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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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6
examples/RobotSimulator/MinitaurSetup.h
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@@ -6,15 +6,15 @@
class MinitaurSetup
{
struct MinitaurSetupInternalData* m_data;
void resetPose(class b3RobotSimulatorClientAPI* sim);
void resetPose(class b3RobotSimulatorClientAPI_NoGUI* sim);
public:
MinitaurSetup();
virtual ~MinitaurSetup();
int setupMinitaur(class b3RobotSimulatorClientAPI* sim, const class b3Vector3& startPos=b3MakeVector3(0,0,0), const class b3Quaternion& startOrn = b3Quaternion(0,0,0,1));
int setupMinitaur(class b3RobotSimulatorClientAPI_NoGUI* sim, const class b3Vector3& startPos=b3MakeVector3(0,0,0), const class b3Quaternion& startOrn = b3Quaternion(0,0,0,1));
void setDesiredMotorAngle(class b3RobotSimulatorClientAPI* sim, const char* motorName, double desiredAngle, double maxTorque=3,double kp=0.1, double kd=0.9);
void setDesiredMotorAngle(class b3RobotSimulatorClientAPI_NoGUI* sim, const char* motorName, double desiredAngle, double maxTorque=3,double kp=0.1, double kd=0.9);
};
#endif //MINITAUR_SIMULATION_SETUP_H