From b675971e1af6b336a06a5b86ea004f937737cda4 Mon Sep 17 00:00:00 2001
From: themarex <themarex@042f3d55-54a8-47e9-b7fb-15903f145c44>
Date: Tue, 3 Jun 2014 09:52:59 +0000
Subject: [PATCH] Fix BulletGL
git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@604 042f3d55-54a8-47e9-b7fb-15903f145c44
---
.../BulletEngine/BulletOpenGLViewer.cpp | 31 -------------------
.../BulletEngine/BulletOpenGLViewer.h | 6 ----
.../BulletEngine/BulletRobot.cpp | 6 ----
.../BulletDebugViewerGlut.cpp | 8 +++--
4 files changed, 5 insertions(+), 46 deletions(-)
diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGLViewer.cpp b/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGLViewer.cpp
index c4cb3fa9e..8302203ba 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGLViewer.cpp
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGLViewer.cpp
@@ -27,37 +27,6 @@ BulletOpenGLViewer::BulletOpenGLViewer(DynamicsWorldPtr world)
setCameraUp(up);
clientResetScene();
-
- // register callback
- m_dynamicsWorld->setInternalTickCallback(motorPreTickCallback,this,true);
-}
-
-void BulletOpenGLViewer::updateRobotConstraints()
-{
- // does not work as expected....
- std::vector<DynamicsRobotPtr> robots = bulletEngine->getRobots();
- for (size_t i=0;i<robots.size();i++)
- {
- robots[i]->ensureKinematicConstraints();
- }
-}
-
-void BulletOpenGLViewer::motorPreTickCallback (btDynamicsWorld *world, btScalar timeStep)
-{
- BulletOpenGLViewer* glViewer = (BulletOpenGLViewer*)world->getWorldUserInfo();
-
- glViewer->updateMotors(timeStep);
-
-}
-
-void BulletOpenGLViewer::updateMotors(float dt)
-{
- std::vector<DynamicsRobotPtr> robots = bulletEngine->getRobots();
- for (size_t i=0;i<robots.size();i++)
- {
- robots[i]->actuateJoints(dt);
- robots[i]->updateSensors();
- }
}
void BulletOpenGLViewer::clientMoveAndDisplay()
diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGLViewer.h b/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGLViewer.h
index f720ecad7..89e37076e 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGLViewer.h
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGLViewer.h
@@ -64,12 +64,6 @@ public:
virtual void enableContraintsDebugDrawing();
protected:
- static void motorPreTickCallback (btDynamicsWorld *world, btScalar timeStep);
-
- /*!
- Move all joints which are actuated by motors.
- */
- void updateMotors(float dt);
/*static DemoApplication* Create()
{
diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp b/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp
index c074cd22a..fba48342c 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp
@@ -954,12 +954,6 @@ void BulletRobot::actuateJoints(btScalar dt)
continue;
}
- if (it->second.node->getName() == "LeftLeg_Joint3")
- {
- std::cout << "Mode: " << (int) actuation.mode << " : " << posTarget << " " << posActual << std::endl;
- controller.debug();
- }
-
if (actuation.modes.position && actuation.modes.velocity)
{
hinge->enableAngularMotor(true,
diff --git a/SimDynamics/examples/BulletDebugViewer/BulletDebugViewerGlut.cpp b/SimDynamics/examples/BulletDebugViewer/BulletDebugViewerGlut.cpp
index 6fe778bc4..febf13c2f 100644
--- a/SimDynamics/examples/BulletDebugViewer/BulletDebugViewerGlut.cpp
+++ b/SimDynamics/examples/BulletDebugViewer/BulletDebugViewerGlut.cpp
@@ -178,10 +178,12 @@ int main(int argc,char* argv[])
{
Eigen::Matrix4f gp = Eigen::Matrix4f::Identity();
//gp(2,3) = 35.0f;
- gp(2,3) = 800.0f;
- robot->setGlobalPose(gp);
+ //gp(2,3) = 800.0f;
+ //robot->setGlobalPose(gp);
DynamicsRobotPtr dynRob = world->CreateDynamicsRobot(robot);
- dynRob->disableActuation();
+ ActuationMode mode;
+ mode.modes.position = 1;
+ dynRob->enableActuation(mode);
world->addRobot(dynRob);
}
BulletOpenGLViewer viewer(world);
--
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