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* Adjustment: Update Bullet version to 3.24.

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This commit is contained in:
Robert MacGregor 2022-06-27 10:01:08 -04:00
parent 35de012ee7
commit 4a3f31df2a
6148 changed files with 2112532 additions and 56873 deletions
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48
Engine/lib/bullet/examples/RobotSimulator/HelloBulletRobotics.cpp Normal file
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#include "b3RobotSimulatorClientAPI_NoGUI.h"
int main(int argc, char* argv[])
{
b3RobotSimulatorClientAPI_NoGUI* sim = new b3RobotSimulatorClientAPI_NoGUI();
bool isConnected = sim->connect(eCONNECT_SHARED_MEMORY);
if (!isConnected)
{
printf("Using Direct mode\n");
isConnected = sim->connect(eCONNECT_DIRECT);
}
else
{
printf("Using shared memory\n");
}
//remove all existing objects (if any)
sim->resetSimulation();
sim->setGravity(btVector3(0, 0, -9.8));
sim->setNumSolverIterations(100);
b3RobotSimulatorSetPhysicsEngineParameters args;
sim->getPhysicsEngineParameters(args);
int planeUid = sim->loadURDF("plane.urdf");
printf("planeUid = %d\n", planeUid);
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);
while (sim->isConnected())
{
btVector3 basePos;
btQuaternion baseOrn;
sim->getBasePositionAndOrientation(r2d2Uid, basePos, baseOrn);
printf("r2d2 basePosition = [%f,%f,%f]\n", basePos[0], basePos[1], basePos[2]);
sim->stepSimulation();
}
delete sim;
}