Scarfski/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3.git synced 2026-10-05 16:35:29 +00:00
Code Issues Packages Projects Releases Wiki Activity

clean up: reverted some unnecessary changes

Browse Source
This commit is contained in:
jingyuc
2022-01-30 17:41:44 -08:00
parent fbeafa0249
commit bfef75f871
5 changed files with 425 additions and 429 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
examples/RobotSimulator/HelloBulletRobotics.cpp
View File

@@ -18,8 +18,7 @@ int main(int argc, char* argv[])
}
//remove all existing objects (if any)
// sim->resetSimulation();
sim->resetSimulation(RESET_USE_REDUCED_DEFORMABLE_WORLD);
sim->resetSimulation();
sim->setGravity(btVector3(0, 0, -9.8));
sim->setNumSolverIterations(100);
b3RobotSimulatorSetPhysicsEngineParameters args;
@@ -27,12 +26,11 @@ int main(int argc, char* argv[])
int planeUid = sim->loadURDF("plane.urdf");
printf("planeUid = %d\n", planeUid);
int r2d2Uid = sim->loadURDF("reduced_cube/reduced_cube.urdf");
// int r2d2Uid = sim->loadURDF("r2d2.urdf");
// printf("r2d2 #joints = %d\n", sim->getNumJoints(r2d2Uid));
btVector3 basePosition = btVector3(0, 3, 3);
int r2d2Uid = sim->loadURDF("r2d2.urdf");
printf("r2d2 #joints = %d\n", sim->getNumJoints(r2d2Uid));
btVector3 basePosition = btVector3(0, 0, 0.5);
btQuaternion baseOrientation = btQuaternion(0, 0, 0, 1);
sim->resetBasePositionAndOrientation(r2d2Uid, basePosition, baseOrientation);
@@ -42,7 +40,7 @@ int main(int argc, char* argv[])
btVector3 basePos;
btQuaternion baseOrn;
sim->getBasePositionAndOrientation(r2d2Uid, basePos, baseOrn);
// printf("r2d2 basePosition = [%f,%f,%f]\n", basePos[0], basePos[1], basePos[2]);
printf("r2d2 basePosition = [%f,%f,%f]\n", basePos[0], basePos[1], basePos[2]);
sim->stepSimulation();
}