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Add RtMidi for midi control, use the --midi option in premake, and see

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update to OpenVR sdk 1.03 from https://github.com/ValveSoftware/openvr
add camPosX/Y/Z and camRotZ to adjust relative camera/world transform for VR (so you can align virtual table with real table etc)
tweak quadruped.py to move a bit
add mouse picking to physics server
This commit is contained in:
erwincoumans
2016-11-16 16:12:59 -08:00
parent b4b93573fc
commit 2329c00faa
32 changed files with 6434 additions and 398 deletions
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30
examples/SharedMemory/PhysicsClientSharedMemory.cpp
View File

@@ -100,6 +100,10 @@ bool PhysicsClientSharedMemory::getBodyInfo(int bodyUniqueId, struct b3BodyInfo&
info.m_baseName = bodyJoints->m_baseName.c_str();
return true;
}
return false;
}
@@ -204,6 +208,32 @@ bool PhysicsClientSharedMemory::connect() {
b3Error("Cannot connect to shared memory");
return false;
}
#if 0
if (m_data->m_isConnected)
{
//get all existing bodies and body info...
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
//now transfer the information of the individual objects etc.
command.m_type = CMD_REQUEST_BODY_INFO;
command.m_sdfRequestInfoArgs.m_bodyUniqueId = 37;
submitClientCommand(command);
int timeout = 1024 * 1024 * 1024;
const SharedMemoryStatus* status = 0;
while ((status == 0) && (timeout-- > 0))
{
status = processServerStatus();
}
//submitClientCommand(command);
}
#endif
return true;
}

30
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -43,8 +43,12 @@ bool gCloseToKuka=false;
bool gEnableRealTimeSimVR=false;
bool gCreateDefaultRobotAssets = false;
int gInternalSimFlags = 0;
int gHuskyId = -1;
btTransform huskyTr = btTransform::getIdentity();
int gCreateObjectSimVR = -1;
int gEnableKukaControl = 0;
btScalar simTimeScalingFactor = 1;
btScalar gRhsClamp = 1.f;
@@ -538,7 +542,7 @@ struct PhysicsServerCommandProcessorInternalData
m_kukaGripperMultiBody(0),
m_kukaGripperRevolute1(0),
m_kukaGripperRevolute2(0),
m_allowRealTimeSimulation(false),
m_allowRealTimeSimulation(true),
m_huskyId(-1),
m_KukaId(-1),
m_sphereId(-1),
@@ -704,7 +708,7 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
#endif
//Workaround: in a VR application, where we avoid synchronizaing between GFX/Physics threads, we don't want to resize this array, so pre-allocate it
m_data->m_dynamicsWorld->getCollisionObjectArray().reserve(8192);
m_data->m_dynamicsWorld->getCollisionObjectArray().reserve(32768);
m_data->m_remoteDebugDrawer = new SharedMemoryDebugDrawer();
@@ -3674,6 +3678,7 @@ void PhysicsServerCommandProcessor::physicsDebugDraw(int debugDrawFlags)
bool PhysicsServerCommandProcessor::pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
{
if (m_data->m_dynamicsWorld==0)
return false;
@@ -3707,7 +3712,7 @@ bool PhysicsServerCommandProcessor::pickBody(const btVector3& rayFromWorld, cons
} else
{
btMultiBodyLinkCollider* multiCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(rayCallback.m_collisionObject);
if (multiCol && multiCol->m_multiBody)
if (multiCol && multiCol->m_multiBody && multiCol->m_multiBody->getBaseMass()>0.)
{
m_data->m_prevCanSleep = multiCol->m_multiBody->getCanSleep();
@@ -3859,6 +3864,16 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
gSubStep = m_data->m_physicsDeltaTime;
}
if (gHuskyId >= 0)
{
InternalBodyHandle* bodyHandle = m_data->getHandle(gHuskyId);
if (bodyHandle && bodyHandle->m_multiBody)
{
huskyTr = bodyHandle->m_multiBody->getBaseWorldTransform();
}
}
int numSteps = m_data->m_dynamicsWorld->stepSimulation(dtInSec*simTimeScalingFactor,maxSteps, gSubStep);
gDroppedSimulationSteps += numSteps > maxSteps ? numSteps - maxSteps : 0;
@@ -3918,7 +3933,8 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
m_data->m_hasGround = true;
loadUrdf("plane.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, true, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("samurai.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
// loadUrdf("samurai.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
// loadUrdf("quadruped/quadruped.urdf", btVector3(2, 2, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
if (m_data->m_gripperRigidbodyFixed == 0)
{
@@ -4081,7 +4097,9 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
//loadUrdf("rook.urdf", btVector3(-1.2, 0, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
//loadUrdf("knight.urdf", btVector3(-1.2, 0.2, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
//loadUrdf("husky/husky.urdf", btVector3(2, -5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("husky/husky.urdf", btVector3(2, -5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
gHuskyId = bodyId;
b3Printf("huskyId = %d", gHuskyId);
m_data->m_huskyId = bodyId;
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, -10));
@@ -4184,7 +4202,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
q_new[5] = -SIMD_HALF_PI*0.66;
q_new[6] = 0;
if (gCloseToKuka)
if (gCloseToKuka && gEnableKukaControl)
{
double dampIk[6] = {1.0, 1.0, 1.0, 1.0, 1.0, 0.0};

392
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -4,7 +4,9 @@
#include "PhysicsServerExample.h"
#ifdef B3_USE_MIDI
#include "RtMidi.h"
#endif//B3_USE_MIDI
#include "PhysicsServerSharedMemory.h"
#include "Bullet3Common/b3CommandLineArgs.h"
@@ -24,7 +26,7 @@
//@todo(erwincoumans) those globals are hacks for a VR demo, move this to Python/pybullet!
extern btVector3 gLastPickPos;
btVector3 gVRTeleportPos(0,0,0);
btVector3 gVRTeleportPos1(0,0,0);
btQuaternion gVRTeleportOrn(0, 0, 0,1);
extern btVector3 gVRGripperPos;
extern btQuaternion gVRGripperOrn;
@@ -37,11 +39,60 @@ extern bool gEnableRealTimeSimVR;
extern bool gCreateDefaultRobotAssets;
extern int gInternalSimFlags;
extern int gCreateObjectSimVR;
static int gGraspingController = -1;
extern int gEnableKukaControl;
int gGraspingController = -1;
extern btScalar simTimeScalingFactor;
extern bool gVRGripperClosed;
#if B3_USE_MIDI
#include <vector>
static float getParamf(float rangeMin, float rangeMax, int midiVal)
{
float v = rangeMin + (rangeMax - rangeMin)* (float(midiVal / 127.));
return v;
}
void midiCallback(double deltatime, std::vector< unsigned char > *message, void *userData)
{
unsigned int nBytes = message->size();
for (unsigned int i = 0; i<nBytes; i++)
std::cout << "Byte " << i << " = " << (int)message->at(i) << ", ";
if (nBytes > 0)
std::cout << "stamp = " << deltatime << std::endl;
if (nBytes > 2)
{
if (message->at(0) == 176)
{
if (message->at(1) == 16)
{
float rotZ = getParamf(-3.1415, 3.1415, message->at(2));
gVRTeleportOrn = btQuaternion(btVector3(0, 0, 1), rotZ);
b3Printf("gVRTeleportOrn rotZ = %f\n", rotZ);
}
if (message->at(1) == 32)
{
gCreateDefaultRobotAssets = 1;
}
for (int i = 0; i < 3; i++)
{
if (message->at(1) == i)
{
gVRTeleportPos1[i] = getParamf(-2, 2, message->at(2));
b3Printf("gVRTeleportPos[%d] = %f\n", i,gVRTeleportPos1[i]);
}
}
}
}
}
#endif //B3_USE_MIDI
bool gDebugRenderToggle = false;
void MotionThreadFunc(void* userPtr,void* lsMemory);
@@ -112,7 +163,19 @@ b3ThreadSupportInterface* createMotionThreadSupport(int numThreads)
}
#endif
enum MyMouseCommandType
{
MyMouseMove = 1,
MyMouseButtonDown,
MyMouseButtonUp
};
struct MyMouseCommand
{
btVector3 m_rayFrom;
btVector3 m_rayTo;
int m_type;
};
struct MotionArgs
{
@@ -128,6 +191,8 @@ struct MotionArgs
}
}
b3CriticalSection* m_cs;
btAlignedObjectArray<MyMouseCommand> m_mouseCommands;
PhysicsServerSharedMemory* m_physicsServerPtr;
b3AlignedObjectArray<b3Vector3> m_positions;
@@ -197,31 +262,31 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
btMatrix3x3 mat(args->m_vrControllerOrn[c]);
btScalar pickDistance = 1000.;
btVector3 toX = from+mat.getColumn(0);
btVector3 toY = from+mat.getColumn(1);
btVector3 toZ = from+mat.getColumn(2)*pickDistance;
btVector3 to = from+mat.getColumn(0)*pickDistance;
// btVector3 toY = from+mat.getColumn(1)*pickDistance;
// btVector3 toZ = from+mat.getColumn(2)*pickDistance;
if (args->m_isVrControllerTeleporting[c])
{
args->m_isVrControllerTeleporting[c] = false;
args->m_physicsServerPtr->pickBody(from,-toZ);
args->m_physicsServerPtr->pickBody(from, to);
args->m_physicsServerPtr->removePickingConstraint();
}
if (!gCloseToKuka)
if (!gEnableKukaControl)
{
if (args->m_isVrControllerPicking[c])
{
args->m_isVrControllerPicking[c] = false;
args->m_isVrControllerDragging[c] = true;
args->m_physicsServerPtr->pickBody(from,-toZ);
args->m_physicsServerPtr->pickBody(from, to);
//printf("PICK!\n");
}
}
if (args->m_isVrControllerDragging[c])
{
args->m_physicsServerPtr->movePickedBody(from,-toZ);
args->m_physicsServerPtr->movePickedBody(from, to);
// printf(".");
}
@@ -247,6 +312,37 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
}
args->m_cs->lock();
for (int i = 0; i < args->m_mouseCommands.size(); i++)
{
switch (args->m_mouseCommands[i].m_type)
{
case MyMouseMove:
{
args->m_physicsServerPtr->movePickedBody(args->m_mouseCommands[i].m_rayFrom, args->m_mouseCommands[i].m_rayTo);
break;
};
case MyMouseButtonDown:
{
args->m_physicsServerPtr->pickBody(args->m_mouseCommands[i].m_rayFrom, args->m_mouseCommands[i].m_rayTo);
break;
}
case MyMouseButtonUp:
{
args->m_physicsServerPtr->removePickingConstraint();
break;
}
default:
{
}
}
}
args->m_mouseCommands.clear();
args->m_cs->unlock();
args->m_physicsServerPtr->processClientCommands();
} while (args->m_cs->getSharedParam(0)!=eRequestTerminateMotion);
@@ -305,6 +401,7 @@ class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
b3CriticalSection* m_cs;
public:
@@ -331,6 +428,7 @@ public:
int m_textureId;
int m_instanceId;
MultiThreadedOpenGLGuiHelper(CommonGraphicsApp* app, GUIHelperInterface* guiHelper)
:m_app(app)
@@ -498,7 +596,7 @@ public:
virtual CommonRenderInterface* getRenderInterface()
{
return 0;
return m_childGuiHelper->getRenderInterface();
}
virtual CommonGraphicsApp* getAppInterface()
@@ -680,7 +778,9 @@ class PhysicsServerExample : public SharedMemoryCommon
MotionArgs m_args[MAX_MOTION_NUM_THREADS];
MultiThreadedOpenGLGuiHelper* m_multiThreadedHelper;
bool m_wantsShutdown;
#ifdef B3_USE_MIDI
RtMidiIn* m_midi;
#endif
bool m_isConnected;
btClock m_clock;
bool m_replay;
@@ -740,8 +840,8 @@ public:
if (m_replay)
return false;
CommonRenderInterface* renderer = m_guiHelper->getRenderInterface();
CommonRenderInterface* renderer = m_multiThreadedHelper->m_childGuiHelper->getRenderInterface();// m_guiHelper->getRenderInterface();
if (!renderer)
{
return false;
@@ -750,7 +850,14 @@ public:
btVector3 rayTo = getRayTo(int(x), int(y));
btVector3 rayFrom;
renderer->getActiveCamera()->getCameraPosition(rayFrom);
m_physicsServer.movePickedBody(rayFrom,rayTo);
MyMouseCommand cmd;
cmd.m_rayFrom = rayFrom;
cmd.m_rayTo = rayTo;
cmd.m_type = MyMouseMove;
m_args[0].m_cs->lock();
m_args[0].m_mouseCommands.push_back(cmd);
m_args[0].m_cs->unlock();
return false;
};
@@ -779,7 +886,13 @@ public:
btVector3 rayFrom = camPos;
btVector3 rayTo = getRayTo(int(x),int(y));
m_physicsServer.pickBody(rayFrom, rayTo);
MyMouseCommand cmd;
cmd.m_rayFrom = rayFrom;
cmd.m_rayTo = rayTo;
cmd.m_type = MyMouseButtonDown;
m_args[0].m_cs->lock();
m_args[0].m_mouseCommands.push_back(cmd);
m_args[0].m_cs->unlock();
}
@@ -787,7 +900,14 @@ public:
{
if (button==0)
{
m_physicsServer.removePickingConstraint();
//m_physicsServer.removePickingConstraint();
MyMouseCommand cmd;
cmd.m_rayFrom.setValue(0,0,0);
cmd.m_rayTo.setValue(0, 0, 0);
cmd.m_type = MyMouseButtonUp;
m_args[0].m_cs->lock();
m_args[0].m_mouseCommands.push_back(cmd);
m_args[0].m_cs->unlock();
//remove p2p
}
}
@@ -805,6 +925,30 @@ public:
virtual void processCommandLineArgs(int argc, char* argv[])
{
b3CommandLineArgs args(argc,argv);
if (args.GetCmdLineArgument("camPosX", gVRTeleportPos1[0]))
{
printf("camPosX=%f\n", gVRTeleportPos1[0]);
}
if (args.GetCmdLineArgument("camPosY", gVRTeleportPos1[1]))
{
printf("camPosY=%f\n", gVRTeleportPos1[1]);
}
if (args.GetCmdLineArgument("camPosZ", gVRTeleportPos1[2]))
{
printf("camPosZ=%f\n", gVRTeleportPos1[2]);
}
float camRotZ = 0.f;
if (args.GetCmdLineArgument("camRotZ", camRotZ))
{
printf("camRotZ = %f\n", camRotZ);
btQuaternion ornZ(btVector3(0, 0, 1), camRotZ);
gVRTeleportOrn = ornZ;
}
if (args.CheckCmdLineFlag("robotassets"))
{
gCreateDefaultRobotAssets = true;
@@ -820,6 +964,40 @@ public:
};
#ifdef B3_USE_MIDI
static bool chooseMidiPort(RtMidiIn *rtmidi)
{
/*
std::cout << "\nWould you like to open a virtual input port? [y/N] ";
std::string keyHit;
std::getline( std::cin, keyHit );
if ( keyHit == "y" ) {
rtmidi->openVirtualPort();
return true;
}
*/
std::string portName;
unsigned int i = 0, nPorts = rtmidi->getPortCount();
if (nPorts == 0) {
std::cout << "No midi input ports available!" << std::endl;
return false;
}
if (nPorts > 0) {
std::cout << "\nOpening midi input port " << rtmidi->getPortName() << std::endl;
}
// std::getline( std::cin, keyHit ); // used to clear out stdin
rtmidi->openPort(i);
return true;
}
#endif //B3_USE_MIDI
PhysicsServerExample::PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper, SharedMemoryInterface* sharedMem, int options)
:SharedMemoryCommon(helper),
m_physicsServer(sharedMem),
@@ -831,6 +1009,14 @@ m_options(options)
,m_tinyVrGui(0)
#endif
{
#ifdef B3_USE_MIDI
m_midi = new RtMidiIn();
chooseMidiPort(m_midi);
m_midi->setCallback(&midiCallback);
// Don't ignore sysex, timing, or active sensing messages.
m_midi->ignoreTypes(false, false, false);
#endif
m_multiThreadedHelper = helper;
b3Printf("Started PhysicsServer\n");
}
@@ -839,6 +1025,10 @@ m_options(options)
PhysicsServerExample::~PhysicsServerExample()
{
#ifdef B3_USE_MIDI
delete m_midi;
m_midi = 0;
#endif
#ifdef BT_ENABLE_VR
delete m_tinyVrGui;
#endif
@@ -1159,10 +1349,25 @@ extern int gDroppedSimulationSteps;
extern int gNumSteps;
extern double gDtInSec;
extern double gSubStep;
extern int gHuskyId;
extern btTransform huskyTr;
void PhysicsServerExample::renderScene()
{
#if 0
///little VR test to follow/drive Husky vehicle
if (gHuskyId >= 0)
{
gVRTeleportPos1 = huskyTr.getOrigin();
gVRTeleportOrn = huskyTr.getRotation();
}
#endif
B3_PROFILE("PhysicsServerExample::RenderScene");
static char line0[1024];
static char line1[1024];
@@ -1275,9 +1480,27 @@ void PhysicsServerExample::renderScene()
//m_args[0].m_cs->lock();
//gVRTeleportPos[0] += 0.01;
vrOffset[12]=-gVRTeleportPos[0];
vrOffset[13]=-gVRTeleportPos[1];
vrOffset[14]=-gVRTeleportPos[2];
btTransform tr2a, tr2;
tr2a.setIdentity();
tr2.setIdentity();
tr2.setOrigin(gVRTeleportPos1);
tr2a.setRotation(gVRTeleportOrn);
btTransform trTotal = tr2*tr2a;
btTransform trInv = trTotal.inverse();
btMatrix3x3 vrOffsetRot;
vrOffsetRot.setRotation(trInv.getRotation());
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
vrOffset[i + 4 * j] = vrOffsetRot[i][j];
}
}
vrOffset[12]= trInv.getOrigin()[0];
vrOffset[13]= trInv.getOrigin()[1];
vrOffset[14]= trInv.getOrigin()[2];
this->m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->
getActiveCamera()->setVRCameraOffsetTransform(vrOffset);
@@ -1314,54 +1537,8 @@ void PhysicsServerExample::renderScene()
gEnableRealTimeSimVR = true;
}
if (gDebugRenderToggle)
if (m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->isVRCamera())
{
B3_PROFILE("Draw Debug HUD");
//some little experiment to add text/HUD to a VR camera (HTC Vive/Oculus Rift)
float pos[4];
m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->getCameraTargetPosition(pos);
pos[0]+=gVRTeleportPos[0];
pos[1]+=gVRTeleportPos[1];
pos[2]+=gVRTeleportPos[2];
btTransform viewTr;
btScalar m[16];
float mf[16];
m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->getCameraViewMatrix(mf);
for (int i=0;i<16;i++)
{
m[i] = mf[i];
}
m[12]=+gVRTeleportPos[0];
m[13]=+gVRTeleportPos[1];
m[14]=+gVRTeleportPos[2];
viewTr.setFromOpenGLMatrix(m);
btTransform viewTrInv = viewTr.inverse();
btVector3 side = viewTrInv.getBasis().getColumn(0);
btVector3 up = viewTrInv.getBasis().getColumn(1);
btVector3 fwd = viewTrInv.getBasis().getColumn(2);
float upMag = 0;
float sideMag = 2.2;
float fwdMag = -4;
m_guiHelper->getAppInterface()->drawText3D(line0,pos[0]+upMag*up[0]-sideMag*side[0]+fwdMag*fwd[0],pos[1]+upMag*up[1]-sideMag*side[1]+fwdMag*fwd[1],pos[2]+upMag*up[2]-sideMag*side[2]+fwdMag*fwd[2],1);
//btVector3 fwd = viewTrInv.getBasis().getColumn(2);
up = viewTrInv.getBasis().getColumn(1);
upMag = -0.3;
m_guiHelper->getAppInterface()->drawText3D(line1,pos[0]+upMag*up[0]-sideMag*side[0]+fwdMag*fwd[0],pos[1]+upMag*up[1]-sideMag*side[1]+fwdMag*fwd[1],pos[2]+upMag*up[2]-sideMag*side[2]+fwdMag*fwd[2],1);
}
//m_args[0].m_cs->unlock();
}
@@ -1482,7 +1659,7 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
{
if (button == 1 && state == 0)
{
gVRTeleportPos = gLastPickPos;
// gVRTeleportPos = gLastPickPos;
}
} else
{
@@ -1515,9 +1692,19 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
}
}
if (button==32 && state==0)
{
gCreateObjectSimVR = 1;
if (controllerId == gGraspingController)
{
gCreateObjectSimVR = 1;
}
else
{
gEnableKukaControl = !gEnableKukaControl;
}
}
@@ -1538,16 +1725,41 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
m_args[0].m_isVrControllerPicking[controllerId] = (state != 0);
m_args[0].m_isVrControllerReleasing[controllerId] = (state == 0);
}
btTransform trLocal;
trLocal.setIdentity();
trLocal.setRotation(btQuaternion(btVector3(0, 0, 1), SIMD_HALF_PI)*btQuaternion(btVector3(0, 1, 0), SIMD_HALF_PI));
btTransform trOrg;
trOrg.setIdentity();
trOrg.setOrigin(btVector3(pos[0], pos[1], pos[2]));
trOrg.setRotation(btQuaternion(orn[0], orn[1], orn[2], orn[3]));
btTransform tr2a;
tr2a.setIdentity();
btTransform tr2;
tr2.setIdentity();
tr2.setOrigin(gVRTeleportPos1);
tr2a.setRotation(gVRTeleportOrn);
btTransform trTotal = tr2*tr2a*trOrg*trLocal;
if ((button == 33) || (button == 1))
{
m_args[0].m_vrControllerPos[controllerId].setValue(pos[0] + gVRTeleportPos[0], pos[1] + gVRTeleportPos[1], pos[2] + gVRTeleportPos[2]);
m_args[0].m_vrControllerOrn[controllerId].setValue(orn[0], orn[1], orn[2], orn[3]);
// m_args[0].m_vrControllerPos[controllerId].setValue(pos[0] + gVRTeleportPos[0], pos[1] + gVRTeleportPos[1], pos[2] + gVRTeleportPos[2]);
// m_args[0].m_vrControllerOrn[controllerId].setValue(orn[0], orn[1], orn[2], orn[3]);
m_args[0].m_vrControllerPos[controllerId] = trTotal.getOrigin();
m_args[0].m_vrControllerOrn[controllerId] = trTotal.getRotation();
}
}
}
void PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[4], float orn[4], float analogAxis)
{
@@ -1558,22 +1770,44 @@ void PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[
printf("Controller Id exceeds max: %d > %d", controllerId, MAX_VR_CONTROLLERS);
return;
}
btTransform trLocal;
trLocal.setIdentity();
trLocal.setRotation(btQuaternion(btVector3(0, 0, 1), SIMD_HALF_PI)*btQuaternion(btVector3(0, 1, 0), SIMD_HALF_PI));
btTransform trOrg;
trOrg.setIdentity();
trOrg.setOrigin(btVector3(pos[0], pos[1], pos[2]));
trOrg.setRotation(btQuaternion(orn[0], orn[1], orn[2], orn[3]));
btTransform tr2a;
tr2a.setIdentity();
btTransform tr2;
tr2.setIdentity();
tr2.setOrigin(gVRTeleportPos1);
tr2a.setRotation(gVRTeleportOrn);
btTransform trTotal = tr2*tr2a*trOrg*trLocal;
if (controllerId == gGraspingController)
{
gVRGripperAnalog = analogAxis;
gVRGripperPos.setValue(pos[0] + gVRTeleportPos[0], pos[1] + gVRTeleportPos[1], pos[2] + gVRTeleportPos[2]);
btQuaternion orgOrn(orn[0], orn[1], orn[2], orn[3]);
gVRGripperOrn = orgOrn*btQuaternion(btVector3(0, 0, 1), SIMD_HALF_PI)*btQuaternion(btVector3(0, 1, 0), SIMD_HALF_PI);
gVRGripperPos = trTotal.getOrigin();
gVRGripperOrn = trTotal.getRotation();
}
else
{
gVRGripper2Analog = analogAxis;
gVRController2Pos.setValue(pos[0] + gVRTeleportPos[0], pos[1] + gVRTeleportPos[1], pos[2] + gVRTeleportPos[2]);
btQuaternion orgOrn(orn[0], orn[1], orn[2], orn[3]);
gVRController2Orn = orgOrn*btQuaternion(btVector3(0, 0, 1), SIMD_HALF_PI)*btQuaternion(btVector3(0, 1, 0), SIMD_HALF_PI);
gVRController2Pos = trTotal.getOrigin();
gVRController2Orn = trTotal.getRotation();
m_args[0].m_vrControllerPos[controllerId].setValue(pos[0] + gVRTeleportPos[0], pos[1] + gVRTeleportPos[1], pos[2] + gVRTeleportPos[2]);
m_args[0].m_vrControllerOrn[controllerId].setValue(orn[0], orn[1], orn[2], orn[3]);
m_args[0].m_vrControllerPos[controllerId] = trTotal.getOrigin();
m_args[0].m_vrControllerOrn[controllerId] = trTotal.getRotation();
}
}

2
examples/SharedMemory/PhysicsServerSharedMemory.h
View File

@@ -30,7 +30,7 @@ public:
//bool supportsJointMotor(class btMultiBody* body, int linkIndex);
//@todo(erwincoumans) Should we have shared memory commands for picking objects?
///The pickBody method will try to pick the first body along a ray, return true if succeeds, false otherwise
virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);

61
examples/SharedMemory/premake4.lua
View File

@@ -154,6 +154,37 @@ links {
language "C++"
if _OPTIONS["midi"] then
defines {"B3_USE_MIDI"}
includedirs{"../ThirdPartyLibs/midi"}
files {
"../ThirdPartyLibs/midi/RtMidi.cpp",
"../ThirdPartyLibs/midi/RtMidi.h",
"../ThirdPartyLibs/midi/RtError.h",
}
if os.is("Windows") then
links {"winmm"}
defines {"__WINDOWS_MM__", "WIN32"}
end
if os.is("Linux") then
defines {"__LINUX_ALSA__"}
links {"asound","pthread"}
end
if os.is("MacOSX") then
links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
defines {"__MACOSX_CORE__"}
end
end
files {
myfiles,
"../StandaloneMain/main_opengl_single_example.cpp",
@@ -213,7 +244,37 @@ if os.is("Windows") then
else
kind "ConsoleApp"
end
if _OPTIONS["midi"] then
defines {"B3_USE_MIDI"}
includedirs{"../ThirdPartyLibs/midi"}
files {
"../ThirdPartyLibs/midi/RtMidi.cpp",
"../ThirdPartyLibs/midi/RtMidi.h",
"../ThirdPartyLibs/midi/RtError.h",
}
if os.is("Windows") then
links {"winmm"}
defines {"__WINDOWS_MM__", "WIN32"}
end
if os.is("Linux") then
defines {"__LINUX_ALSA__"}
links {"asound","pthread"}
end
if os.is("MacOSX") then
links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
defines {"__MACOSX_CORE__"}
end
end
includedirs {
".","../../src", "../ThirdPartyLibs",
"../ThirdPartyLibs/openvr/headers",