fix enum (has to be power of 2, to allow combination of devices)

add vrtracker.py

examples/SharedMemory/SharedMemoryPublic.h

@@ -279,7 +279,7 @@ enum eVRDeviceTypeEnums
 {
 	VR_DEVICE_CONTROLLER=1,
 	VR_DEVICE_HMD=2,
-	VR_DEVICE_GENERIC_TRACKER=3,
+	VR_DEVICE_GENERIC_TRACKER=4,
 };
 
 struct b3VRControllerEvent

examples/pybullet/examples/vrtracker.py

@@ -0,0 +1,82 @@
+# See pybullet quickstart guide here:
+# https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#
+# Create a Tiltbrush-like app, drawing lines using any controller
+# Line width can be changed
+
+import pybullet as p
+
+CONTROLLER_ID = 0
+POSITION=1
+ORIENTATION=2
+BUTTONS=6
+
+#assume that the VR physics server is already started before
+c = p.connect(p.SHARED_MEMORY)
+print(c)
+if (c<0):
+		p.connect(p.GUI)
+
+p.setInternalSimFlags(0)#don't load default robot assets etc
+p.resetSimulation()
+p.loadURDF("plane.urdf")
+
+prevPosition=[None]*p.VR_MAX_CONTROLLERS
+colors=[0.,0.5,0.5]*p.VR_MAX_CONTROLLERS
+widths = [3]*p.VR_MAX_CONTROLLERS
+a=[0,0,0]
+#use a few default colors
+colors[0] = [0,0,0]
+colors[1] = [0.5,0,0]
+colors[2] = [0,0.5,0]
+colors[3] = [0,0,0.5]
+colors[4] = [0.5,0.5,0.]
+colors[5] = [.5,.5,.5]
+
+while True:
+	events = p.getVREvents(p.VR_DEVICE_HMD+p.VR_DEVICE_GENERIC_TRACKER)
+	for e in (events):
+		pos = e[POSITION]
+		mat = p.getMatrixFromQuaternion(e[ORIENTATION])
+		dir0 = [mat[0],mat[3],mat[6]]
+		dir1 = [mat[1],mat[4],mat[7]]
+		dir2 = [mat[2],mat[5],mat[8]]
+		lineLen = 0.1
+		dir = [-mat[2],-mat[5],-mat[8]]
+
+		to = [pos[0]+lineLen*dir[0],pos[1]+lineLen*dir[1],pos[2]+lineLen*dir[2]]
+		toX = [pos[0]+lineLen*dir0[0],pos[1]+lineLen*dir0[1],pos[2]+lineLen*dir0[2]]
+		toY = [pos[0]+lineLen*dir1[0],pos[1]+lineLen*dir1[1],pos[2]+lineLen*dir1[2]]
+		toZ = [pos[0]+lineLen*dir2[0],pos[1]+lineLen*dir2[1],pos[2]+lineLen*dir2[2]]
+		p.addUserDebugLine(pos,toX,[1,0,0],1)
+		p.addUserDebugLine(pos,toY,[0,1,0],1)
+		p.addUserDebugLine(pos,toZ,[0,0,1],1)
+	
+		p.addUserDebugLine(pos,to,[0.5,0.5,0.],1,3)
+		
+	events = p.getVREvents()
+
+	for e in (events):
+		if (e[BUTTONS][33]&p.VR_BUTTON_WAS_TRIGGERED):
+			prevPosition[e[CONTROLLER_ID]] = e[POSITION]
+		if (e[BUTTONS][32]&p.VR_BUTTON_WAS_TRIGGERED):
+			widths[e[CONTROLLER_ID]]=widths[e[0]]+1
+			if (widths[e[CONTROLLER_ID]]>20):
+				widths[e[CONTROLLER_ID]] = 1
+		if (e[BUTTONS][1]&p.VR_BUTTON_WAS_TRIGGERED):
+			p.resetSimulation()
+			#p.setGravity(0,0,-10)
+			p.removeAllUserDebugItems()
+			p.loadURDF("plane.urdf")
+		if (e[BUTTONS][33]==p.VR_BUTTON_IS_DOWN):
+			pt = prevPosition[e[CONTROLLER_ID]]
+			
+			#print(prevPosition[e[0]])
+			#print(e[1])
+			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]
+			ptDistThreshold = 0.01
+			if (lenSqr>(ptDistThreshold*ptDistThreshold)):
+				p.addUserDebugLine(e[POSITION],prevPosition[e[CONTROLLER_ID]],colors[e[CONTROLLER_ID]],widths[e[CONTROLLER_ID]])
+				#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]]
+				prevPosition[e[CONTROLLER_ID]] = e[POSITION]