38 lines
929 B
C++
38 lines
929 B
C++
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#include "b3RobotSimulatorClientAPI_NoGUI.h"
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int main(int argc, char* argv[])
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{
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b3RobotSimulatorClientAPI_NoGUI* sim = new b3RobotSimulatorClientAPI_NoGUI();
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bool isConnected = sim->connect(eCONNECT_SHARED_MEMORY);
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if (!isConnected)
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{
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printf("Using Direct mode\n");
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isConnected = sim->connect(eCONNECT_DIRECT);
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} else
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{
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printf("Using shared memory\n");
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}
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//remove all existing objects (if any)
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sim->resetSimulation();
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int planeUid = sim->loadURDF("plane.urdf");
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printf("planeUid = %d\n", planeUid);
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int r2d2Uid = sim->loadURDF("r2d2.urdf");
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printf("r2d2 #joints = %d\n", sim->getNumJoints(r2d2Uid));
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b3Vector3 basePosition = b3MakeVector3(0,0,1);
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b3Quaternion baseOrientation = b3Quaternion(0,0,0,1);
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sim->resetBasePositionAndOrientation(r2d2Uid, basePosition, baseOrientation);
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sim->setGravity(b3MakeVector3(0,0,-10));
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while (sim->isConnected())
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{
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sim->stepSimulation();
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}
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delete sim;
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}
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