C++ b3Vector3类代码示例

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本文整理汇总了C++中b3Vector3类的典型用法代码示例。如果您正苦于以下问题：C++ b3Vector3类的具体用法？C++ b3Vector3怎么用？C++ b3Vector3使用的例子？那么恭喜您, 这里精选的类代码示例或许可以为您提供帮助。

在下文中一共展示了b3Vector3类的18个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于我们的系统推荐出更棒的C++代码示例。

示例1:

int b3GpuNarrowPhase::registerFace(const b3Vector3& faceNormal, float faceConstant)
{
	int faceOffset = m_data->m_convexFaces.size();
	b3GpuFace& face = m_data->m_convexFaces.expand();
	face.m_plane[0] = faceNormal.getX();
	face.m_plane[1] = faceNormal.getY();
	face.m_plane[2] = faceNormal.getZ();
	face.m_plane[3] = faceConstant;
	return faceOffset;
}

开发者ID:，项目名称:，代码行数:10，代码来源:

示例2: b3CreateLookAt

static void    b3CreateLookAt(const b3Vector3& eye, const b3Vector3& center,const b3Vector3& up, GLfloat result[16])
{
    b3Vector3 f = (center - eye).normalized();
    b3Vector3 u = up.normalized();
    b3Vector3 s = (f.cross(u)).normalized();
    u = s.cross(f);

    result[0*4+0] = s.x;
    result[1*4+0] = s.y;
    result[2*4+0] = s.z;

	result[0*4+1] = u.x;
    result[1*4+1] = u.y;
    result[2*4+1] = u.z;

    result[0*4+2] =-f.x;
    result[1*4+2] =-f.y;
    result[2*4+2] =-f.z;

	result[0*4+3] = 0.f;
    result[1*4+3] = 0.f;
    result[2*4+3] = 0.f;

    result[3*4+0] = -s.dot(eye);
    result[3*4+1] = -u.dot(eye);
    result[3*4+2] = f.dot(eye);
    result[3*4+3] = 1.f;
}

开发者ID:20-sim，项目名称:bullet3，代码行数:28，代码来源:GLInstancingRenderer.cpp

示例3: wheelCallback

	void wheelCallback( float deltax, float deltay)
    {
		if (!m_mouseButton)
		{
			if (b3Fabs(deltax)>b3Fabs(deltay))
			{
				m_azi -= deltax*0.1;
				
			} else
			{
				//m_cameraDistance -= deltay*0.1;
				b3Vector3 fwd = m_cameraTargetPosition-m_cameraPosition;
				fwd.normalize();
				m_cameraTargetPosition += fwd*deltay*0.1;
			}
        } else
		{
			if (b3Fabs(deltax)>b3Fabs(deltay))
			{
				b3Vector3 fwd = m_cameraTargetPosition-m_cameraPosition;
				b3Vector3 side = m_cameraUp.cross(fwd);
				side.normalize();
				m_cameraTargetPosition += side * deltax*0.1;

			} else
			{
				m_cameraTargetPosition -= m_cameraUp * deltay*0.1;

			}
		}
	}

开发者ID:saggita，项目名称:bullet3，代码行数:31，代码来源:GLInstancingRenderer.cpp

示例4: wheelCallback

	void wheelCallback( float deltax, float deltay)
    {
		if (!m_leftMouseButton)
		{

			if (deltay<0 || m_cameraDistance>1)
			{
				m_cameraDistance -= deltay*0.1;
				if (m_cameraDistance<1)
					m_cameraDistance=1;
			} else
			{
				b3Vector3 fwd = m_cameraTargetPosition-m_cameraPosition;
				fwd.normalize();
				m_cameraTargetPosition += fwd*deltay*WHEEL_MULTIPLIER;
			}
        } else
		{
			if (b3Fabs(deltax)>b3Fabs(deltay))
			{
				b3Vector3 fwd = m_cameraTargetPosition-m_cameraPosition;
				b3Vector3 side = m_cameraUp.cross(fwd);
				side.normalize();
				m_cameraTargetPosition += side * deltax*WHEEL_MULTIPLIER;

			} else
			{
				m_cameraTargetPosition -= m_cameraUp * deltay*WHEEL_MULTIPLIER;

			}
		}
	}

开发者ID:fourthskyinteractive，项目名称:bullet3，代码行数:32，代码来源:GLInstancingRenderer.cpp

示例5: notExist

bool notExist(const b3Vector3& planeEquation,const b3AlignedObjectArray<b3Vector3>& planeEquations)
{
	int numbrushes = planeEquations.size();
	for (int i=0;i<numbrushes;i++)
	{
		const b3Vector3& N1 = planeEquations[i];
		if (planeEquation.dot(N1) > b3Scalar(0.999))
		{
			return false;
		} 
	}
	return true;
}

开发者ID:Ochakko，项目名称:MameBake3D，代码行数:13，代码来源:b3GeometryUtil.cpp

示例6:

bool	b3GeometryUtil::areVerticesBehindPlane(const b3Vector3& planeNormal, const b3AlignedObjectArray<b3Vector3>& vertices, b3Scalar	margin)
{
	int numvertices = vertices.size();
	for (int i=0;i<numvertices;i++)
	{
		const b3Vector3& N1 = vertices[i];
		b3Scalar dist = b3Scalar(planeNormal.dot(N1))+b3Scalar(planeNormal[3])-margin;
		if (dist>b3Scalar(0.))
		{
			return false;
		}
	}
	return true;
}

开发者ID:Ochakko，项目名称:MameBake3D，代码行数:14，代码来源:b3GeometryUtil.cpp

示例7: AabbCalculationCallback

void	b3StridingMeshInterface::calculateAabbBruteForce(b3Vector3& aabbMin,b3Vector3& aabbMax)
{

	struct	AabbCalculationCallback : public b3InternalTriangleIndexCallback
	{
		b3Vector3	m_aabbMin;
		b3Vector3	m_aabbMax;

		AabbCalculationCallback()
		{
			m_aabbMin.setValue(b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT));
			m_aabbMax.setValue(b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT));
		}

		virtual void internalProcessTriangleIndex(b3Vector3* triangle,int partId,int  triangleIndex)
		{
			(void)partId;
			(void)triangleIndex;

			m_aabbMin.setMin(triangle[0]);
			m_aabbMax.setMax(triangle[0]);
			m_aabbMin.setMin(triangle[1]);
			m_aabbMax.setMax(triangle[1]);
			m_aabbMin.setMin(triangle[2]);
			m_aabbMax.setMax(triangle[2]);
		}
	};

	//first calculate the total aabb for all triangles
	AabbCalculationCallback	aabbCallback;
	aabbMin.setValue(b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT));
	aabbMax.setValue(b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT));
	InternalProcessAllTriangles(&aabbCallback,aabbMin,aabbMax);

	aabbMin = aabbCallback.m_aabbMin;
	aabbMax = aabbCallback.m_aabbMax;
}

开发者ID:20-sim，项目名称:bullet3，代码行数:37，代码来源:b3StridingMeshInterface.cpp

示例8: integrateVelocity

	void	integrateVelocity(double deltaTime)
	{
		LWPose newPose;
		
		newPose.m_position = m_worldPose.m_position + m_linearVelocity*deltaTime;
		
		if (m_flags & LWFLAG_USE_QUATERNION_DERIVATIVE)
		{
			newPose.m_orientation = m_worldPose.m_orientation;
			newPose.m_orientation += (m_angularVelocity * newPose.m_orientation) * (deltaTime * btScalar(0.5));
			newPose.m_orientation.normalize();
			m_worldPose = newPose;
		} else
		{
			//Exponential map
			//google for "Practical Parameterization of Rotations Using the Exponential Map", F. Sebastian Grassia
			
			//btQuaternion q_w = [ sin(|w|*dt/2) * w/|w| , cos(|w|*dt/2)]
			//btQuaternion q_new =  q_w * q_old;
			
			b3Vector3 axis;
			b3Scalar	fAngle = m_angularVelocity.length();
			//limit the angular motion
			const btScalar angularMotionThreshold =  btScalar(0.5)*SIMD_HALF_PI;
			
			if (fAngle*deltaTime > angularMotionThreshold)
			{
				fAngle = angularMotionThreshold / deltaTime;
			}
			
			if ( fAngle < btScalar(0.001) )
			{
				// use Taylor's expansions of sync function
				axis   = m_angularVelocity*( btScalar(0.5)*deltaTime-(deltaTime*deltaTime*deltaTime)*(btScalar(0.020833333333))*fAngle*fAngle );
			}
			else
			{
				// sync(fAngle) = sin(c*fAngle)/t
				axis   = m_angularVelocity*( btSin(btScalar(0.5)*fAngle*deltaTime)/fAngle );
			}
			b3Quaternion dorn (axis.x,axis.y,axis.z,btCos( fAngle*deltaTime*b3Scalar(0.5) ));
			b3Quaternion orn0 = m_worldPose.m_orientation;
			
			b3Quaternion predictedOrn = dorn * orn0;
			predictedOrn.normalize();
			m_worldPose.m_orientation = predictedOrn;
		}
		
	}

开发者ID:20-sim，项目名称:bullet3，代码行数:49，代码来源:Tutorial.cpp

示例9: mouseMoveCallback

	void mouseMoveCallback(float x, float y)
	{
		if (m_altPressed || m_controlPressed)
		{
			float xDelta = x-m_mouseXpos;
			float yDelta = y-m_mouseYpos;
			
			if (m_leftMouseButton)
			{
	//			if (b3Fabs(xDelta)>b3Fabs(yDelta))
	//			{
					m_azi -= xDelta*MOUSE_MOVE_MULTIPLIER;
	//			} else
	//			{
					m_ele += yDelta*MOUSE_MOVE_MULTIPLIER;
	//			}
			}
			if (m_middleMouseButton)
			{
				m_cameraTargetPosition += m_cameraUp * yDelta*0.01;

				
				b3Vector3 fwd = m_cameraTargetPosition-m_cameraPosition;
				b3Vector3 side = m_cameraUp.cross(fwd);
				side.normalize();
				m_cameraTargetPosition += side * xDelta*0.01;

			}
			if (m_rightMouseButton)
			{
					m_cameraDistance -= xDelta*0.01;
					m_cameraDistance -= yDelta*0.01;
					if (m_cameraDistance<1)
						m_cameraDistance=1;
					if (m_cameraDistance>1000)
						m_cameraDistance=1000;
			}
		}

		//printf("m_azi/pitch = %f\n", m_azi);
//		printf("m_ele/yaw = %f\n", m_ele);

		m_mouseXpos = x;
		m_mouseYpos = y;
		m_mouseInitialized = true;
	}

开发者ID:fourthskyinteractive，项目名称:bullet3，代码行数:46，代码来源:GLInstancingRenderer.cpp

示例10: internalProcessTriangleIndex

		virtual void internalProcessTriangleIndex(b3Vector3* triangle,int partId,int  triangleIndex)
		{
			(void)partId;
			(void)triangleIndex;

			m_aabbMin.setMin(triangle[0]);
			m_aabbMax.setMax(triangle[0]);
			m_aabbMin.setMin(triangle[1]);
			m_aabbMax.setMax(triangle[1]);
			m_aabbMin.setMin(triangle[2]);
			m_aabbMax.setMax(triangle[2]);
		}

开发者ID:20-sim，项目名称:bullet3，代码行数:12，代码来源:b3StridingMeshInterface.cpp

示例11: ComputeClosestPointsPlaneSphere

void ComputeClosestPointsPlaneSphere(const b3Vector3& planeNormalWorld, b3Scalar planeConstant, const b3Vector3& spherePosWorld,b3Scalar sphereRadius,  plContactCache* contactCache) 
{
	if (contactCache->numAddedPoints < contactCache->pointCapacity)
	{
		lwContactPoint& pointOut = contactCache->pointsOut[contactCache->numAddedPoints];
		b3Scalar t = -(spherePosWorld.dot(-planeNormalWorld)+planeConstant);
		b3Vector3 intersectionPoint = spherePosWorld+t*-planeNormalWorld;
		b3Scalar distance = t-sphereRadius;
		if (distance<=0)
		{
			pointOut.m_distance = distance;
			plVecCopy(pointOut.m_ptOnBWorld,intersectionPoint);
			plVecCopy(pointOut.m_ptOnAWorld,spherePosWorld+sphereRadius*-planeNormalWorld);
			plVecCopy(pointOut.m_normalOnB,planeNormalWorld);
			contactCache->numAddedPoints++;
		}
	}
}

开发者ID:Ochakko，项目名称:MameBake3D，代码行数:18，代码来源:RealTimeBullet3CollisionSdk.cpp

示例12: computeLocalInertia

	void computeLocalInertia(b3Scalar mass, b3Vector3& localInertia)
	{
		btScalar elem = b3Scalar(0.4) * mass * m_radius*m_radius;
		localInertia.setValue(elem,elem,elem);
	}

开发者ID:20-sim，项目名称:bullet3，代码行数:5，代码来源:Tutorial.cpp

示例13: applyImpulse

	void applyImpulse(const b3Vector3& impulse, const b3Vector3& rel_pos)
	{
		m_linearVelocity += impulse * m_invMass;
		b3Vector3 torqueImpulse = rel_pos.cross(impulse);
		m_angularVelocity += m_invInertiaTensorWorld * torqueImpulse;
	}

开发者ID:20-sim，项目名称:bullet3，代码行数:6，代码来源:Tutorial.cpp

示例14: getVelocity

	b3Vector3 getVelocity(const b3Vector3& relPos) const
	{
		return m_linearVelocity + m_angularVelocity.cross(relPos);
	}

开发者ID:20-sim，项目名称:bullet3，代码行数:4，代码来源:Tutorial.cpp

示例15: stepSimulation

    virtual void	stepSimulation(float deltaTime)
	{
		float dt = deltaTime;
		btClamp(dt,0.0001f,0.01f);

        m_time+=dt;
        m_targetPos.setValue(0.4-0.4*b3Cos( m_time), 0, 0.8+0.4*b3Cos( m_time));
        m_targetOri.setValue(0, 1.0, 0, 0);
        m_targetPos.setValue(0.2*b3Cos( m_time), 0.2*b3Sin( m_time), 1.1);
        
        
        int numJoints = m_robotSim.getNumJoints(m_kukaIndex);
        
        if (numJoints==7)
        {
            double q_current[7]={0,0,0,0,0,0,0};

            b3JointStates2 jointStates;
            
            if (m_robotSim.getJointStates(m_kukaIndex,jointStates))
            {
                //skip the base positions (7 values)
                b3Assert(7+numJoints == jointStates.m_numDegreeOfFreedomQ);
                for (int i=0;i<numJoints;i++)
                {
                    q_current[i] = jointStates.m_actualStateQ[i+7];
                }
            }
            // compute body position and orientation
			b3LinkState linkState;
            m_robotSim.getLinkState(0, 6, &linkState);
			
			m_worldPos.setValue(linkState.m_worldLinkFramePosition[0], linkState.m_worldLinkFramePosition[1], linkState.m_worldLinkFramePosition[2]);
            m_worldOri.setValue(linkState.m_worldLinkFrameOrientation[0], linkState.m_worldLinkFrameOrientation[1], linkState.m_worldLinkFrameOrientation[2], linkState.m_worldLinkFrameOrientation[3]);


            b3Vector3DoubleData targetPosDataOut;
            m_targetPos.serializeDouble(targetPosDataOut);
            b3Vector3DoubleData worldPosDataOut;
            m_worldPos.serializeDouble(worldPosDataOut);
            b3Vector3DoubleData targetOriDataOut;
            m_targetOri.serializeDouble(targetOriDataOut);
            b3Vector3DoubleData worldOriDataOut;
            m_worldOri.serializeDouble(worldOriDataOut);

            
			b3RobotSimulatorInverseKinematicArgs ikargs;
			b3RobotSimulatorInverseKinematicsResults ikresults;
			
         
			ikargs.m_bodyUniqueId = m_kukaIndex;
//			ikargs.m_currentJointPositions = q_current;
//			ikargs.m_numPositions = 7;
            ikargs.m_endEffectorTargetPosition[0] = targetPosDataOut.m_floats[0];
            ikargs.m_endEffectorTargetPosition[1] = targetPosDataOut.m_floats[1];
            ikargs.m_endEffectorTargetPosition[2] = targetPosDataOut.m_floats[2];
			
			//ikargs.m_flags |= B3_HAS_IK_TARGET_ORIENTATION;
            ikargs.m_flags |= B3_HAS_JOINT_DAMPING;

			ikargs.m_endEffectorTargetOrientation[0] = targetOriDataOut.m_floats[0];
			ikargs.m_endEffectorTargetOrientation[1] = targetOriDataOut.m_floats[1];
			ikargs.m_endEffectorTargetOrientation[2] = targetOriDataOut.m_floats[2];
			ikargs.m_endEffectorTargetOrientation[3] = targetOriDataOut.m_floats[3];
            ikargs.m_endEffectorLinkIndex = 6;
            
            // Settings based on default KUKA arm setting
            ikargs.m_lowerLimits.resize(numJoints);
            ikargs.m_upperLimits.resize(numJoints);
            ikargs.m_jointRanges.resize(numJoints);
            ikargs.m_restPoses.resize(numJoints);
            ikargs.m_jointDamping.resize(numJoints,0.5);
            ikargs.m_lowerLimits[0] = -2.32;
            ikargs.m_lowerLimits[1] = -1.6;
            ikargs.m_lowerLimits[2] = -2.32;
            ikargs.m_lowerLimits[3] = -1.6;
            ikargs.m_lowerLimits[4] = -2.32;
            ikargs.m_lowerLimits[5] = -1.6;
            ikargs.m_lowerLimits[6] = -2.4;
            ikargs.m_upperLimits[0] = 2.32;
            ikargs.m_upperLimits[1] = 1.6;
            ikargs.m_upperLimits[2] = 2.32;
            ikargs.m_upperLimits[3] = 1.6;
            ikargs.m_upperLimits[4] = 2.32;
            ikargs.m_upperLimits[5] = 1.6;
            ikargs.m_upperLimits[6] = 2.4;
            ikargs.m_jointRanges[0] = 5.8;
            ikargs.m_jointRanges[1] = 4;
            ikargs.m_jointRanges[2] = 5.8;
            ikargs.m_jointRanges[3] = 4;
            ikargs.m_jointRanges[4] = 5.8;
            ikargs.m_jointRanges[5] = 4;
            ikargs.m_jointRanges[6] = 6;
            ikargs.m_restPoses[0] = 0;
            ikargs.m_restPoses[1] = 0;
            ikargs.m_restPoses[2] = 0;
            ikargs.m_restPoses[3] = SIMD_HALF_PI;
            ikargs.m_restPoses[4] = 0;
            ikargs.m_restPoses[5] = -SIMD_HALF_PI*0.66;
            ikargs.m_restPoses[6] = 0;
//.........这里部分代码省略.........

开发者ID:AndrewMeadows，项目名称:bullet3，代码行数:101，代码来源:KukaGraspExample.cpp

示例16: res0

//using localPointA for all points
int b3ContactCache::sortCachedPoints(const b3Vector3& pt) 
{
		//calculate 4 possible cases areas, and take biggest area
		//also need to keep 'deepest'
		
		int maxPenetrationIndex = -1;
#define KEEP_DEEPEST_POINT 1
#ifdef KEEP_DEEPEST_POINT
		b3Scalar maxPenetration = pt.getDistance();
		for (int i=0;i<4;i++)
		{
			if (m_pointCache[i].getDistance() < maxPenetration)
			{
				maxPenetrationIndex = i;
				maxPenetration = m_pointCache[i].getDistance();
			}
		}
#endif  //KEEP_DEEPEST_POINT
		
		b3Scalar res0(b3Scalar(0.)),res1(b3Scalar(0.)),res2(b3Scalar(0.)),res3(b3Scalar(0.));

	if (gContactCalcArea3Points)
	{
		if (maxPenetrationIndex != 0)
		{
			b3Vector3 a0 = pt.m_localPointA-m_pointCache[1].m_localPointA;
			b3Vector3 b0 = m_pointCache[3].m_localPointA-m_pointCache[2].m_localPointA;
			b3Vector3 cross = a0.cross(b0);
			res0 = cross.length2();
		}
		if (maxPenetrationIndex != 1)
		{
			b3Vector3 a1 = pt.m_localPointA-m_pointCache[0].m_localPointA;
			b3Vector3 b1 = m_pointCache[3].m_localPointA-m_pointCache[2].m_localPointA;
			b3Vector3 cross = a1.cross(b1);
			res1 = cross.length2();
		}

		if (maxPenetrationIndex != 2)
		{
			b3Vector3 a2 = pt.m_localPointA-m_pointCache[0].m_localPointA;
			b3Vector3 b2 = m_pointCache[3].m_localPointA-m_pointCache[1].m_localPointA;
			b3Vector3 cross = a2.cross(b2);
			res2 = cross.length2();
		}

		if (maxPenetrationIndex != 3)
		{
			b3Vector3 a3 = pt.m_localPointA-m_pointCache[0].m_localPointA;
			b3Vector3 b3 = m_pointCache[2].m_localPointA-m_pointCache[1].m_localPointA;
			b3Vector3 cross = a3.cross(b3);
			res3 = cross.length2();
		}
	} 
	else
	{
		if(maxPenetrationIndex != 0) {
			res0 = calcArea4Points(pt.m_localPointA,m_pointCache[1].m_localPointA,m_pointCache[2].m_localPointA,m_pointCache[3].m_localPointA);
		}

		if(maxPenetrationIndex != 1) {
			res1 = calcArea4Points(pt.m_localPointA,m_pointCache[0].m_localPointA,m_pointCache[2].m_localPointA,m_pointCache[3].m_localPointA);
		}

		if(maxPenetrationIndex != 2) {
			res2 = calcArea4Points(pt.m_localPointA,m_pointCache[0].m_localPointA,m_pointCache[1].m_localPointA,m_pointCache[3].m_localPointA);
		}

		if(maxPenetrationIndex != 3) {
			res3 = calcArea4Points(pt.m_localPointA,m_pointCache[0].m_localPointA,m_pointCache[1].m_localPointA,m_pointCache[2].m_localPointA);
		}
	}
	b3Vector4 maxvec(res0,res1,res2,res3);
	int biggestarea = maxvec.closestAxis4();
	return biggestarea;
	
}

开发者ID:PanosK92，项目名称:Directus3D，代码行数:78，代码来源:b3ContactCache.cpp

示例17: KukaGraspExample

    KukaGraspExample(GUIHelperInterface* helper, int /* options */)
    :m_app(helper->getAppInterface()),
	m_guiHelper(helper),
//	m_options(options),
	m_kukaIndex(-1),
    m_time(0)
    {
        m_targetPos.setValue(0.5,0,1);
        m_worldPos.setValue(0, 0, 0);
		m_app->setUpAxis(2);
    }

开发者ID:AndrewMeadows，项目名称:bullet3，代码行数:11，代码来源:KukaGraspExample.cpp

示例18:

		AabbCalculationCallback()
		{
			m_aabbMin.setValue(b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT));
			m_aabbMax.setValue(b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT));
		}

开发者ID:20-sim，项目名称:bullet3，代码行数:5，代码来源:b3StridingMeshInterface.cpp

注：本文中的b3Vector3类示例由纯净天空整理自Github/MSDocs等源码及文档管理平台，相关代码片段筛选自各路编程大神贡献的开源项目，源码版权归原作者所有，传播和使用请参考对应项目的License；未经允许，请勿转载。

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C++ b3Vector3类代码示例

示例1:

示例2: b3CreateLookAt

示例3: wheelCallback

示例4: wheelCallback

示例5: notExist

示例6:

示例7: AabbCalculationCallback

示例8: integrateVelocity

示例9: mouseMoveCallback

示例10: internalProcessTriangleIndex

示例11: ComputeClosestPointsPlaneSphere

示例12: computeLocalInertia

示例13: applyImpulse

示例14: getVelocity

示例15: stepSimulation

示例16: res0

示例17: KukaGraspExample

示例18:

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