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enable file caching, currently only for Wavefront .obj files. You can disable file caching using

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pybullet.setPhysicsEngineParameter(enableFileCaching=0)
Allow VR camera tracking only using position tracking, no orientation tracking (use
pybullet.setVRCamera([posX,posY,posZ],trackObjectFlag=0 or pybullet.VR_CAMERA_TRACK_OBJECT_ORIENTATION)
This commit is contained in:
Erwin Coumans
2017-05-17 19:29:12 -07:00
parent 972660f825
commit 19295f2859
11 changed files with 153 additions and 15 deletions
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26
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -22,6 +22,7 @@
#include "../Utils/RobotLoggingUtil.h"
#include "LinearMath/btTransform.h"
#include "../Importers/ImportMJCFDemo/BulletMJCFImporter.h"
#include "../Importers/ImportObjDemo/LoadMeshFromObj.h"
#include "../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h"
#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
#include "LinearMath/btSerializer.h"
@@ -54,6 +55,8 @@ bool gCreateDefaultRobotAssets = false;
int gInternalSimFlags = 0;
bool gResetSimulation = 0;
int gVRTrackingObjectUniqueId = -1;
int gVRTrackingObjectFlag = VR_CAMERA_TRACK_OBJECT_ORIENTATION;
btTransform gVRTrackingObjectTr = btTransform::getIdentity();
int gMaxNumCmdPer1ms = -1;//experiment: add some delay to avoid threads starving other threads
@@ -2440,6 +2443,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
if (clientCmd.m_stateLoggingArguments.m_loggingUniqueId == m_data->m_profileTimingLoggingUid)
{
serverStatusOut.m_type = CMD_STATE_LOGGING_COMPLETED;
b3ChromeUtilsStopTimingsAndWriteJsonFile(m_data->m_profileTimingFileName.c_str());
m_data->m_profileTimingLoggingUid = -1;
}
@@ -2482,6 +2486,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
gVRTrackingObjectUniqueId = clientCmd.m_vrCameraStateArguments.m_trackingObjectUniqueId;
}
if (clientCmd.m_updateFlags & VR_CAMERA_FLAG)
{
gVRTrackingObjectFlag = clientCmd.m_vrCameraStateArguments.m_trackingObjectFlag;
}
serverStatusOut.m_type = CMD_CLIENT_COMMAND_COMPLETED;
hasStatus = true;
break;
@@ -4059,6 +4068,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = clientCmd.m_physSimParamArgs.m_defaultContactERP;
}
if (clientCmd.m_updateFlags&SIM_PARAM_ENABLE_FILE_CACHING)
{
b3EnableFileCaching(clientCmd.m_physSimParamArgs.m_enableFileCaching);
}
SharedMemoryStatus& serverCmd =serverStatusOut;
serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;
hasStatus = true;
@@ -6194,7 +6209,16 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec, const
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(gVRTrackingObjectUniqueId);
if (bodyHandle && bodyHandle->m_multiBody)
{
gVRTrackingObjectTr = bodyHandle->m_multiBody->getBaseWorldTransform();
// gVRTrackingObjectTr = bodyHandle->m_multiBody->getBaseWorldTransform();
if (gVRTrackingObjectUniqueId>=0)
{
gVRTrackingObjectTr.setOrigin(bodyHandle->m_multiBody->getBaseWorldTransform().getOrigin());
}
if (gVRTrackingObjectFlag&VR_CAMERA_TRACK_OBJECT_ORIENTATION)
{
gVRTrackingObjectTr.setBasis(bodyHandle->m_multiBody->getBaseWorldTransform().getBasis());
}
}
}