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

prev -> prevPosition

Browse Source
This commit is contained in:
Erwin Coumans
2016-12-26 22:40:08 -08:00
parent b55d76acbc
commit 178a002cb5
1 changed files with 6 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
examples/pybullet/vrEvent.py
View File

@@ -9,14 +9,13 @@ CONTROLLER_ID = 0
POSITION=1 POSITION=1
BUTTONS=6 BUTTONS=6
#assume that the VR physics server is already started before #assume that the VR physics server is already started before
p.connect(p.SHARED_MEMORY) p.connect(p.SHARED_MEMORY)
p.setInternalSimFlags(0)#don't load default robot assets etc p.setInternalSimFlags(0)#don't load default robot assets etc
p.resetSimulation() p.resetSimulation()
p.loadURDF("plane.urdf") p.loadURDF("plane.urdf")
prev=[None]*p.VR_MAX_CONTROLLERS prevPosition=[None]*p.VR_MAX_CONTROLLERS
colors=[0.,0.5,0.5]*p.VR_MAX_CONTROLLERS colors=[0.,0.5,0.5]*p.VR_MAX_CONTROLLERS
widths = [3]*p.VR_MAX_CONTROLLERS widths = [3]*p.VR_MAX_CONTROLLERS
@@ -33,7 +32,7 @@ while True:
for e in (events): for e in (events):
if (e[BUTTONS][33]&p.VR_BUTTON_WAS_TRIGGERED): if (e[BUTTONS][33]&p.VR_BUTTON_WAS_TRIGGERED):
prev[e[CONTROLLER_ID]] = e[POSITION] prevPosition[e[CONTROLLER_ID]] = e[POSITION]
if (e[BUTTONS][32]&p.VR_BUTTON_WAS_TRIGGERED): if (e[BUTTONS][32]&p.VR_BUTTON_WAS_TRIGGERED):
widths[e[CONTROLLER_ID]]=widths[e[0]]+1 widths[e[CONTROLLER_ID]]=widths[e[0]]+1
if (widths[e[CONTROLLER_ID]]>20): if (widths[e[CONTROLLER_ID]]>20):
@@ -44,15 +43,15 @@ while True:
p.removeAllUserDebugItems() p.removeAllUserDebugItems()
p.loadURDF("plane.urdf") p.loadURDF("plane.urdf")
if (e[BUTTONS][33]==p.VR_BUTTON_IS_DOWN): if (e[BUTTONS][33]==p.VR_BUTTON_IS_DOWN):
pt = prev[e[CONTROLLER_ID]] pt = prevPosition[e[CONTROLLER_ID]]
#print(prev[e[0]]) #print(prevPosition[e[0]])
#print(e[1]) #print(e[1])
diff = [pt[0]-e[POSITION][0],pt[1]-e[POSITION][1],pt[2]-e[POSITION][2]] diff = [pt[0]-e[POSITION][0],pt[1]-e[POSITION][1],pt[2]-e[POSITION][2]]
lenSqr = diff[0]*diff[0]+diff[1]*diff[1]+diff[2]*diff[2] lenSqr = diff[0]*diff[0]+diff[1]*diff[1]+diff[2]*diff[2]
ptDistThreshold = 0.01 ptDistThreshold = 0.01
if (lenSqr>(ptDistThreshold*ptDistThreshold)): if (lenSqr>(ptDistThreshold*ptDistThreshold)):
p.addUserDebugLine(e[POSITION],prev[e[CONTROLLER_ID]],colors[e[CONTROLLER_ID]],widths[e[CONTROLLER_ID]]) p.addUserDebugLine(e[POSITION],prevPosition[e[CONTROLLER_ID]],colors[e[CONTROLLER_ID]],widths[e[CONTROLLER_ID]])
#p.loadURDF("cube_small.urdf",e[1]) #p.loadURDF("cube_small.urdf",e[1])
colors[e[CONTROLLER_ID]] = [1-colors[e[CONTROLLER_ID]][0],1-colors[e[CONTROLLER_ID]][1],1-colors[e[CONTROLLER_ID]][2]] colors[e[CONTROLLER_ID]] = [1-colors[e[CONTROLLER_ID]][0],1-colors[e[CONTROLLER_ID]][1],1-colors[e[CONTROLLER_ID]][2]]
prev[e[CONTROLLER_ID]] = e[POSITION] prevPosition[e[CONTROLLER_ID]] = e[POSITION]