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add experimental vrSyncPlugin, that syncs the position/orientation of a vr controller to a gripper (through a constraint)

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This is in C++ and the sync runs at the simulation speed (240 Hz), so there is less lag than in Python.
Modify the pybullet/examples/vr_kuka_setup.py at the end to do this:

plugin = p.loadPlugin("e:/develop/bullet3/bin/pybullet_vrSyncPlugin_vs2010_x64_release.dll")
controllerId = 3
p.executePluginCommand(plugin ,"bla", [controllerId,pr2_cid],[50])
This commit is contained in:
erwincoumans
2017-09-25 18:14:50 -07:00
parent 6d68a67c79
commit 270a036cd7
5 changed files with 188 additions and 2 deletions
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4
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1332,7 +1332,7 @@ B3_SHARED_API int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle phys
command->m_updateFlags |=INIT_POSE_HAS_JOINT_STATE;
b3JointInfo info;
b3GetJointInfo(physClient, command->m_initPoseArgs.m_bodyUniqueId,jointIndex, &info);
btAssert((info.m_flags & JOINT_HAS_MOTORIZED_POWER) && info.m_qIndex >=0);
//btAssert((info.m_flags & JOINT_HAS_MOTORIZED_POWER) && info.m_qIndex >=0);
if ((info.m_flags & JOINT_HAS_MOTORIZED_POWER) && info.m_qIndex >=0)
{
command->m_initPoseArgs.m_initialStateQ[info.m_qIndex] = jointPosition;
@@ -1367,7 +1367,7 @@ B3_SHARED_API int b3CreatePoseCommandSetJointVelocity(b3PhysicsClientHandle phys
command->m_updateFlags |=INIT_POSE_HAS_JOINT_VELOCITY;
b3JointInfo info;
b3GetJointInfo(physClient, command->m_initPoseArgs.m_bodyUniqueId,jointIndex, &info);
btAssert((info.m_flags & JOINT_HAS_MOTORIZED_POWER) && info.m_uIndex >=0);
//btAssert((info.m_flags & JOINT_HAS_MOTORIZED_POWER) && info.m_uIndex >=0);
if ((info.m_flags & JOINT_HAS_MOTORIZED_POWER) && (info.m_uIndex >=0) && (info.m_uIndex<MAX_DEGREE_OF_FREEDOM))
{
command->m_initPoseArgs.m_initialStateQdot[info.m_uIndex] = jointVelocity;