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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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25
examples/pybullet/pybullet.c
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@@ -724,13 +724,15 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
int collisionFilterMode = -1;
double contactBreakingThreshold = -1;
int maxNumCmdPer1ms = -2;
int enableFileCaching = -1;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "physicsClientId", NULL};
static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching","physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidii", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiii", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &physicsClientId))
{
return NULL;
}
@@ -781,6 +783,11 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
b3PhysicsParamSetMaxNumCommandsPer1ms(command, maxNumCmdPer1ms);
}
if (enableFileCaching>=0)
{
b3PhysicsParamSetEnableFileCaching(command, enableFileCaching);
}
//ret = b3PhysicsParamSetRealTimeSimulation(command, enableRealTimeSimulation);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
@@ -3703,11 +3710,12 @@ static PyObject* pybullet_setVRCameraState(PyObject* self, PyObject* args, PyObj
PyObject* rootPosObj = 0;
PyObject* rootOrnObj = 0;
int trackObjectUid = -2;
int trackObjectFlag = -1;
double rootPos[3];
double rootOrn[4];
static char* kwlist[] = {"rootPosition", "rootOrientation", "trackObject", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|OOii", kwlist, &rootPosObj, &rootOrnObj, &trackObjectUid, &physicsClientId))
static char* kwlist[] = {"rootPosition", "rootOrientation", "trackObject", "trackObjectFlag","physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|OOiii", kwlist, &rootPosObj, &rootOrnObj, &trackObjectUid,&trackObjectFlag, &physicsClientId))
{
return NULL;
}
@@ -3734,6 +3742,11 @@ static PyObject* pybullet_setVRCameraState(PyObject* self, PyObject* args, PyObj
b3SetVRCameraTrackingObject(commandHandle, trackObjectUid);
}
if (trackObjectFlag>=-1)
{
b3SetVRCameraTrackingObjectFlag(commandHandle, trackObjectFlag);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
@@ -6355,6 +6368,8 @@ initpybullet(void)
PyModule_AddIntConstant(m, "VR_DEVICE_HMD", VR_DEVICE_HMD);
PyModule_AddIntConstant(m, "VR_DEVICE_GENERIC_TRACKER", VR_DEVICE_GENERIC_TRACKER);
PyModule_AddIntConstant(m, "VR_CAMERA_TRACK_OBJECT_ORIENTATION", VR_CAMERA_TRACK_OBJECT_ORIENTATION);
PyModule_AddIntConstant(m, "KEY_IS_DOWN", eButtonIsDown);
PyModule_AddIntConstant(m, "KEY_WAS_TRIGGERED", eButtonTriggered);
PyModule_AddIntConstant(m, "KEY_WAS_RELEASED", eButtonReleased);