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decrease some gjk/epa tolerance to improve collision detection using very small collision margins (0.001/1mm)

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tweak pr2 gripper.
This commit is contained in:
erwin coumans
2016-09-20 12:37:13 -07:00
parent 8d4c99801e
commit 0a628f06cc
10 changed files with 214 additions and 40 deletions
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9
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -19,6 +19,10 @@
extern btVector3 gLastPickPos;
btVector3 gVRTeleportPos(0,0,0);
btQuaternion gVRTeleportOrn(0, 0, 0,1);
extern btVector3 gVRGripperPos;
extern btQuaternion gVRGripperOrn;
extern btScalar gVRGripperAnalog;
extern bool gEnableRealTimeSimVR;
extern bool gVRGripperClosed;
@@ -936,6 +940,7 @@ void PhysicsServerExample::renderScene()
if (gDebugRenderToggle)
if (m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->isVRCamera())
{
gEnableRealTimeSimVR = true;
B3_PROFILE("Draw Debug HUD");
//some little experiment to add text/HUD to a VR camera (HTC Vive/Oculus Rift)
@@ -1157,10 +1162,6 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
}
}
extern btVector3 gVRGripperPos;
extern btQuaternion gVRGripperOrn;
extern btScalar gVRGripperAnalog;
extern bool gEnableRealTimeSimVR;
void PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[4], float orn[4], float analogAxis)