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revert RobotSimulatorMain.cpp

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This commit is contained in:
jingyuc
2022-02-28 17:15:49 -08:00
parent c89a7054e9
commit 2c1cd798ea
1 changed files with 12 additions and 60 deletions
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72
examples/RobotSimulator/RobotSimulatorMain.cpp
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@@ -27,10 +27,6 @@ int main(int argc, char* argv[])
printf("Cannot connect\n");
return -1;
}
// sim->resetSimulation(RESET_USE_DEFORMABLE_WORLD);
sim->resetSimulation(RESET_USE_REDUCED_DEFORMABLE_WORLD);
//Can also use eCONNECT_DIRECT,eCONNECT_SHARED_MEMORY,eCONNECT_UDP,eCONNECT_TCP, for example:
//sim->connect(eCONNECT_UDP, "localhost", 1234);
sim->configureDebugVisualizer(COV_ENABLE_GUI, 0);
@@ -54,52 +50,8 @@ int main(int argc, char* argv[])
sim->loadURDF("plane.urdf");
{
int cubeID = sim->loadURDF("cube.urdf");
btVector3 basePosition = btVector3(0, 0, 2);
btQuaternion baseOrientation = btQuaternion(0, 0, 0, 1);
sim->resetBasePositionAndOrientation(cubeID, basePosition, baseOrientation);
}
{
int cubeID = sim->loadURDF("cube.urdf");
btVector3 basePosition = btVector3(2, 0, 2);
btQuaternion baseOrientation = btQuaternion(0, 0, 0, 1);
sim->resetBasePositionAndOrientation(cubeID, basePosition, baseOrientation);
}
{
int deformableUID = sim->loadURDF("reduced_torus/reduced_torus.urdf");
// int deformableUID = sim->loadURDF("reduced_cube/reduced_cube.urdf");
// int deformableUID = sim->loadURDF("reduced_bottle/reduced_bottle.urdf");
// int deformableUID = sim->loadURDF("reduced_bottle_coarse/reduced_bottle_coarse.urdf");
// int deformableUID = sim->loadURDF("reduced_bottle/deform_bottle.urdf");
// int deformableUID = sim->loadURDF("torus_deform.urdf");
btVector3 basePosition = btVector3(3, 3, 3);
// btVector3 basePosition = btVector3(0, 0, 0.2);
// btVector3 basePosition = btVector3(0, 0.5, 0.2);
btQuaternion baseOrientation = btQuaternion(0, 0, 0, 1);
// btQuaternion baseOrientation = btQuaternion(btVector3(1, 0, 0), SIMD_PI / 2.0);
sim->resetBasePositionAndOrientation(deformableUID, basePosition, baseOrientation);
}
{
// int deformableUID = sim->loadURDF("reduced_torus/reduced_torus.urdf");
int deformableUID = sim->loadURDF("reduced_cube/reduced_cube.urdf");
// int deformableUID = sim->loadURDF("reduced_bottle/reduced_bottle.urdf");
// int deformableUID = sim->loadURDF("reduced_bottle_coarse/reduced_bottle_coarse.urdf");
// int deformableUID = sim->loadURDF("reduced_bottle/deform_bottle.urdf");
// int deformableUID = sim->loadURDF("torus_deform.urdf");
btVector3 basePosition = btVector3(0, 3, 3);
// btVector3 basePosition = btVector3(0, 0, 0.2);
// btVector3 basePosition = btVector3(0, 0.5, 0.2);
btQuaternion baseOrientation = btQuaternion(0, 0, 0, 1);
// btQuaternion baseOrientation = btQuaternion(btVector3(1, 0, 0), SIMD_PI / 2.0);
sim->resetBasePositionAndOrientation(deformableUID, basePosition, baseOrientation);
}
// MinitaurSetup minitaur;
// int minitaurUid = minitaur.setupMinitaur(sim, btVector3(0, 0, .3));
MinitaurSetup minitaur;
int minitaurUid = minitaur.setupMinitaur(sim, btVector3(0, 0, .3));
//b3RobotSimulatorLoadUrdfFileArgs args;
//args.m_startPosition.setValue(2,0,1);
@@ -155,15 +107,15 @@ int main(int argc, char* argv[])
if (e.m_keyCode == 'm')
{
// if (minitaurLogId < 0 && e.m_keyState & eButtonTriggered)
// {
// minitaurLogId = sim->startStateLogging(STATE_LOGGING_MINITAUR, "simlog.bin");
// }
// if (minitaurLogId >= 0 && e.m_keyState & eButtonReleased)
// {
// sim->stopStateLogging(minitaurLogId);
// minitaurLogId = -1;
// }
if (minitaurLogId < 0 && e.m_keyState & eButtonTriggered)
{
minitaurLogId = sim->startStateLogging(STATE_LOGGING_MINITAUR, "simlog.bin");
}
if (minitaurLogId >= 0 && e.m_keyState & eButtonReleased)
{
sim->stopStateLogging(minitaurLogId);
minitaurLogId = -1;
}
}
if (e.m_keyCode == 'r' && e.m_keyState & eButtonTriggered)
@@ -183,7 +135,7 @@ int main(int argc, char* argv[])
yaw += 0.1;
btVector3 basePos;
btQuaternion baseOrn;
// sim->getBasePositionAndOrientation(minitaurUid, basePos, baseOrn);
sim->getBasePositionAndOrientation(minitaurUid, basePos, baseOrn);
sim->resetDebugVisualizerCamera(distance, -20, yaw, basePos);
}
b3Clock::usleep(1000. * 1000. * fixedTimeStep);