(glGetError() ==GL_NO_ERROR); b3Assert(glGetError() ==GL_NO_ERROR);
} else } else

1
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -139,6 +139,7 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
skip++; skip++;
skip1++; skip1++;
if (skip1>5)
{ {
b3Clock::usleep(250); b3Clock::usleep(250);
} }