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fix space

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fix space
This commit is contained in:
Chuyuan Fu
2019-05-02 14:09:26 -07:00
parent 3fb0a7c19b
commit ee10d47b17
5 changed files with 20 additions and 25 deletions
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8
examples/RoboticsLearning/GripperGraspExample.cpp
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@@ -326,9 +326,9 @@ public:
m_robotSim.loadURDF("plane.urdf", args); m_robotSim.loadURDF("plane.urdf", args);
} }
m_robotSim.setGravity(btVector3(0, 0, -10)); m_robotSim.setGravity(btVector3(0, 0, -10));
b3RobotSimulatorLoadSoftBodyArgs args(0.1, 1, 0.02); b3RobotSimulatorLoadSoftBodyArgs args(0.1, 1, 0.02);
args.m_startPosition.setValue(0, 0, 5); args.m_startPosition.setValue(0, 0, 5);
args.m_startOrientation.setValue(1, 0, 0, 1); args.m_startOrientation.setValue(1, 0, 0, 1);
m_robotSim.loadSoftBody("bunny.obj", args); m_robotSim.loadSoftBody("bunny.obj", args);
b3JointInfo revoluteJoint1; b3JointInfo revoluteJoint1;
@@ -405,7 +405,7 @@ public:
m_robotSim.loadURDF("plane.urdf", args); m_robotSim.loadURDF("plane.urdf", args);
} }
m_robotSim.setGravity(btVector3(0, 0, -10)); m_robotSim.setGravity(btVector3(0, 0, -10));
b3RobotSimulatorLoadSoftBodyArgs args(0.3, 10, 0.1); b3RobotSimulatorLoadSoftBodyArgs args(0.3, 10, 0.1);
m_robotSim.loadSoftBody("bunny.obj", args); m_robotSim.loadSoftBody("bunny.obj", args);
} }
} }

5
examples/SharedMemory/PhysicsClientC_API.h
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@@ -614,9 +614,8 @@ extern "C"
B3_SHARED_API int b3LoadSoftBodySetScale(b3SharedMemoryCommandHandle commandHandle, double scale); B3_SHARED_API int b3LoadSoftBodySetScale(b3SharedMemoryCommandHandle commandHandle, double scale);
B3_SHARED_API int b3LoadSoftBodySetMass(b3SharedMemoryCommandHandle commandHandle, double mass); B3_SHARED_API int b3LoadSoftBodySetMass(b3SharedMemoryCommandHandle commandHandle, double mass);
B3_SHARED_API int b3LoadSoftBodySetCollisionMargin(b3SharedMemoryCommandHandle commandHandle, double collisionMargin); B3_SHARED_API int b3LoadSoftBodySetCollisionMargin(b3SharedMemoryCommandHandle commandHandle, double collisionMargin);
B3_SHARED_API int b3LoadSoftBodySetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX, double startPosY, double startPosZ); B3_SHARED_API int b3LoadSoftBodySetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX, double startPosY, double startPosZ);
B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW); B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW);
B3_SHARED_API b3SharedMemoryCommandHandle b3RequestVREventsCommandInit(b3PhysicsClientHandle physClient); B3_SHARED_API b3SharedMemoryCommandHandle b3RequestVREventsCommandInit(b3PhysicsClientHandle physClient);
B3_SHARED_API void b3VREventsSetDeviceTypeFilter(b3SharedMemoryCommandHandle commandHandle, int deviceTypeFilter); B3_SHARED_API void b3VREventsSetDeviceTypeFilter(b3SharedMemoryCommandHandle commandHandle, int deviceTypeFilter);

4
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -7376,8 +7376,8 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
psb->generateBendingConstraints(2, pm); psb->generateBendingConstraints(2, pm);
psb->m_cfg.piterations = 20; psb->m_cfg.piterations = 20;
psb->m_cfg.kDF = 0.5; psb->m_cfg.kDF = 0.5;
//turn on softbody vs softbody collision //turn on softbody vs softbody collision
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS; psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS;
psb->randomizeConstraints(); psb->randomizeConstraints();
psb->rotate(initialOrn); psb->rotate(initialOrn);
psb->translate(initialPos); psb->translate(initialPos);

2
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
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@@ -1143,7 +1143,7 @@ void b3RobotSimulatorClientAPI_NoDirect::loadSoftBody(const std::string& fileNam
} }
b3SharedMemoryCommandHandle command = b3LoadSoftBodyCommandInit(m_data->m_physicsClientHandle, fileName.c_str()); b3SharedMemoryCommandHandle command = b3LoadSoftBodyCommandInit(m_data->m_physicsClientHandle, fileName.c_str());
b3LoadSoftBodySetStartPosition(command, args.m_startPosition[0], args.m_startPosition[1], args.m_startPosition[2]); b3LoadSoftBodySetStartPosition(command, args.m_startPosition[0], args.m_startPosition[1], args.m_startPosition[2]);
b3LoadSoftBodySetStartOrientation(command, args.m_startOrientation[0], args.m_startOrientation[1], args.m_startOrientation[2], args.m_startOrientation[3]); b3LoadSoftBodySetStartOrientation(command, args.m_startOrientation[0], args.m_startOrientation[1], args.m_startOrientation[2], args.m_startOrientation[3]);
b3LoadSoftBodySetScale(command, args.m_scale); b3LoadSoftBodySetScale(command, args.m_scale);
b3LoadSoftBodySetMass(command, args.m_mass); b3LoadSoftBodySetMass(command, args.m_mass);

26
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
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@@ -56,43 +56,39 @@ struct b3RobotSimulatorLoadSoftBodyArgs
{ {
btVector3 m_startPosition; btVector3 m_startPosition;
btQuaternion m_startOrientation; btQuaternion m_startOrientation;
double m_scale; double m_scale;
double m_mass; double m_mass;
double m_collisionMargin; double m_collisionMargin;
b3RobotSimulatorLoadSoftBodyArgs(const btVector3 &startPos, const btQuaternion &startOrn, const double& scale, const double& mass, const double& collisionMargin ) b3RobotSimulatorLoadSoftBodyArgs(const btVector3 &startPos, const btQuaternion &startOrn, const double &scale, const double &mass, const double &collisionMargin)
: m_startPosition(startPos), : m_startPosition(startPos),
m_startOrientation(startOrn), m_startOrientation(startOrn),
m_scale(scale), m_scale(scale),
m_mass(mass), m_mass(mass),
m_collisionMargin(collisionMargin) m_collisionMargin(collisionMargin)
{ {
} }
b3RobotSimulatorLoadSoftBodyArgs(const btVector3 &startPos, const btQuaternion &startOrn)
b3RobotSimulatorLoadSoftBodyArgs(const btVector3 &startPos, const btQuaternion &startOrn)
{ {
b3RobotSimulatorLoadSoftBodyArgs(startPos, startOrn, 1.0, 1.0, 0.02); b3RobotSimulatorLoadSoftBodyArgs(startPos, startOrn, 1.0, 1.0, 0.02);
} }
b3RobotSimulatorLoadSoftBodyArgs() b3RobotSimulatorLoadSoftBodyArgs()
{ {
b3RobotSimulatorLoadSoftBodyArgs(btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1)); b3RobotSimulatorLoadSoftBodyArgs(btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1));
} }
b3RobotSimulatorLoadSoftBodyArgs(double scale, double mass, double collisionMargin)
b3RobotSimulatorLoadSoftBodyArgs(double scale, double mass, double collisionMargin)
: m_startPosition(btVector3(0, 0, 0)), : m_startPosition(btVector3(0, 0, 0)),
m_startOrientation(btQuaternion(0, 0, 0, 1)), m_startOrientation(btQuaternion(0, 0, 0, 1)),
m_scale(scale), m_scale(scale),
m_mass(mass), m_mass(mass),
m_collisionMargin(collisionMargin) m_collisionMargin(collisionMargin)
{ {
} }
}; };
struct b3RobotSimulatorLoadFileResults struct b3RobotSimulatorLoadFileResults
{ {
btAlignedObjectArray<int> m_uniqueObjectIds; btAlignedObjectArray<int> m_uniqueObjectIds;
@@ -688,7 +684,7 @@ public:
int getConstraintUniqueId(int serialIndex); int getConstraintUniqueId(int serialIndex);
void loadSoftBody(const std::string &fileName, const struct b3RobotSimulatorLoadSoftBodyArgs& args); void loadSoftBody(const std::string &fileName, const struct b3RobotSimulatorLoadSoftBodyArgs &args);
virtual void setGuiHelper(struct GUIHelperInterface *guiHelper); virtual void setGuiHelper(struct GUIHelperInterface *guiHelper);
virtual struct GUIHelperInterface *getGuiHelper(); virtual struct GUIHelperInterface *getGuiHelper();