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

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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
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8
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -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...