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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/PhysicsServerExample.cpp
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@@ -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);