| 37 | m_robotSim.debugDraw(debugDrawMode); |
| 38 | } |
| 39 | virtual void initPhysics() |
| 40 | { |
| 41 | int mode = eCONNECT_EXISTING_EXAMPLE_BROWSER; |
| 42 | m_robotSim.setGuiHelper(m_guiHelper); |
| 43 | bool connected = m_robotSim.connect(mode); |
| 44 | |
| 45 | b3Printf("robotSim connected = %d", connected); |
| 46 | |
| 47 | m_robotSim.configureDebugVisualizer(COV_ENABLE_RGB_BUFFER_PREVIEW, 0); |
| 48 | m_robotSim.configureDebugVisualizer(COV_ENABLE_DEPTH_BUFFER_PREVIEW, 0); |
| 49 | m_robotSim.configureDebugVisualizer(COV_ENABLE_SEGMENTATION_MARK_PREVIEW, 0); |
| 50 | |
| 51 | b3RobotSimulatorSetPhysicsEngineParameters physicsArgs; |
| 52 | physicsArgs.m_constraintSolverType = eConstraintSolverLCP_DANTZIG; |
| 53 | |
| 54 | physicsArgs.m_defaultGlobalCFM = 1e-6; |
| 55 | |
| 56 | m_robotSim.setNumSolverIterations(10); |
| 57 | |
| 58 | b3RobotSimulatorLoadUrdfFileArgs loadArgs; |
| 59 | int humanoid = m_robotSim.loadURDF("test_joints_MB.urdf", loadArgs); |
| 60 | |
| 61 | b3RobotSimulatorChangeDynamicsArgs dynamicsArgs; |
| 62 | dynamicsArgs.m_linearDamping = 0; |
| 63 | dynamicsArgs.m_angularDamping = 0; |
| 64 | m_robotSim.changeDynamics(humanoid, -1, dynamicsArgs); |
| 65 | |
| 66 | m_robotSim.setGravity(btVector3(0, 0, -10)); |
| 67 | } |
| 68 | |
| 69 | virtual void exitPhysics() |
| 70 | { |
nothing calls this directly
no test coverage detected