Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

shrink down cube size of BasicDemo 10 times (it looked ginormous in VR) from 2x2x2 meter to 0.2

Browse Source 
add test for VR HUD/sub-titles
fix issue in previous commit, partial string use %.8s not %8.s
use long long int in b3Clock
fix warning/error in pointer alignment in serialization
Fix pybullet Windows compilation.
(thanks to bkeys/https://github.com/bulletphysics/bullet3/pull/687)
This commit is contained in:
erwin coumans
2016-07-09 15:09:09 -07:00
parent 35b260b252
commit 02582e3a78
28 changed files with 243 additions and 170 deletions
Download Patch File Download Diff File Expand all files Collapse all files

71
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -97,11 +97,9 @@ struct MotionThreadLocalStorage
int skip = 0;
void MotionThreadFunc(void* userPtr,void* lsMemory)
{
printf("thread started\n");
printf("MotionThreadFunc thread started\n");
MotionThreadLocalStorage* localStorage = (MotionThreadLocalStorage*) lsMemory;
MotionArgs* args = (MotionArgs*) userPtr;
@@ -116,41 +114,23 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
args->m_cs->setSharedParam(0,eMotionIsInitialized);
args->m_cs->unlock();
double m_x=0;
double m_y=0;
double m_z=0;
do
{
double deltaTimeInSeconds = double(clock.getTimeMicroseconds())/1000000.;
//if (deltaTimeInSeconds<.3)
//if (deltaTimeInSeconds<(1./15.))
if (deltaTimeInSeconds<(1./260.))
{
skip++;
//if (deltaTimeInSeconds<.001)
continue;
if (deltaTimeInSeconds<.001)
continue;
}
m_x+=deltaTimeInSeconds;
m_y+=deltaTimeInSeconds;
m_z+=deltaTimeInSeconds;
clock.reset();
int index = 0;
index++;
if (!blockme)
{
args->m_physicsServerPtr->processClientCommands();
args->m_physicsServerPtr->processClientCommands();
}
} while (args->m_cs->getSharedParam(0)!=eRequestTerminateMotion);
} else
{
@@ -160,9 +140,6 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
}
args->m_cs->lock();
args->m_cs->setSharedParam(0,eMotionHasTerminated);
args->m_cs->unlock();
printf("finished, #skip = %d\n",skip);
skip=0;
//do nothing
@@ -358,7 +335,7 @@ public:
virtual CommonGraphicsApp* getAppInterface()
{
return 0;
return m_childGuiHelper->getAppInterface();
}
@@ -615,7 +592,7 @@ void PhysicsServerExample::exitPhysics()
delete m_threadSupport;
m_threadSupport = 0;
m_physicsServer.resetDynamicsWorld();
//m_physicsServer.resetDynamicsWorld();
}
@@ -698,6 +675,9 @@ void PhysicsServerExample::stepSimulation(float deltaTime)
case eGUIHelperRemoveAllGraphicsInstances:
{
m_multiThreadedHelper->m_childGuiHelper->removeAllGraphicsInstances();
int numRenderInstances = m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->getTotalNumInstances();
b3Assert(numRenderInstances==0);
m_multiThreadedHelper->getCriticalSection()->lock();
m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
m_multiThreadedHelper->getCriticalSection()->unlock();
@@ -739,12 +719,45 @@ void PhysicsServerExample::stepSimulation(float deltaTime)
}
}
void PhysicsServerExample::renderScene()
{
///debug rendering
//m_args[0].m_cs->lock();
m_physicsServer.renderScene();
if (m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->isVRCamera())
{
//some little experiment to add text/HUD to a VR camera (HTC Vive/Oculus Rift)
static int frameCount=0;
frameCount++;
char bla[1024];
sprintf(bla,"VR sub-title text test, frame %d", frameCount/2);
float pos[4];
m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->getCameraTargetPosition(pos);
btTransform viewTr;
btScalar m[16];
float mf[16];
m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->getCameraViewMatrix(mf);
for (int i=0;i<16;i++)
{
m[i] = mf[i];
}
viewTr.setFromOpenGLMatrix(m);
btTransform viewTrInv = viewTr.inverse();
float upMag = -.6;
btVector3 side = viewTrInv.getBasis().getColumn(0);
btVector3 up = viewTrInv.getBasis().getColumn(1);
up+=0.35*side;
m_guiHelper->getAppInterface()->drawText3D(bla,pos[0]+upMag*up[0],pos[1]+upMag*up[1],pos[2]+upMag*up[2],1);
//btVector3 fwd = viewTrInv.getBasis().getColumn(2);
sprintf(bla,"VR line 2 sub-title text test, frame %d", frameCount/2);
upMag = -0.7;
m_guiHelper->getAppInterface()->drawText3D(bla,pos[0]+upMag*up[0],pos[1]+upMag*up[1],pos[2]+upMag*up[2],1);
}
//m_args[0].m_cs->unlock();
}