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

tweak color of quadruped robot URDF, tweak quadruped.py script to make it more compatible with VR demo

Browse Source 
allow VR physics server to run with or without 'realTimeSimulation'
This commit is contained in:
Erwin Coumans
2016-12-11 09:28:36 -08:00
parent 27d38a1ba8
commit 17570c4700
7 changed files with 70 additions and 67 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -4030,6 +4030,12 @@ int gDroppedSimulationSteps = 0;
int gNumSteps = 0;
double gDtInSec = 0.f;
double gSubStep = 0.f;
void PhysicsServerCommandProcessor::enableRealTimeSimulation(bool enableRealTimeSim)
{
m_data->m_allowRealTimeSimulation = enableRealTimeSim;
}
void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
{
if (gResetSimulation)
@@ -4038,7 +4044,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
gResetSimulation = false;
}
if ((gEnableRealTimeSimVR || m_data->m_allowRealTimeSimulation) && m_data->m_guiHelper)
if ((m_data->m_allowRealTimeSimulation) && m_data->m_guiHelper)
{
///this hardcoded C++ scene creation is temporary for demo purposes. It will be done in Python later...

1
examples/SharedMemory/PhysicsServerCommandProcessor.h
View File

@@ -85,6 +85,7 @@ public:
void replayFromLogFile(const char* fileName);
void replayLogCommand(char* bufferServerToClient, int bufferSizeInBytes );
void stepSimulationRealTime(double dtInSec);
void enableRealTimeSimulation(bool enableRealTimeSim);
void applyJointDamping(int bodyUniqueId);
};

8
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -1584,7 +1584,11 @@ void PhysicsServerExample::renderScene()
if (m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->isVRCamera())
{
gEnableRealTimeSimVR = true;
if (!gEnableRealTimeSimVR)
{
gEnableRealTimeSimVR = true;
m_physicsServer.enableRealTimeSimulation(1);
}
}
@@ -1819,8 +1823,6 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
void PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[4], float orn[4], float analogAxis)
{
gEnableRealTimeSimVR = true;
if (controllerId <= 0 || controllerId >= MAX_VR_CONTROLLERS)
{
printf("Controller Id exceeds max: %d > %d", controllerId, MAX_VR_CONTROLLERS);

6
examples/SharedMemory/PhysicsServerSharedMemory.cpp
View File

@@ -241,6 +241,12 @@ void PhysicsServerSharedMemory::stepSimulationRealTime(double dtInSec)
m_data->m_commandProcessor->stepSimulationRealTime(dtInSec);
}
void PhysicsServerSharedMemory::enableRealTimeSimulation(bool enableRealTimeSim)
{
m_data->m_commandProcessor->enableRealTimeSimulation(enableRealTimeSim);
}
void PhysicsServerSharedMemory::processClientCommands()
{

2
examples/SharedMemory/PhysicsServerSharedMemory.h
View File

@@ -28,6 +28,8 @@ public:
virtual void stepSimulationRealTime(double dtInSec);
virtual void enableRealTimeSimulation(bool enableRealTimeSim);
//bool supportsJointMotor(class btMultiBody* body, int linkIndex);