a4f1e34899
add RobotSimulator, a C++ API similar to pybullet. (work-in-progress, only part of API implemeted)
67 lines
1.6 KiB
C++
67 lines
1.6 KiB
C++
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#include "b3RobotSimulatorClientAPI.h"
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#include "../Utils/b3Clock.h"
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#include <string.h>
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#include <stdio.h>
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#include <assert.h>
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#define ASSERT_EQ(a,b) assert((a)==(b));
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#include "MinitaurSetup.h"
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int main(int argc, char* argv[])
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{
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b3RobotSimulatorClientAPI* sim = new b3RobotSimulatorClientAPI();
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sim->connect(eCONNECT_GUI);
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//Can also use eCONNECT_DIRECT,eCONNECT_SHARED_MEMORY,eCONNECT_UDP,eCONNECT_TCP, for example:
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//sim->connect(eCONNECT_UDP, "localhost", 1234);
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sim->configureDebugVisualizer( COV_ENABLE_GUI, 0);
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sim->configureDebugVisualizer( COV_ENABLE_SHADOWS, 0);//COV_ENABLE_WIREFRAME
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//syncBodies is only needed when connecting to an existing physics server that has already some bodies
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sim->syncBodies();
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sim->setTimeStep(1./240.);
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sim->setGravity(b3MakeVector3(0,0,-10));
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sim->loadURDF("plane.urdf");
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MinitaurSetup minitaur;
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int minitaurUid = minitaur.setupMinitaur(sim, b3MakeVector3(0,0,1));
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b3RobotSimulatorLoadUrdfFileArgs args;
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args.m_startPosition.setValue(2,0,1);
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int r2d2 = sim->loadURDF("r2d2.urdf",args);
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b3RobotSimulatorLoadFileResults sdfResults;
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if (!sim->loadSDF("two_cubes.sdf",sdfResults))
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{
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b3Warning("Can't load SDF!\n");
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}
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b3Clock clock;
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double startTime = clock.getTimeInSeconds();
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double simWallClockSeconds = 20.;
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while (clock.getTimeInSeconds()-startTime < simWallClockSeconds)
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{
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sim->stepSimulation();
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}
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sim->setRealTimeSimulation(true);
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startTime = clock.getTimeInSeconds();
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while (clock.getTimeInSeconds()-startTime < simWallClockSeconds)
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{
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b3Clock::usleep(1000);
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}
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sim->disconnect();
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delete sim;
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}
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