| 40 | m_robotSim.debugDraw(debugDrawMode); |
| 41 | } |
| 42 | virtual void initPhysics() |
| 43 | { |
| 44 | int mode = eCONNECT_EXISTING_EXAMPLE_BROWSER; |
| 45 | m_robotSim.setGuiHelper(m_guiHelper); |
| 46 | bool connected = m_robotSim.connect(mode); |
| 47 | |
| 48 | b3Printf("robotSim connected = %d", connected); |
| 49 | |
| 50 | m_robotSim.configureDebugVisualizer(COV_ENABLE_RGB_BUFFER_PREVIEW, 0); |
| 51 | m_robotSim.configureDebugVisualizer(COV_ENABLE_DEPTH_BUFFER_PREVIEW, 0); |
| 52 | m_robotSim.configureDebugVisualizer(COV_ENABLE_SEGMENTATION_MARK_PREVIEW, 0); |
| 53 | |
| 54 | b3RobotSimulatorLoadUrdfFileArgs args; |
| 55 | b3RobotSimulatorChangeDynamicsArgs dynamicsArgs; |
| 56 | int massRatio = 4; |
| 57 | int mass = 1; |
| 58 | for (int i = 0; i < 8; i++) |
| 59 | { |
| 60 | args.m_startPosition.setValue(0, 0, i * .06); |
| 61 | int boxIdx = m_robotSim.loadURDF("cube_small.urdf", args); |
| 62 | dynamicsArgs.m_mass = mass; |
| 63 | m_robotSim.changeDynamics(boxIdx, -1, dynamicsArgs); |
| 64 | mass *= massRatio; |
| 65 | } |
| 66 | |
| 67 | m_robotSim.loadURDF("plane.urdf"); |
| 68 | m_robotSim.setGravity(btVector3(0, 0, -10)); |
| 69 | } |
| 70 | |
| 71 | virtual void exitPhysics() |
| 72 | { |
nothing calls this directly
no test coverage detected