redgpu/bullet: Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.

test/RobotClientAPI/SlopeFrictionMain.cpp

109 строк3 KB

Erwin Coumans

fix issue with btMultiBody friction in combination with soft contacts (friction should not re-use normal contact cfm/erp)

20 мар 2017, 20:58

20 мар 2017, 20:580b017b0

//todo: turn this into a gtest, comparing maximal and reduced coordinates contact behavior etc

#include "b3RobotSimulatorClientAPI.h"
#include "../Utils/b3Clock.h"

#include <string.h>
#include <stdio.h>
#include <assert.h>
#define ASSERT_EQ(a,b) assert((a)==(b));
#include "MinitaurSetup.h"
#define NUM_SIM 1
int main(int argc, char* argv[])
{
	b3RobotSimulatorClientAPI* sims[2];
	b3Scalar fixedTimeStep = 1./240.;
	for (int i=0;i<NUM_SIM;i++)
	{
		b3RobotSimulatorClientAPI* sim = new b3RobotSimulatorClientAPI();
		sims[i] = sim;
		sim->connect(eCONNECT_GUI);//eCONNECT_GUI);//DIRECT);
		//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);
	//	sim->configureDebugVisualizer( COV_ENABLE_SHADOWS, 0);//COV_ENABLE_WIREFRAME
		//sim->setTimeOut(3);
		//syncBodies is only needed when connecting to an existing physics server that has already some bodies
		sim->syncBodies();
		

		sim->setTimeStep(fixedTimeStep);

		b3Quaternion q = sim->getQuaternionFromEuler(b3MakeVector3(0.1,0.2,0.3));
		b3Vector3 rpy;
		rpy = sim->getEulerFromQuaternion(q);

		sim->setGravity(b3MakeVector3(0,0,-9.8));

		//int blockId = sim->loadURDF("cube.urdf");
		//b3BodyInfo bodyInfo;
		//sim->getBodyInfo(blockId,&bodyInfo);

		b3Quaternion orn;
		orn.setEulerZYX(0,B3_PI*0.23,0);
    
		b3RobotSimulatorLoadUrdfFileArgs args;
		args.m_startPosition.setValue(0,0,0);
		args.m_startOrientation = orn;
		args.m_useMultiBody = i==0? false : true;//true : false;//false : true;
    
		sim->loadURDF("plane.urdf",args);

		args.m_startPosition.setValue(0,0,0.66);
		args.m_startOrientation.setEulerZYX(0,B3_PI*0.23,0);
		sim->loadURDF("cube_soft.urdf",args);

    
		double distance = 1.5;
		double yaw = 50;
		sim->resetDebugVisualizerCamera(distance,yaw,20,b3MakeVector3(0,0,0.1));
		sim->setRealTimeSimulation(false);
		
	}
	int enableSim = 1;
    while (sims[0]->canSubmitCommand())
	{
		#if 0
		b3KeyboardEventsData keyEvents;
		sim->getKeyboardEvents(&keyEvents);
		if (keyEvents.m_numKeyboardEvents)
		{
		
			//printf("num key events = %d]\n", keyEvents.m_numKeyboardEvents);
			//m_keyState is a flag combination of eButtonIsDown,eButtonTriggered, eButtonReleased
			for (int i=0;i<keyEvents.m_numKeyboardEvents;i++)
			{
				if (keyEvents.m_keyboardEvents[i].m_keyCode=='i' && keyEvents.m_keyboardEvents[i].m_keyState & eButtonTriggered)
				{
					enableSim = !enableSim;
				}
			}
		}
		#endif
		for (int i=0;i<NUM_SIM;i++)
		{

			sims[i]->setGravity(b3MakeVector3(0,0,-10));
			//printf(".");
			if (enableSim)
			{
			sims[i]->stepSimulation();
			}
		}
		b3Clock::usleep(1000.*1000.*fixedTimeStep);
	}

	printf("sim->disconnect\n");

	for (int i=0;i<NUM_SIM;i++)
	{
		sims[i]->disconnect();
		printf("delete sim\n");
		delete sims[i];

	}
	

	printf("exit\n");

}