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Add option to --useKitchen=1 to VRGloveSimulatorMain

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This commit is contained in:
Erwin Coumans
2017-05-02 22:33:42 -07:00
parent 07992fe61d
commit eb7cf38293
2 changed files with 19 additions and 15 deletions
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32
examples/RobotSimulator/VRGloveSimulatorMain.cpp
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@@ -40,13 +40,12 @@ int main(int argc, char* argv[])
args.GetCmdLineArgument("disableGui",disableGui);
int disableShadows = 0;
args.GetCmdLineArgument("disableShadows",disableShadows);
int useKitchen = 0;
args.GetCmdLineArgument("useKitchen",useKitchen);
int deviceTypeFilter = VR_DEVICE_GENERIC_TRACKER;
args.GetCmdLineArgument("deviceTypeFilter",deviceTypeFilter);
int wireFrame = 0;
args.GetCmdLineArgument("wireFrame",wireFrame);
printf("port=%s, speed=%d, connection mode=%s\n", port.c_str(), baud,mode.c_str());
@@ -82,11 +81,6 @@ int main(int argc, char* argv[])
sim->configureDebugVisualizer( COV_ENABLE_SHADOWS, 0);
}
if (wireFrame)
{
sim->configureDebugVisualizer( COV_ENABLE_WIREFRAME, 1);
}
sim->setTimeOut(12345);
//syncBodies is only needed when connecting to an existing physics server that has already some bodies
@@ -102,8 +96,14 @@ int main(int argc, char* argv[])
sim->setGravity(b3MakeVector3(0,0,-9.8));
sim->setContactBreakingThreshold(0.001);
sim->loadURDF("plane_with_collision_audio.urdf");
if (useKitchen)
{
b3RobotSimulatorLoadFileResults res;
sim->loadSDF("kitchens/1.sdf",res);
} else
{
sim->loadURDF("plane_with_collision_audio.urdf");
}
int handUid = -1;
@@ -156,6 +156,7 @@ int main(int argc, char* argv[])
jointInfo.m_parentFrame[5] = handOrn[2];
jointInfo.m_parentFrame[6] = handOrn[3];
sim->resetBasePositionAndOrientation(handUid,handStartPosWorld,handStartOrnWorld);
int handConstraintId = sim->createConstraint(handUid,-1,-1,-1,&jointInfo);
double maxFingerForce = 10;
double maxArmForce = 1000;
@@ -182,7 +183,7 @@ int main(int argc, char* argv[])
sim->loadURDF("cube_small.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3( 0.950000,-0.100000,0.700000),b3Quaternion(0.000000,0.000000,0.707107,0.707107)));
sim->loadURDF("sphere_small.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(0.850000,-0.400000,0.700000),b3Quaternion(0.000000,0.000000,0.707107,0.707107)));
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double simWallClockSeconds = 20.;
@@ -200,7 +201,7 @@ int main(int argc, char* argv[])
my_serial.setBytesize(serial::sevenbits);
my_serial.setParity(serial::parity_odd);
my_serial.setStopbits(serial::stopbits_two);
my_serial.setTimeout(serial::Timeout::simpleTimeout(10));
my_serial.setTimeout(serial::Timeout::simpleTimeout(0.01));
my_serial.open();
} catch(...)
{
@@ -216,10 +217,13 @@ int main(int argc, char* argv[])
my_serial.flush();
while (sim->canSubmitCommand())
{
clock.usleep(1);
b3VREventsData vrEvents;
sim->getVREvents(&vrEvents, deviceTypeFilter);
//instead of iterating over all vr events, we just take the most up-to-date one
@@ -258,7 +262,7 @@ int main(int argc, char* argv[])
}
if (result.length())
{
//my_serial.flush();
my_serial.flush();
int res = result.find("\n");
while (res<0)
{