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//todo: turn this into a gtest, comparing maximal and reduced coordinates contact behavior etc
#include "b3RobotSimulatorClientAPI.h"
#include "../Utils/b3Clock.h"
#include <string.h>
#include <stdio.h>
#include <assert.h>
#define ASSERT_EQ(a, b) assert((a) == (b));
#include "MinitaurSetup.h"
#define NUM_SIM 1
int main(int argc, char* argv[])
{
b3RobotSimulatorClientAPI* sims[2];
b3Scalar fixedTimeStep = 1. / 240.;
for (int i = 0; i < NUM_SIM; i++)
{
b3RobotSimulatorClientAPI* sim = new b3RobotSimulatorClientAPI();
sims[i] = sim;
sim->connect(eCONNECT_GUI); //eCONNECT_GUI);//DIRECT);
//Can also use eCONNECT_DIRECT,eCONNECT_SHARED_MEMORY,eCONNECT_UDP,eCONNECT_TCP, for example:
//sim->connect(eCONNECT_UDP, "localhost", 1234);
sim->configureDebugVisualizer(COV_ENABLE_GUI, 0);
// sim->configureDebugVisualizer( COV_ENABLE_SHADOWS, 0);//COV_ENABLE_WIREFRAME
//sim->setTimeOut(3);
//syncBodies is only needed when connecting to an existing physics server that has already some bodies
sim->syncBodies();
sim->setTimeStep(fixedTimeStep);
b3Quaternion q = sim->getQuaternionFromEuler(b3MakeVector3(0.1, 0.2, 0.3));
b3Vector3 rpy;
rpy = sim->getEulerFromQuaternion(q);
sim->setGravity(b3MakeVector3(0, 0, -9.8));
//int blockId = sim->loadURDF("cube.urdf");
//b3BodyInfo bodyInfo;
//sim->getBodyInfo(blockId,&bodyInfo);
b3Quaternion orn;
orn.setEulerZYX(0, B3_PI * 0.23, 0);
b3RobotSimulatorLoadUrdfFileArgs args;
args.m_startPosition.setValue(0, 0, 0);
args.m_startOrientation = orn;
args.m_useMultiBody = i == 0 ? false : true; //true : false;//false : true;
sim->loadURDF("plane.urdf", args);
args.m_startPosition.setValue(0, 0, 0.66);
args.m_startOrientation.setEulerZYX(0, B3_PI * 0.23, 0);
sim->loadURDF("cube_soft.urdf", args);
double distance = 1.5;
double yaw = 50;
sim->resetDebugVisualizerCamera(distance, yaw, 20, b3MakeVector3(0, 0, 0.1));
sim->setRealTimeSimulation(false);
}
int enableSim = 1;
while (sims[0]->canSubmitCommand())
{
#if 0
b3KeyboardEventsData keyEvents;
sim->getKeyboardEvents(&keyEvents);
if (keyEvents.m_numKeyboardEvents)
{
//printf("num key events = %d]\n", keyEvents.m_numKeyboardEvents);
//m_keyState is a flag combination of eButtonIsDown,eButtonTriggered, eButtonReleased
for (int i=0;i<keyEvents.m_numKeyboardEvents;i++)
{
if (keyEvents.m_keyboardEvents[i].m_keyCode=='i' && keyEvents.m_keyboardEvents[i].m_keyState & eButtonTriggered)
{
enableSim = !enableSim;
}
}
}
#endif
for (int i = 0; i < NUM_SIM; i++)
{
sims[i]->setGravity(b3MakeVector3(0, 0, -10));
//printf(".");
if (enableSim)
{
sims[i]->stepSimulation();
}
}
b3Clock::usleep(1000. * 1000. * fixedTimeStep);
}
printf("sim->disconnect\n");
for (int i = 0; i < NUM_SIM; i++)
{
sims[i]->disconnect();
printf("delete sim\n");
delete sims[i];
}
printf("exit\n");
}
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