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refactor b3RobotSimulatorClientAPI into a main part without GUI dependencies (no OpenGL, gwen, glew etc)

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so that App_RobotSimulator_NoGUI can link against BulletRobotics and App_RobotSimulator links against BulletRobotics and some extra files.
This commit is contained in:
erwincoumans
2018-02-02 18:33:29 -08:00
parent b30401c1f7
commit df0305462d
14 changed files with 2698 additions and 2573 deletions
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8
examples/RobotSimulator/MinitaurSetup.cpp
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@@ -1,5 +1,5 @@
#include "MinitaurSetup.h"
#include "b3RobotSimulatorClientAPI.h"
#include "b3RobotSimulatorClientAPI_NoGUI.h"
#include "Bullet3Common/b3HashMap.h"
@@ -27,7 +27,7 @@ MinitaurSetup::~MinitaurSetup()
delete m_data;
}
void MinitaurSetup::setDesiredMotorAngle(class b3RobotSimulatorClientAPI* sim, const char* motorName, double desiredAngle, double maxTorque, double kp, double kd)
void MinitaurSetup::setDesiredMotorAngle(class b3RobotSimulatorClientAPI_NoGUI* sim, const char* motorName, double desiredAngle, double maxTorque, double kp, double kd)
{
b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_POSITION_VELOCITY_PD);
controlArgs.m_maxTorqueValue = maxTorque;
@@ -158,7 +158,7 @@ static const char* minitaurURDF="quadruped/minitaur_rainbow_dash_v1.urdf";
#endif
void MinitaurSetup::resetPose(class b3RobotSimulatorClientAPI* sim)
void MinitaurSetup::resetPose(class b3RobotSimulatorClientAPI_NoGUI* sim)
{
//release all motors
int numJoints = sim->getNumJoints(m_data->m_quadrupedUniqueId);
@@ -255,7 +255,7 @@ void MinitaurSetup::resetPose(class b3RobotSimulatorClientAPI* sim)
}
int MinitaurSetup::setupMinitaur(class b3RobotSimulatorClientAPI* sim, const b3Vector3& startPos, const b3Quaternion& startOrn)
int MinitaurSetup::setupMinitaur(class b3RobotSimulatorClientAPI_NoGUI* sim, const b3Vector3& startPos, const b3Quaternion& startOrn)
{
b3RobotSimulatorLoadUrdfFileArgs args;