class CommonExampleInterface* RobotControlExampleCreateFunc(struct CommonExampleOptions& options)
{
RobotControlExample* example = new RobotControlExample(options.m_guiHelper, options.m_option);
if (gSharedMemoryKey>=0)
{
example->setSharedMemoryKey(gSharedMemoryKey);
}
return example;
}
void MyCallback2(int buttonId, bool buttonState, void* userPtr)
{
RobotControlExample* cl = (RobotControlExample*) userPtr;
SharedMemoryCommand command;
switch (buttonId)
{
case CMD_LOAD_URDF:
{
command.m_type =CMD_LOAD_URDF;
command.m_updateFlags = URDF_ARGS_FILE_NAME|URDF_ARGS_INITIAL_POSITION|URDF_ARGS_INITIAL_ORIENTATION;
sprintf(command.m_urdfArguments.m_urdfFileName,"kuka_lwr/kuka.urdf");//r2d2.urdf");
command.m_urdfArguments.m_initialPosition[0] = 0.0;
command.m_urdfArguments.m_initialPosition[1] = 0.0;
command.m_urdfArguments.m_initialPosition[2] = 0.0;
command.m_urdfArguments.m_initialOrientation[0] = 0.0;
command.m_urdfArguments.m_initialOrientation[1] = 0.0;
command.m_urdfArguments.m_initialOrientation[2] = 0.0;
command.m_urdfArguments.m_initialOrientation[3] = 1.0;
command.m_urdfArguments.m_useFixedBase = false;
command.m_urdfArguments.m_useMultiBody = true;
cl->enqueueCommand(command);
break;
}
case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS:
{
//#ifdef USE_C_API
b3InitPhysicsParamCommand(&command);
b3PhysicsParamSetGravity(&command, 1,1,-10);
// #else
//
// command.m_type = CMD_SEND_PHYSICS_SIMULATION_PARAMETERS;
// command.m_physSimParamArgs.m_gravityAcceleration[0] = 0;
// command.m_physSimParamArgs.m_gravityAcceleration[1] = 0;
// command.m_physSimParamArgs.m_gravityAcceleration[2] = -10;
// command.m_physSimParamArgs.m_updateFlags = SIM_PARAM_UPDATE_GRAVITY;
// #endif // USE_C_API
cl->enqueueCommand(command);
break;
};
case CMD_INIT_POSE:
{
///@todo: implement this
command.m_type = CMD_INIT_POSE;
cl->enqueueCommand(command);
break;
}
case CMD_CREATE_BOX_COLLISION_SHAPE:
{
command.m_type =CMD_CREATE_BOX_COLLISION_SHAPE;
command.m_updateFlags = BOX_SHAPE_HAS_INITIAL_POSITION;
command.m_createBoxShapeArguments.m_initialPosition[0] = 0;
command.m_createBoxShapeArguments.m_initialPosition[1] = 0;
command.m_createBoxShapeArguments.m_initialPosition[2] = -3;
cl->enqueueCommand(command);
break;
}
case CMD_REQUEST_ACTUAL_STATE:
{
command.m_type =CMD_REQUEST_ACTUAL_STATE;
cl->enqueueCommand(command);
break;
};
case CMD_STEP_FORWARD_SIMULATION:
{
command.m_type =CMD_STEP_FORWARD_SIMULATION;
cl->enqueueCommand(command);
break;
}
case CMD_SEND_DESIRED_STATE:
{
command.m_type =CMD_SEND_DESIRED_STATE;
cl->prepareControlCommand(command);
cl->enqueueCommand(command);
break;
}
case CMD_SEND_BULLET_DATA_STREAM:
{
command.m_type = buttonId;
sprintf(command.m_dataStreamArguments.m_bulletFileName,"slope.bullet");
command.m_dataStreamArguments.m_streamChunkLength = 0;
cl->enqueueCommand(command);
break;
}
default:
{
b3Error("Unknown buttonId");
btAssert(0);
}
};
}
void MyCallback2(int buttonId, bool buttonState, void* userPtr)
{
RobotControlExample* cl = (RobotControlExample*) userPtr;
SharedMemoryCommand command;
switch (buttonId)
{
case CMD_LOAD_URDF:
{
command.m_type =CMD_LOAD_URDF;
sprintf(command.m_urdfArguments.m_urdfFileName,"r2d2.urdf");
command.m_urdfArguments.m_initialPosition[0] = 0.0;
command.m_urdfArguments.m_initialPosition[1] = 0.0;
command.m_urdfArguments.m_initialPosition[2] = 0.0;
command.m_urdfArguments.m_initialOrientation[0] = 0.0;
command.m_urdfArguments.m_initialOrientation[1] = 0.0;
command.m_urdfArguments.m_initialOrientation[2] = 0.0;
command.m_urdfArguments.m_initialOrientation[3] = 1.0;
command.m_urdfArguments.m_useFixedBase = false;
command.m_urdfArguments.m_useMultiBody = true;
cl->enqueueCommand(command);
break;
}
case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS:
{
//#ifdef USE_C_API
b3InitPhysicsParamCommand(&command);
b3PhysicsParamSetGravity(&command, 0,0,-10);
// #else
//
// command.m_type = CMD_SEND_PHYSICS_SIMULATION_PARAMETERS;
// command.m_physSimParamArgs.m_gravityAcceleration[0] = 0;
// command.m_physSimParamArgs.m_gravityAcceleration[1] = 0;
// command.m_physSimParamArgs.m_gravityAcceleration[2] = -10;
// command.m_physSimParamArgs.m_updateFlags = SIM_PARAM_UPDATE_GRAVITY;
// #endif // USE_C_API
cl->enqueueCommand(command);
break;
};
case CMD_INIT_POSE:
{
///@todo: implement this
command.m_type = CMD_INIT_POSE;
cl->enqueueCommand(command);
break;
}
case CMD_CREATE_BOX_COLLISION_SHAPE:
{
command.m_type =CMD_CREATE_BOX_COLLISION_SHAPE;
cl->enqueueCommand(command);
break;
}
case CMD_REQUEST_ACTUAL_STATE:
{
command.m_type =CMD_REQUEST_ACTUAL_STATE;
cl->enqueueCommand(command);
break;
};
case CMD_STEP_FORWARD_SIMULATION:
{
command.m_type =CMD_STEP_FORWARD_SIMULATION;
cl->enqueueCommand(command);
break;
}
case CMD_SEND_DESIRED_STATE:
{
command.m_type =CMD_SEND_DESIRED_STATE;
int controlMode = CONTROL_MODE_VELOCITY;//CONTROL_MODE_TORQUE;
command.m_sendDesiredStateCommandArgument.m_controlMode = controlMode;
//todo: expose a drop box in the GUI for this
switch (controlMode)
{
case CONTROL_MODE_VELOCITY:
{
for (int i=0;i<MAX_DEGREE_OF_FREEDOM;i++)
{
command.m_sendDesiredStateCommandArgument.m_desiredStateQdot[i] = 0;
command.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[i] = 1000;
}
for (int i=0;i<cl->m_numMotors;i++)
{
btScalar targetVel = cl->m_motorTargetVelocities[i].m_velTarget;
int uIndex = cl->m_motorTargetVelocities[i].m_uIndex;
if (targetVel>1)
{
printf("testme");
}
command.m_sendDesiredStateCommandArgument.m_desiredStateQdot[uIndex] = targetVel;
}
break;
}
case CONTROL_MODE_TORQUE:
{
for (int i=0;i<MAX_DEGREE_OF_FREEDOM;i++)
{
command.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[i] = 100;
}
break;
}
default:
{
b3Printf("Unknown control mode in client CMD_SEND_DESIRED_STATE");
btAssert(0);
}
}
cl->enqueueCommand(command);
break;
}
case CMD_SEND_BULLET_DATA_STREAM:
{
command.m_type = buttonId;
cl->enqueueCommand(command);
break;
}
default:
{
b3Error("Unknown buttonId");
btAssert(0);
}
};
}
