Method initPhysics

examples/SharedMemory/PhysicsClientExample.cpp:712–788

}

void PhysicsClientExample::initPhysics()
{
	if (m_guiHelper && m_guiHelper->getParameterInterface())
	{
		int upAxis = 2;
		m_guiHelper->setUpAxis(upAxis);

		createButtons();
	}
	else
	{
		MyCallback(CMD_LOAD_URDF, true, this);
		MyCallback(CMD_STEP_FORWARD_SIMULATION, true, this);

		MyCallback(CMD_RESET_SIMULATION, true, this);
	}

	m_selectedBody = -1;
	m_prevSelectedBody = -1;

	m_lightPos[0] = 1.0;
	m_lightPos[1] = 1.0;
	m_lightPos[2] = 1.0;

	{
		m_canvas = m_guiHelper->get2dCanvasInterface();
		if (m_canvas)
		{
			m_canvasRGBIndex = m_canvas->createCanvas("Synthetic Camera RGB data", camVisualizerWidth, camVisualizerHeight, 8, 55);
			m_canvasDepthIndex = m_canvas->createCanvas("Synthetic Camera Depth data", camVisualizerWidth, camVisualizerHeight, 8, 75 + camVisualizerHeight);
			m_canvasSegMaskIndex = m_canvas->createCanvas("Synthetic Camera Segmentation Mask", camVisualizerWidth, camVisualizerHeight, 8, 95 + camVisualizerHeight * 2);

			for (int i = 0; i < camVisualizerWidth; i++)
			{
				for (int j = 0; j < camVisualizerHeight; j++)
				{
					unsigned char red = 255;
					unsigned char green = 255;
					unsigned char blue = 255;
					unsigned char alpha = 255;
					if (i == j)
					{
						red = 0;
						green = 0;
						blue = 0;
					}
					m_canvas->setPixel(m_canvasRGBIndex, i, j, red, green, blue, alpha);
					m_canvas->setPixel(m_canvasDepthIndex, i, j, red, green, blue, alpha);
					m_canvas->setPixel(m_canvasSegMaskIndex, i, j, red, green, blue, alpha);
				}
			}
			m_canvas->refreshImageData(m_canvasRGBIndex);
			m_canvas->refreshImageData(m_canvasDepthIndex);
			m_canvas->refreshImageData(m_canvasSegMaskIndex);
		}
	}

	if (m_options == eCLIENTEXAMPLE_SERVER)