Merge pull request #2142 from fuchuyuan/fixedJoint

Fixed joint

4 files changed, 144 insertions, 0 deletions

diff --git a/examples/BulletRobotics/FixJointBoxes.cpp b/examples/BulletRobotics/FixJointBoxes.cpp
new file mode 100644
index 000000000..875a76b1d
--- /dev/null
+++ b/examples/BulletRobotics/FixJointBoxes.cpp
@@ -0,0 +1,117 @@
+
+#include "FixJointBoxes.h"
+
+#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
+#include "Bullet3Common/b3AlignedObjectArray.h"
+#include "../CommonInterfaces/CommonRenderInterface.h"
+#include "../CommonInterfaces/CommonExampleInterface.h"
+#include "../CommonInterfaces/CommonGUIHelperInterface.h"
+#include "../SharedMemory/PhysicsServerSharedMemory.h"
+#include "../SharedMemory/PhysicsClientC_API.h"
+#include "../SharedMemory/SharedMemoryPublic.h"
+#include "../CommonInterfaces/CommonParameterInterface.h"
+#include <string>
+#include <vector>
+#include "../RobotSimulator/b3RobotSimulatorClientAPI.h"
+
+class FixJointBoxes : public CommonExampleInterface
+{
+	GUIHelperInterface* m_guiHelper;
+	b3RobotSimulatorClientAPI m_robotSim;
+	int m_options;
+
+public:
+	FixJointBoxes(GUIHelperInterface* helper, int options)
+		: m_guiHelper(helper),
+		  m_options(options)
+	{
+	}
+
+	virtual ~FixJointBoxes()
+	{
+	}
+
+	virtual void physicsDebugDraw(int debugDrawMode)
+	{
+		m_robotSim.debugDraw(debugDrawMode);
+	}
+	virtual void initPhysics()
+	{
+		int mode = eCONNECT_EXISTING_EXAMPLE_BROWSER;
+		m_robotSim.setGuiHelper(m_guiHelper);
+		bool connected = m_robotSim.connect(mode);
+
+		b3Printf("robotSim connected = %d", connected);
+
+		m_robotSim.configureDebugVisualizer(COV_ENABLE_RGB_BUFFER_PREVIEW, 0);
+		m_robotSim.configureDebugVisualizer(COV_ENABLE_DEPTH_BUFFER_PREVIEW, 0);
+		m_robotSim.configureDebugVisualizer(COV_ENABLE_SEGMENTATION_MARK_PREVIEW, 0);
+
+		b3RobotSimulatorLoadUrdfFileArgs args;
+
+		size_t numCubes = 10;
+		std::vector<int> cubeIds(numCubes, 0);
+		for (int i = 0; i < numCubes; i++)
+		{
+			args.m_forceOverrideFixedBase = (i == 0);
+			args.m_startPosition.setValue(0, i * 0.05, 1);
+			cubeIds[i] = m_robotSim.loadURDF("cube_small.urdf", args);
+
+			b3JointInfo jointInfo;
+
+			jointInfo.m_parentFrame[1] = -0.025;
+			jointInfo.m_childFrame[1] = 0.025;
+			jointInfo.m_jointType = eFixedType;
+			// jointInfo.m_jointType = ePoint2PointType;
+			// jointInfo.m_jointType =	ePrismaticType;
+
+			if (i > 0)
+			{
+				m_robotSim.createConstraint(cubeIds[i], -1, cubeIds[i - 1], -1, &jointInfo);
+			}
+
+			m_robotSim.loadURDF("plane.urdf");
+		}
+	}
+
+	virtual void exitPhysics()
+	{
+		m_robotSim.disconnect();
+	}
+	virtual void stepSimulation(float deltaTime)
+	{
+		m_robotSim.stepSimulation();
+	}
+	virtual void renderScene()
+	{
+		m_robotSim.renderScene();
+	}
+
+	virtual bool mouseMoveCallback(float x, float y)
+	{
+		return m_robotSim.mouseMoveCallback(x, y);
+	}
+	virtual bool mouseButtonCallback(int button, int state, float x, float y)
+	{
+		return m_robotSim.mouseButtonCallback(button, state, x, y);
+	}
+	virtual bool keyboardCallback(int key, int state)
+	{
+		return false;
+	}
+
+	virtual void resetCamera()
+	{
+		// float dist = 1;
+		// float pitch = -20;
+		// float yaw = -30;
+		// float targetPos[3] = {0, 0.2, 0.5};
+
+		// m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
+	}
+};
+
+class CommonExampleInterface* FixJointBoxesCreateFunc(struct CommonExampleOptions& options)
+{
+	return new FixJointBoxes(options.m_guiHelper, options.m_option);
+}
diff --git a/examples/BulletRobotics/FixJointBoxes.h b/examples/BulletRobotics/FixJointBoxes.h
new file mode 100644
index 000000000..c8a305dfc
--- /dev/null
+++ b/examples/BulletRobotics/FixJointBoxes.h
@@ -0,0 +1,21 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2016 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef FIX_JOINT_BOXES_H
+#define FIX_JOINT_BOXES_H
+
+class CommonExampleInterface* FixJointBoxesCreateFunc(struct CommonExampleOptions& options);
+
+#endif  //FIX_JOINT_BOXES_H
diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt
index 2678fa1b9..99dc6fd1d 100644
--- a/examples/ExampleBrowser/CMakeLists.txt
+++ b/examples/ExampleBrowser/CMakeLists.txt
@@ -144,6 +144,7 @@ SET(ExtendedTutorialsSources
 )
 
 SET(BulletExampleBrowser_SRCS
+        ../BulletRobotics/FixJointBoxes.cpp
 
 	../TinyRenderer/geometry.cpp
 	../TinyRenderer/model.cpp
diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp
index 02789d034..059795646 100644
--- a/examples/ExampleBrowser/ExampleEntries.cpp
+++ b/examples/ExampleBrowser/ExampleEntries.cpp
@@ -3,6 +3,7 @@
 #include "../BlockSolver/BlockSolverExample.h"
 #include "LinearMath/btAlignedObjectArray.h"
 #include "EmptyExample.h"
+#include "../BulletRobotics/FixJointBoxes.h"
 #include "../RenderingExamples/RenderInstancingDemo.h"
 #include "../RenderingExamples/CoordinateSystemDemo.h"
 #include "../RenderingExamples/RaytracerSetup.h"
@@ -129,6 +130,10 @@ static ExampleEntry gDefaultExamples[] =
 
 		ExampleEntry(1, "Soft Contact", "Using the error correction parameter (ERP) and constraint force mixing (CFM) values for contacts to simulate compliant contact.", RigidBodySoftContactCreateFunc),
 
+
+		ExampleEntry(0, "Bullet Robotics"),
+		ExampleEntry(1, "FixJoint Boxes", "FixJoint Boxes", FixJointBoxesCreateFunc),
+
 		ExampleEntry(0, "MultiBody"),
 		ExampleEntry(1, "MultiDof", "Create a basic btMultiBody with 3-DOF spherical joints (mobilizers). The demo uses a fixed base or a floating base at restart.", MultiDofCreateFunc),
 		ExampleEntry(1, "TestJointTorque", "Apply a torque to a btMultiBody with 1-DOF joints (mobilizers). This setup is similar to API/TestHingeTorque.", TestJointTorqueCreateFunc),