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#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"
static btScalar numSolverIterations = 1000;
static btScalar solverId = 0;
class FixJointBoxes : public CommonExampleInterface
{
GUIHelperInterface* m_guiHelper;
b3RobotSimulatorClientAPI m_robotSim;
int m_options;
b3RobotSimulatorSetPhysicsEngineParameters physicsArgs;
int solver;
const size_t numCubes = 30;
std::vector<int> cubeIds;
public:
FixJointBoxes(GUIHelperInterface* helper, int options)
: m_guiHelper(helper),
m_options(options),
cubeIds(numCubes, 0),
solver(solverId)
{
}
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;
b3RobotSimulatorChangeDynamicsArgs dynamicsArgs;
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);
b3RobotJointInfo jointInfo;
jointInfo.m_parentFrame[1] = -0.025;
jointInfo.m_childFrame[1] = 0.025;
if (i > 0)
{
m_robotSim.createConstraint(cubeIds[i], -1, cubeIds[i - 1], -1, &jointInfo);
m_robotSim.setCollisionFilterGroupMask(cubeIds[i], -1, 0, 0);
}
m_robotSim.loadURDF("plane.urdf");
}
}
{
SliderParams slider("Direct solver", &solverId);
slider.m_minVal = 0;
slider.m_maxVal = 1;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
SliderParams slider("numSolverIterations", &numSolverIterations);
slider.m_minVal = 50;
slider.m_maxVal = 1e4;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
physicsArgs.m_defaultGlobalCFM = 1e-6;
m_robotSim.setPhysicsEngineParameter(physicsArgs);
m_robotSim.setGravity(btVector3(0, 0, -10));
m_robotSim.setNumSolverIterations((int)numSolverIterations);
}
virtual void exitPhysics()
{
m_robotSim.disconnect();
}
void resetCubePosition()
{
for (int i = 0; i < numCubes; i++)
{
btVector3 pos (0, i * (btScalar)0.05, 1);
btQuaternion quar (0, 0, 0, 1);
m_robotSim.resetBasePositionAndOrientation(cubeIds[i], pos, quar);
}
}
virtual void stepSimulation(float deltaTime)
{
int newSolver = (int)(solverId + 0.5);
if (newSolver != solver)
{
printf("Switching solver, new %d, old %d\n", newSolver, solver);
solver = newSolver;
resetCubePosition();
if (solver)
{
physicsArgs.m_constraintSolverType = eConstraintSolverLCP_DANTZIG;
}
else
{
physicsArgs.m_constraintSolverType = eConstraintSolverLCP_SI;
}
m_robotSim.setPhysicsEngineParameter(physicsArgs);
}
m_robotSim.setNumSolverIterations((int)numSolverIterations);
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);
}
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