mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-07-08 13:14:33 +00:00
update bullet so it actually works
Moved the addSourceDirectory for physics/Bullet into the Engine/Source/CMakeLists.txt file that way it can actually appear where we expect it to in the solution explorer.
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marauder2k7
parent
c7be48130a
commit
13fa178cf6
5986 changed files with 1811270 additions and 453803 deletions
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@ -11,223 +11,191 @@
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#include "../SharedMemory/PhysicsClientC_API.h"
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#include <string>
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#include "b3RobotSimAPI.h"
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#include "../RobotSimulator/b3RobotSimulatorClientAPI.h"
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#include "../Utils/b3Clock.h"
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///quick demo showing the right-handed coordinate system and positive rotations around each axis
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class R2D2GraspExample : public CommonExampleInterface
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{
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CommonGraphicsApp* m_app;
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CommonGraphicsApp* m_app;
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GUIHelperInterface* m_guiHelper;
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b3RobotSimAPI m_robotSim;
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b3RobotSimulatorClientAPI m_robotSim;
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int m_options;
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int m_r2d2Index;
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float m_x;
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float m_y;
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float m_z;
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b3AlignedObjectArray<int> m_movingInstances;
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enum
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{
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numCubesX = 20,
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numCubesY = 20
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};
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public:
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R2D2GraspExample(GUIHelperInterface* helper, int options)
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:m_app(helper->getAppInterface()),
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m_guiHelper(helper),
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m_options(options),
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m_r2d2Index(-1),
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m_x(0),
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m_y(0),
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m_z(0)
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{
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m_app->setUpAxis(2);
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}
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virtual ~R2D2GraspExample()
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{
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m_app->m_renderer->enableBlend(false);
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}
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virtual void physicsDebugDraw(int debugDrawMode)
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{
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}
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virtual void initPhysics()
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{
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bool connected = m_robotSim.connect(m_guiHelper);
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b3Printf("robotSim connected = %d",connected);
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if ((m_options & eROBOTIC_LEARN_GRASP)!=0)
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public:
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R2D2GraspExample(GUIHelperInterface* helper, int options)
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: m_app(helper->getAppInterface()),
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m_guiHelper(helper),
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m_options(options),
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m_r2d2Index(-1)
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{
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m_app->setUpAxis(2);
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}
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virtual ~R2D2GraspExample()
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{
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}
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virtual void physicsDebugDraw(int debugDrawMode)
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{
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}
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virtual void initPhysics()
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{
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int mode = eCONNECT_EXISTING_EXAMPLE_BROWSER;
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m_robotSim.setGuiHelper(m_guiHelper);
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bool connected = m_robotSim.connect(mode);
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m_robotSim.configureDebugVisualizer(COV_ENABLE_RGB_BUFFER_PREVIEW, 0);
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m_robotSim.configureDebugVisualizer(COV_ENABLE_DEPTH_BUFFER_PREVIEW, 0);
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m_robotSim.configureDebugVisualizer(COV_ENABLE_SEGMENTATION_MARK_PREVIEW, 0);
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b3Printf("robotSim connected = %d", connected);
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if ((m_options & eROBOTIC_LEARN_GRASP) != 0)
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{
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{
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b3RobotSimLoadFileArgs args("");
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args.m_fileName = "r2d2.urdf";
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args.m_startPosition.setValue(0,0,.5);
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b3RobotSimLoadFileResults results;
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if (m_robotSim.loadFile(args, results) && results.m_uniqueObjectIds.size()==1)
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{
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int m_r2d2Index = results.m_uniqueObjectIds[0];
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int numJoints = m_robotSim.getNumJoints(m_r2d2Index);
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b3Printf("numJoints = %d",numJoints);
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b3RobotSimulatorLoadUrdfFileArgs args;
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args.m_startPosition.setValue(0, 0, .5);
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m_r2d2Index = m_robotSim.loadURDF("r2d2.urdf", args);
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for (int i=0;i<numJoints;i++)
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if (m_r2d2Index >= 0)
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{
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int numJoints = m_robotSim.getNumJoints(m_r2d2Index);
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b3Printf("numJoints = %d", numJoints);
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for (int i = 0; i < numJoints; i++)
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{
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b3JointInfo jointInfo;
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m_robotSim.getJointInfo(m_r2d2Index,i,&jointInfo);
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b3Printf("joint[%d].m_jointName=%s",i,jointInfo.m_jointName);
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m_robotSim.getJointInfo(m_r2d2Index, i, &jointInfo);
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b3Printf("joint[%d].m_jointName=%s", i, jointInfo.m_jointName);
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}
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int wheelJointIndices[4]={2,3,6,7};
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int wheelTargetVelocities[4]={-10,-10,-10,-10};
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for (int i=0;i<4;i++)
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int wheelJointIndices[4] = {2, 3, 6, 7};
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int wheelTargetVelocities[4] = {-10, -10, -10, -10};
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for (int i = 0; i < 4; i++)
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{
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b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
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b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
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controlArgs.m_targetVelocity = wheelTargetVelocities[i];
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controlArgs.m_maxTorqueValue = 1e30;
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m_robotSim.setJointMotorControl(m_r2d2Index,wheelJointIndices[i],controlArgs);
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m_robotSim.setJointMotorControl(m_r2d2Index, wheelJointIndices[i], controlArgs);
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}
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}
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}
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{
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b3RobotSimLoadFileArgs args("");
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args.m_fileName = "kiva_shelf/model.sdf";
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args.m_forceOverrideFixedBase = true;
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args.m_fileType = B3_SDF_FILE;
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args.m_startOrientation = b3Quaternion(0,0,0,1);
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b3RobotSimLoadFileResults results;
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m_robotSim.loadFile(args,results);
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b3RobotSimulatorLoadFileResults results;
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m_robotSim.loadSDF("kiva_shelf/model.sdf", results);
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}
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{
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b3RobotSimLoadFileArgs args("");
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args.m_fileName = "plane.urdf";
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args.m_startPosition.setValue(0,0,0);
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args.m_forceOverrideFixedBase = true;
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b3RobotSimLoadFileResults results;
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m_robotSim.loadFile(args,results);
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m_robotSim.setGravity(b3MakeVector3(0,0,-10));
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m_robotSim.loadURDF("plane.urdf");
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}
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m_robotSim.setGravity(btVector3(0, 0, -10));
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}
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if ((m_options & eROBOTIC_LEARN_COMPLIANT_CONTACT)!=0)
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if ((m_options & eROBOTIC_LEARN_COMPLIANT_CONTACT) != 0)
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{
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b3RobotSimLoadFileArgs args("");
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b3RobotSimLoadFileResults results;
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b3RobotSimulatorLoadUrdfFileArgs args;
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b3RobotSimulatorLoadFileResults results;
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{
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args.m_fileName = "cube_soft.urdf";
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args.m_startPosition.setValue(0,0,2.5);
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args.m_startOrientation.setEulerZYX(0,0.2,0);
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m_robotSim.loadFile(args,results);
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args.m_startPosition.setValue(0, 0, 2.5);
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args.m_startOrientation.setEulerZYX(0, 0.2, 0);
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m_r2d2Index = m_robotSim.loadURDF("cube_soft.urdf", args);
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}
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{
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args.m_fileName = "cube_no_friction.urdf";
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args.m_startPosition.setValue(0,2,2.5);
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args.m_startOrientation.setEulerZYX(0,0.2,0);
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m_robotSim.loadFile(args,results);
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args.m_startPosition.setValue(0, 2, 2.5);
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args.m_startOrientation.setEulerZYX(0, 0.2, 0);
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m_robotSim.loadURDF("cube_no_friction.urdf", args);
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}
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{
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b3RobotSimLoadFileArgs args("");
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args.m_fileName = "plane.urdf";
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args.m_startPosition.setValue(0,0,0);
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args.m_startOrientation.setEulerZYX(0,0.2,0);
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args.m_startPosition.setValue(0, 0, 0);
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args.m_startOrientation.setEulerZYX(0, 0.2, 0);
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args.m_forceOverrideFixedBase = true;
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b3RobotSimLoadFileResults results;
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m_robotSim.loadFile(args,results);
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m_robotSim.setGravity(b3MakeVector3(0,0,-10));
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m_robotSim.loadURDF("plane.urdf", args);
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}
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}
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if ((m_options & eROBOTIC_LEARN_ROLLING_FRICTION)!=0)
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{
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b3RobotSimLoadFileArgs args("");
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b3RobotSimLoadFileResults results;
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{
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args.m_fileName = "sphere2_rolling_friction.urdf";
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args.m_startPosition.setValue(0,0,2.5);
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args.m_startOrientation.setEulerZYX(0,0,0);
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args.m_useMultiBody = true;
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m_robotSim.loadFile(args,results);
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}
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{
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args.m_fileName = "sphere2.urdf";
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args.m_startPosition.setValue(0,2,2.5);
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args.m_startOrientation.setEulerZYX(0,0,0);
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args.m_useMultiBody = true;
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m_robotSim.loadFile(args,results);
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}
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{
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b3RobotSimLoadFileArgs args("");
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args.m_fileName = "plane.urdf";
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args.m_startPosition.setValue(0,0,0);
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args.m_startOrientation.setEulerZYX(0,0.2,0);
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args.m_useMultiBody = true;
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args.m_forceOverrideFixedBase = true;
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b3RobotSimLoadFileResults results;
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m_robotSim.loadFile(args,results);
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m_robotSim.setGravity(b3MakeVector3(0,0,-10));
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}
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}
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}
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virtual void exitPhysics()
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{
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m_robotSim.setGravity(btVector3(0, 0, -10));
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}
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if ((m_options & eROBOTIC_LEARN_ROLLING_FRICTION) != 0)
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{
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b3RobotSimulatorLoadUrdfFileArgs args;
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b3RobotSimulatorLoadFileResults results;
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{
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args.m_startPosition.setValue(0, 0, 2.5);
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args.m_startOrientation.setEulerZYX(0, 0, 0);
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args.m_useMultiBody = true;
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m_robotSim.loadURDF("sphere2_rolling_friction.urdf", args);
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}
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{
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args.m_startPosition.setValue(0, 2, 2.5);
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args.m_startOrientation.setEulerZYX(0, 0, 0);
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args.m_useMultiBody = true;
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m_robotSim.loadURDF("sphere2.urdf", args);
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}
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{
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args.m_startPosition.setValue(0, 0, 0);
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args.m_startOrientation.setEulerZYX(0, 0.2, 0);
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args.m_useMultiBody = true;
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args.m_forceOverrideFixedBase = true;
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m_robotSim.loadURDF("plane.urdf", args);
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}
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m_robotSim.setGravity(btVector3(0, 0, -10));
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}
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}
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virtual void exitPhysics()
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{
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m_robotSim.disconnect();
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}
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virtual void stepSimulation(float deltaTime)
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}
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virtual void stepSimulation(float deltaTime)
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{
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m_robotSim.stepSimulation();
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}
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virtual void renderScene()
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{
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}
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virtual void renderScene()
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{
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m_robotSim.renderScene();
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//m_app->m_renderer->renderScene();
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}
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}
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virtual void physicsDebugDraw()
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{
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}
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virtual bool mouseMoveCallback(float x, float y)
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{
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return false;
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}
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virtual bool mouseButtonCallback(int button, int state, float x, float y)
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{
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return false;
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}
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virtual bool keyboardCallback(int key, int state)
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{
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return false;
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}
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virtual void physicsDebugDraw()
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{
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}
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virtual bool mouseMoveCallback(float x,float y)
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{
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return false;
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}
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virtual bool mouseButtonCallback(int button, int state, float x, float y)
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{
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return false;
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}
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virtual bool keyboardCallback(int key, int state)
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{
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return false;
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}
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virtual void resetCamera()
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{
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float dist = 3;
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float pitch = -75;
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float yaw = 30;
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float targetPos[3]={-0.2,0.8,0.3};
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if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
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float pitch = -30;
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float yaw = -75;
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float targetPos[3] = {-0.2, 0.8, 0.3};
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if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
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{
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m_app->m_renderer->getActiveCamera()->setCameraDistance(dist);
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m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch);
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m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw);
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m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0],targetPos[1],targetPos[2]);
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m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0], targetPos[1], targetPos[2]);
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}
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}
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};
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class CommonExampleInterface* R2D2GraspExampleCreateFunc(struct CommonExampleOptions& options)
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class CommonExampleInterface* R2D2GraspExampleCreateFunc(struct CommonExampleOptions& options)
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{
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return new R2D2GraspExample(options.m_guiHelper, options.m_option);
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}
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