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allow to disable/enable default keyboard shortcuts ('w', 'd' 's' etc) and default mouse picking

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pybullet.getMouseEvents / b3RequestMouseEventsCommandInit
This commit is contained in:
Erwin Coumans
2017-06-17 13:29:14 -07:00
parent 3a826a5997
commit 2e6f8c271e
19 changed files with 401 additions and 86 deletions
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15
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
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@@ -130,6 +130,10 @@ static bool renderGrid = true;
bool renderGui = true;
static bool enable_experimental_opencl = false;
static bool gEnableDefaultKeyboardShortcuts = true;
static bool gEnableDefaultMousePicking = true;
int gDebugDrawFlags = 0;
static bool pauseSimulation=false;
static bool singleStepSimulation = false;
@@ -200,7 +204,7 @@ void MyKeyboardCallback(int key, int state)
//if (handled)
// return;
//if (s_window && s_window->isModifierKeyPressed(B3G_CONTROL))
if (gEnableDefaultKeyboardShortcuts)
{
if (key=='a' && state)
{
@@ -376,6 +380,15 @@ void OpenGLExampleBrowserVisualizerFlagCallback(int flag, bool enable)
renderGrid = enable;
}
if (flag == COV_ENABLE_KEYBOARD_SHORTCUTS)
{
gEnableDefaultKeyboardShortcuts = enable;
}
if (flag == COV_ENABLE_MOUSE_PICKING)
{
gEnableDefaultMousePicking = enable;
}
if (flag == COV_ENABLE_WIREFRAME)
{
visualWireframe = enable;

2
examples/SharedMemory/PhysicsClient.h
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@@ -62,6 +62,8 @@ public:
virtual void getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData) = 0;
virtual void getCachedMouseEvents(struct b3MouseEventsData* mouseEventsData) = 0;
virtual void getCachedRaycastHits(struct b3RaycastInformation* raycastHits) = 0;
virtual void setTimeOut(double timeOutInSeconds) = 0;

25
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -3208,6 +3208,31 @@ void b3GetKeyboardEventsData(b3PhysicsClientHandle physClient, struct b3Keyboard
}
}
b3SharedMemoryCommandHandle b3RequestMouseEventsCommandInit(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_REQUEST_MOUSE_EVENTS_DATA;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle)command;
}
void b3GetMouseEventsData(b3PhysicsClientHandle physClient, struct b3MouseEventsData* mouseEventsData)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
if (cl)
{
cl->getCachedMouseEvents(mouseEventsData);
}
}
b3SharedMemoryCommandHandle b3ProfileTimingCommandInit(b3PhysicsClientHandle physClient, const char* name)
{

4
examples/SharedMemory/PhysicsClientC_API.h
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@@ -433,6 +433,10 @@ int b3SetVRCameraTrackingObjectFlag(b3SharedMemoryCommandHandle commandHandle, i
b3SharedMemoryCommandHandle b3RequestKeyboardEventsCommandInit(b3PhysicsClientHandle physClient);
void b3GetKeyboardEventsData(b3PhysicsClientHandle physClient, struct b3KeyboardEventsData* keyboardEventsData);
b3SharedMemoryCommandHandle b3RequestMouseEventsCommandInit(b3PhysicsClientHandle physClient);
void b3GetMouseEventsData(b3PhysicsClientHandle physClient, struct b3MouseEventsData* mouseEventsData);
b3SharedMemoryCommandHandle b3StateLoggingCommandInit(b3PhysicsClientHandle physClient);
int b3StateLoggingStart(b3SharedMemoryCommandHandle commandHandle, int loggingType, const char* fileName);
int b3StateLoggingAddLoggingObjectUniqueId(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId);

25
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -46,6 +46,8 @@ struct PhysicsClientSharedMemoryInternalData {
btAlignedObjectArray<b3VisualShapeData> m_cachedVisualShapes;
btAlignedObjectArray<b3VRControllerEvent> m_cachedVREvents;
btAlignedObjectArray<b3KeyboardEvent> m_cachedKeyboardEvents;
btAlignedObjectArray<b3MouseEvent> m_cachedMouseEvents;
btAlignedObjectArray<b3RayHitInfo> m_raycastHits;
btAlignedObjectArray<int> m_bodyIdsRequestInfo;
@@ -876,6 +878,21 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
break;
}
case CMD_REQUEST_MOUSE_EVENTS_DATA_COMPLETED:
{
B3_PROFILE("CMD_REQUEST_MOUSE_EVENTS_DATA_COMPLETED");
if (m_data->m_verboseOutput)
{
b3Printf("Request mouse events completed");
}
m_data->m_cachedMouseEvents.resize(serverCmd.m_sendMouseEvents.m_numMouseEvents);
for (int i=0;i<serverCmd.m_sendMouseEvents.m_numMouseEvents;i++)
{
m_data->m_cachedMouseEvents[i] = serverCmd.m_sendMouseEvents.m_mouseEvents[i];
}
break;
}
case CMD_REQUEST_AABB_OVERLAP_COMPLETED:
{
B3_PROFILE("CMD_REQUEST_AABB_OVERLAP_COMPLETED");
@@ -1393,6 +1410,14 @@ void PhysicsClientSharedMemory::getCachedKeyboardEvents(struct b3KeyboardEventsD
&m_data->m_cachedKeyboardEvents[0] : 0;
}
void PhysicsClientSharedMemory::getCachedMouseEvents(struct b3MouseEventsData* mouseEventsData)
{
mouseEventsData->m_numMouseEvents = m_data->m_cachedMouseEvents.size();
mouseEventsData->m_mouseEvents = mouseEventsData->m_numMouseEvents?
&m_data->m_cachedMouseEvents[0] : 0;
}
void PhysicsClientSharedMemory::getCachedRaycastHits(struct b3RaycastInformation* raycastHits)
{
raycastHits->m_numRayHits = m_data->m_raycastHits.size();

2
examples/SharedMemory/PhysicsClientSharedMemory.h
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@@ -72,6 +72,8 @@ public:
virtual void getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData);
virtual void getCachedMouseEvents(struct b3MouseEventsData* mouseEventsData);
virtual void getCachedRaycastHits(struct b3RaycastInformation* raycastHits);
virtual void setTimeOut(double timeOutInSeconds);

2
examples/SharedMemory/PhysicsCommandProcessorInterface.h
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@@ -40,7 +40,7 @@ public:
virtual ~CommandProcessorInterface(){}
virtual void syncPhysicsToGraphics()=0;
virtual void stepSimulationRealTime(double dtInSec,const struct b3VRControllerEvent* vrEvents, int numVREvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents)=0;
virtual void stepSimulationRealTime(double dtInSec,const struct b3VRControllerEvent* vrControllerEvents, int numVRControllerEvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents, const struct b3MouseEvent* mouseEvents, int numMouseEvents)=0;
virtual void enableRealTimeSimulation(bool enableRealTimeSim)=0;
virtual bool isRealTimeSimulationEnabled() const=0;

24
examples/SharedMemory/PhysicsDirect.cpp
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@@ -54,6 +54,7 @@ struct PhysicsDirectInternalData
btAlignedObjectArray<b3VRControllerEvent> m_cachedVREvents;
btAlignedObjectArray<b3KeyboardEvent> m_cachedKeyboardEvents;
btAlignedObjectArray<b3MouseEvent> m_cachedMouseEvents;
btAlignedObjectArray<b3RayHitInfo> m_raycastHits;
@@ -699,6 +700,21 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
break;
}
case CMD_REQUEST_MOUSE_EVENTS_DATA_COMPLETED:
{
B3_PROFILE("CMD_REQUEST_MOUSE_EVENTS_DATA_COMPLETED");
if (m_data->m_verboseOutput)
{
b3Printf("Request mouse events completed");
}
m_data->m_cachedMouseEvents.resize(serverCmd.m_sendMouseEvents.m_numMouseEvents);
for (int i=0;i<serverCmd.m_sendMouseEvents.m_numMouseEvents;i++)
{
m_data->m_cachedMouseEvents[i] = serverCmd.m_sendMouseEvents.m_mouseEvents[i];
}
break;
}
case CMD_REQUEST_INTERNAL_DATA_COMPLETED:
{
if (serverCmd.m_numDataStreamBytes)
@@ -1159,6 +1175,14 @@ void PhysicsDirect::getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboar
&m_data->m_cachedKeyboardEvents[0] : 0;
}
void PhysicsDirect::getCachedMouseEvents(struct b3MouseEventsData* mouseEventsData)
{
mouseEventsData->m_numMouseEvents = m_data->m_cachedMouseEvents.size();
mouseEventsData->m_mouseEvents = mouseEventsData->m_numMouseEvents?
&m_data->m_cachedMouseEvents[0] : 0;
}
void PhysicsDirect::getCachedRaycastHits(struct b3RaycastInformation* raycastHits)
{
raycastHits->m_numRayHits = m_data->m_raycastHits.size();

2
examples/SharedMemory/PhysicsDirect.h
View File

@@ -95,6 +95,8 @@ public:
virtual void getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData);
virtual void getCachedMouseEvents(struct b3MouseEventsData* mouseEventsData);
virtual void getCachedRaycastHits(struct b3RaycastInformation* raycastHits);
//the following APIs are for internal use for visualization:

5
examples/SharedMemory/PhysicsLoopBack.cpp
View File

@@ -190,6 +190,11 @@ void PhysicsLoopBack::getCachedKeyboardEvents(struct b3KeyboardEventsData* keybo
return m_data->m_physicsClient->getCachedKeyboardEvents(keyboardEventsData);
}
void PhysicsLoopBack::getCachedMouseEvents(struct b3MouseEventsData* mouseEventsData)
{
return m_data->m_physicsClient->getCachedMouseEvents(mouseEventsData);
}
void PhysicsLoopBack::getCachedOverlappingObjects(struct b3AABBOverlapData* overlappingObjects)
{
return m_data->m_physicsClient->getCachedOverlappingObjects(overlappingObjects);

2
examples/SharedMemory/PhysicsLoopBack.h
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@@ -76,6 +76,8 @@ public:
virtual void getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData);
virtual void getCachedMouseEvents(struct b3MouseEventsData* mouseEventsData);
virtual void getCachedRaycastHits(struct b3RaycastInformation* raycastHits);
virtual void setTimeOut(double timeOutInSeconds);

61
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -1153,7 +1153,8 @@ struct PhysicsServerCommandProcessorInternalData
btAlignedObjectArray<b3KeyboardEvent> m_keyboardEvents;
btAlignedObjectArray<b3MouseEvent> m_mouseEvents;
CommandLogger* m_commandLogger;
CommandLogPlayback* m_logPlayback;
@@ -2774,6 +2775,27 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
break;
};
case CMD_REQUEST_MOUSE_EVENTS_DATA:
{
serverStatusOut.m_sendMouseEvents.m_numMouseEvents = m_data->m_mouseEvents.size();
if (serverStatusOut.m_sendMouseEvents.m_numMouseEvents>MAX_MOUSE_EVENTS)
{
serverStatusOut.m_sendMouseEvents.m_numMouseEvents = MAX_MOUSE_EVENTS;
}
for (int i=0;i<serverStatusOut.m_sendMouseEvents.m_numMouseEvents;i++)
{
serverStatusOut.m_sendMouseEvents.m_mouseEvents[i] = m_data->m_mouseEvents[i];
}
m_data->m_mouseEvents.resize(0);
serverStatusOut.m_type = CMD_REQUEST_MOUSE_EVENTS_DATA_COMPLETED;
hasStatus = true;
break;
};
case CMD_REQUEST_KEYBOARD_EVENTS_DATA:
{
//BT_PROFILE("CMD_REQUEST_KEYBOARD_EVENTS_DATA");
@@ -7032,7 +7054,7 @@ bool PhysicsServerCommandProcessor::isRealTimeSimulationEnabled() const
return m_data->m_allowRealTimeSimulation;
}
void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec, const struct b3VRControllerEvent* vrControllerEvents, int numVRControllerEvents,const struct b3KeyboardEvent* keyEvents, int numKeyEvents)
void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec,const struct b3VRControllerEvent* vrControllerEvents, int numVRControllerEvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents, const struct b3MouseEvent* mouseEvents, int numMouseEvents)
{
m_data->m_vrControllerEvents.addNewVREvents(vrControllerEvents,numVRControllerEvents);
for (int i=0;i<m_data->m_stateLoggers.size();i++)
@@ -7044,6 +7066,41 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec, const
}
}
for (int ii=0;ii<numMouseEvents;ii++)
{
const b3MouseEvent& event = mouseEvents[ii];
bool found = false;
//search a matching one first, otherwise add new event
for (int e=0;e<m_data->m_mouseEvents.size();e++)
{
if (event.m_eventType == m_data->m_mouseEvents[e].m_eventType)
{
if (event.m_eventType == MOUSE_MOVE_EVENT)
{
m_data->m_mouseEvents[e].m_mousePosX = event.m_mousePosX;
m_data->m_mouseEvents[e].m_mousePosY = event.m_mousePosY;
found = true;
} else
if ((event.m_eventType == MOUSE_BUTTON_EVENT) && event.m_buttonIndex == m_data->m_mouseEvents[e].m_buttonIndex)
{
m_data->m_mouseEvents[e].m_buttonState |= event.m_buttonState;
if (event.m_buttonState & eButtonIsDown)
{
m_data->m_mouseEvents[e].m_buttonState |= eButtonIsDown;
} else
{
m_data->m_mouseEvents[e].m_buttonState &= ~eButtonIsDown;
}
found = true;
}
}
}
if (!found)
{
m_data->m_mouseEvents.push_back(event);
}
}
for (int i=0;i<numKeyEvents;i++)
{
const b3KeyboardEvent& event = keyEvents[i];

3
examples/SharedMemory/PhysicsServerCommandProcessor.h
View File

@@ -94,7 +94,8 @@ public:
void logObjectStates(btScalar timeStep);
void processCollisionForces(btScalar timeStep);
virtual void stepSimulationRealTime(double dtInSec, const struct b3VRControllerEvent* vrControllerEvents, int numVRControllerEvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents);
virtual void stepSimulationRealTime(double dtInSec,const struct b3VRControllerEvent* vrControllerEvents, int numVRControllerEvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents, const struct b3MouseEvent* mouseEvents, int numMouseEvents);
virtual void enableRealTimeSimulation(bool enableRealTimeSim);
virtual bool isRealTimeSimulationEnabled() const;

222
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -30,6 +30,9 @@ bool gEnableUpdateDebugDrawLines = true;
static int gCamVisualizerWidth = 320;
static int gCamVisualizerHeight = 240;
static bool gEnableDefaultKeyboardShortcuts = true;
static bool gEnableDefaultMousePicking = true;
//extern btVector3 gLastPickPos;
btVector3 gVRTeleportPosLocal(0,0,0);
@@ -212,7 +215,8 @@ struct MotionArgs
btAlignedObjectArray<b3KeyboardEvent> m_keyboardEvents;
btAlignedObjectArray<b3KeyboardEvent> m_sendKeyEvents;
btAlignedObjectArray<b3MouseEvent> m_allMouseEvents;
btAlignedObjectArray<b3MouseEvent> m_sendMouseEvents;
PhysicsServerSharedMemory* m_physicsServerPtr;
b3AlignedObjectArray<b3Vector3> m_positions;
@@ -389,8 +393,52 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
b3KeyboardEvent* keyEvents = args->m_sendKeyEvents.size()? &args->m_sendKeyEvents[0] : 0;
args->m_csGUI->unlock();
args->m_csGUI->lock();
if (gEnableDefaultMousePicking)
{
args->m_physicsServerPtr->stepSimulationRealTime(deltaTimeInSeconds, args->m_sendVrControllerEvents,numSendVrControllers, keyEvents, args->m_sendKeyEvents.size());
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_sendMouseEvents.resize(args->m_allMouseEvents.size());
for (int i=0;i<args->m_allMouseEvents.size();i++)
{
args->m_sendMouseEvents[i] = args->m_allMouseEvents[i];
}
b3MouseEvent* mouseEvents = args->m_sendMouseEvents.size()? &args->m_sendMouseEvents[0] : 0;
args->m_allMouseEvents.clear();
args->m_mouseCommands.clear();
args->m_csGUI->unlock();
{
args->m_physicsServerPtr->stepSimulationRealTime(deltaTimeInSeconds, args->m_sendVrControllerEvents,numSendVrControllers, keyEvents, args->m_sendKeyEvents.size(), mouseEvents, args->m_sendMouseEvents.size());
}
{
if (gEnableUpdateDebugDrawLines)
@@ -405,35 +453,7 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
}
args->m_csGUI->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_csGUI->unlock();
{
args->m_physicsServerPtr->processClientCommands();
@@ -1282,6 +1302,16 @@ public:
return false;
}
b3MouseEvent event;
event.m_buttonState = 0;
event.m_buttonIndex = -1;
event.m_mousePosX = x;
event.m_mousePosY = y;
event.m_eventType = MOUSE_MOVE_EVENT;
m_args[0].m_csGUI->lock();
m_args[0].m_allMouseEvents.push_back(event);
m_args[0].m_csGUI->unlock();
btVector3 rayTo = getRayTo(int(x), int(y));
btVector3 rayFrom;
renderer->getActiveCamera()->getCameraPosition(rayFrom);
@@ -1311,6 +1341,22 @@ public:
CommonWindowInterface* window = m_guiHelper->getAppInterface()->m_window;
b3MouseEvent event;
event.m_buttonIndex = button;
event.m_mousePosX = x;
event.m_mousePosY = y;
event.m_eventType = MOUSE_BUTTON_EVENT;
if (state)
{
event.m_buttonState = eButtonIsDown + eButtonTriggered;
} else
{
event.m_buttonState = eButtonReleased;
}
m_args[0].m_csGUI->lock();
m_args[0].m_allMouseEvents.push_back(event);
m_args[0].m_csGUI->unlock();
if (state==1)
{
@@ -1415,50 +1461,52 @@ public:
btVector3 VRTeleportPos =this->m_physicsServer.getVRTeleportPosition();
if (key=='w' && state)
if (gEnableDefaultKeyboardShortcuts)
{
VRTeleportPos[0]+=shift;
m_physicsServer.setVRTeleportPosition(VRTeleportPos);
saveCurrentSettingsVR(VRTeleportPos);
if (key=='w' && state)
{
VRTeleportPos[0]+=shift;
m_physicsServer.setVRTeleportPosition(VRTeleportPos);
saveCurrentSettingsVR(VRTeleportPos);
}
if (key=='s' && state)
{
VRTeleportPos[0]-=shift;
m_physicsServer.setVRTeleportPosition(VRTeleportPos);
saveCurrentSettingsVR(VRTeleportPos);
}
if (key=='a' && state)
{
VRTeleportPos[1]-=shift;
m_physicsServer.setVRTeleportPosition(VRTeleportPos);
saveCurrentSettingsVR(VRTeleportPos);
}
if (key=='d' && state)
{
VRTeleportPos[1]+=shift;
m_physicsServer.setVRTeleportPosition(VRTeleportPos);
saveCurrentSettingsVR(VRTeleportPos);
}
if (key=='q' && state)
{
VRTeleportPos[2]+=shift;
m_physicsServer.setVRTeleportPosition(VRTeleportPos);
saveCurrentSettingsVR(VRTeleportPos);
}
if (key=='e' && state)
{
VRTeleportPos[2]-=shift;
m_physicsServer.setVRTeleportPosition(VRTeleportPos);
saveCurrentSettingsVR(VRTeleportPos);
}
if (key=='z' && state)
{
gVRTeleportRotZ+=shift;
btQuaternion VRTeleportOrn = btQuaternion(btVector3(0, 0, 1), gVRTeleportRotZ);
m_physicsServer.setVRTeleportOrientation(VRTeleportOrn);
saveCurrentSettingsVR(VRTeleportPos);
}
}
if (key=='s' && state)
{
VRTeleportPos[0]-=shift;
m_physicsServer.setVRTeleportPosition(VRTeleportPos);
saveCurrentSettingsVR(VRTeleportPos);
}
if (key=='a' && state)
{
VRTeleportPos[1]-=shift;
m_physicsServer.setVRTeleportPosition(VRTeleportPos);
saveCurrentSettingsVR(VRTeleportPos);
}
if (key=='d' && state)
{
VRTeleportPos[1]+=shift;
m_physicsServer.setVRTeleportPosition(VRTeleportPos);
saveCurrentSettingsVR(VRTeleportPos);
}
if (key=='q' && state)
{
VRTeleportPos[2]+=shift;
m_physicsServer.setVRTeleportPosition(VRTeleportPos);
saveCurrentSettingsVR(VRTeleportPos);
}
if (key=='e' && state)
{
VRTeleportPos[2]-=shift;
m_physicsServer.setVRTeleportPosition(VRTeleportPos);
saveCurrentSettingsVR(VRTeleportPos);
}
if (key=='z' && state)
{
gVRTeleportRotZ+=shift;
btQuaternion VRTeleportOrn = btQuaternion(btVector3(0, 0, 1), gVRTeleportRotZ);
m_physicsServer.setVRTeleportOrientation(VRTeleportOrn);
saveCurrentSettingsVR(VRTeleportPos);
}
return false;
@@ -1514,8 +1562,22 @@ public:
m_physicsServer.enableRealTimeSimulation(true);
}
if (args.CheckCmdLineFlag("disableDefaultKeyboardShortcuts"))
{
gEnableDefaultKeyboardShortcuts = false;
}
if (args.CheckCmdLineFlag("enableDefaultKeyboardShortcuts"))
{
gEnableDefaultKeyboardShortcuts = true;
}
if (args.CheckCmdLineFlag("disableDefaultMousePicking"))
{
gEnableDefaultMousePicking = false;
}
if (args.CheckCmdLineFlag("enableDefaultMousePicking"))
{
gEnableDefaultMousePicking = true;
}
}
@@ -1797,6 +1859,16 @@ void PhysicsServerExample::updateGraphics()
gEnableRendering = (enable!=0);
}
if (flag == COV_ENABLE_KEYBOARD_SHORTCUTS)
{
gEnableDefaultKeyboardShortcuts = (enable!=0);
}
if (flag == COV_ENABLE_MOUSE_PICKING)
{
gEnableDefaultMousePicking = (enable!=0);
}
m_multiThreadedHelper->m_childGuiHelper->setVisualizerFlag(m_multiThreadedHelper->m_visualizerFlag,m_multiThreadedHelper->m_visualizerEnable);
m_multiThreadedHelper->mainThreadRelease();
break;

4
examples/SharedMemory/PhysicsServerSharedMemory.cpp
View File

@@ -226,9 +226,9 @@ void PhysicsServerSharedMemory::releaseSharedMemory()
}
void PhysicsServerSharedMemory::stepSimulationRealTime(double dtInSec, const struct b3VRControllerEvent* vrEvents, int numVREvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents)
void PhysicsServerSharedMemory::stepSimulationRealTime(double dtInSec, const struct b3VRControllerEvent* vrEvents, int numVREvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents, const struct b3MouseEvent* mouseEvents, int numMouseEvents)
{
m_data->m_commandProcessor->stepSimulationRealTime(dtInSec,vrEvents, numVREvents, keyEvents,numKeyEvents);
m_data->m_commandProcessor->stepSimulationRealTime(dtInSec,vrEvents, numVREvents, keyEvents,numKeyEvents,mouseEvents, numMouseEvents);
}
void PhysicsServerSharedMemory::enableRealTimeSimulation(bool enableRealTimeSim)

2
examples/SharedMemory/PhysicsServerSharedMemory.h
View File

@@ -27,7 +27,7 @@ public:
virtual void processClientCommands();
virtual void stepSimulationRealTime(double dtInSec,const struct b3VRControllerEvent* vrEvents, int numVREvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents);
virtual void stepSimulationRealTime(double dtInSec,const struct b3VRControllerEvent* vrEvents, int numVREvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents, const struct b3MouseEvent* mouseEvents, int numMouseEvents);
virtual void enableRealTimeSimulation(bool enableRealTimeSim);
virtual bool isRealTimeSimulationEnabled() const;

8
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -721,6 +721,11 @@ struct SendKeyboardEvents
b3KeyboardEvent m_keyboardEvents[MAX_KEYBOARD_EVENTS];
};
struct SendMouseEvents
{
int m_numMouseEvents;
b3MouseEvent m_mouseEvents[MAX_MOUSE_EVENTS];
};
enum eVRCameraEnums
{
@@ -931,7 +936,6 @@ struct SharedMemoryCommand
struct b3CreateVisualShapeArgs m_createVisualShapeArgs;
struct b3CreateMultiBodyArgs m_createMultiBodyArgs;
struct b3RequestCollisionInfoArgs m_requestCollisionInfoArgs;
};
};
@@ -1001,6 +1005,8 @@ struct SharedMemoryStatus
struct b3CreateVisualShapeResultArgs m_createVisualShapeResultArgs;
struct b3CreateMultiBodyResultArgs m_createMultiBodyResultArgs;
struct b3SendCollisionInfoArgs m_sendCollisionInfoArgs;
struct SendMouseEvents m_sendMouseEvents;
};
};

28
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -66,6 +66,7 @@ enum EnumSharedMemoryClientCommand
CMD_CREATE_VISUAL_SHAPE,
CMD_CREATE_MULTI_BODY,
CMD_REQUEST_COLLISION_INFO,
CMD_REQUEST_MOUSE_EVENTS_DATA,
//don't go beyond this command!
CMD_MAX_CLIENT_COMMANDS,
@@ -159,6 +160,7 @@ enum EnumSharedMemoryServerStatus
CMD_CREATE_MULTI_BODY_COMPLETED,
CMD_REQUEST_COLLISION_INFO_COMPLETED,
CMD_REQUEST_COLLISION_INFO_FAILED,
CMD_REQUEST_MOUSE_EVENTS_DATA_COMPLETED,
//don't go beyond 'CMD_MAX_SERVER_COMMANDS!
CMD_MAX_SERVER_COMMANDS
};
@@ -325,7 +327,7 @@ enum b3VREventType
#define MAX_RAY_INTERSECTION_BATCH_SIZE 256
#define MAX_RAY_HITS MAX_RAY_INTERSECTION_BATCH_SIZE
#define MAX_KEYBOARD_EVENTS 256
#define MAX_MOUSE_EVENTS 256
enum b3VRButtonInfo
@@ -384,6 +386,28 @@ struct b3KeyboardEventsData
struct b3KeyboardEvent* m_keyboardEvents;
};
enum eMouseEventTypeEnums
{
MOUSE_MOVE_EVENT=1,
MOUSE_BUTTON_EVENT=2,
};
struct b3MouseEvent
{
int m_eventType;
float m_mousePosX;
float m_mousePosY;
int m_buttonIndex;
int m_buttonState;
};
struct b3MouseEventsData
{
int m_numMouseEvents;
struct b3MouseEvent* m_mouseEvents;
};
struct b3ContactPointData
{
//todo: expose some contact flags, such as telling which fields below are valid
@@ -531,6 +555,8 @@ enum b3ConfigureDebugVisualizerEnum
COV_ENABLE_VR_RENDER_CONTROLLERS,
COV_ENABLE_RENDERING,
COV_ENABLE_SYNC_RENDERING_INTERNAL,
COV_ENABLE_KEYBOARD_SHORTCUTS,
COV_ENABLE_MOUSE_PICKING,
};
enum b3AddUserDebugItemEnum

51
examples/pybullet/pybullet.c
View File

@@ -3996,6 +3996,50 @@ static PyObject* pybullet_getKeyboardEvents(PyObject* self, PyObject* args, PyOb
return keyEventsObj;
}
static PyObject* pybullet_getMouseEvents(PyObject* self, PyObject* args, PyObject* keywds)
{
b3SharedMemoryCommandHandle commandHandle;
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
struct b3MouseEventsData mouseEventsData;
PyObject* mouseEventsObj = 0;
int i = 0;
static char* kwlist[] = {"physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|i", kwlist, &physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
commandHandle = b3RequestMouseEventsCommandInit(sm);
b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
b3GetMouseEventsData(sm, &mouseEventsData);
mouseEventsObj = PyTuple_New(mouseEventsData.m_numMouseEvents);
for (i = 0; i < mouseEventsData.m_numMouseEvents; i++)
{
PyObject* mouseEventObj = PyTuple_New(5);
PyTuple_SetItem(mouseEventObj,0, PyInt_FromLong(mouseEventsData.m_mouseEvents[i].m_eventType));
PyTuple_SetItem(mouseEventObj,1, PyFloat_FromDouble(mouseEventsData.m_mouseEvents[i].m_mousePosX));
PyTuple_SetItem(mouseEventObj,2, PyFloat_FromDouble(mouseEventsData.m_mouseEvents[i].m_mousePosY));
PyTuple_SetItem(mouseEventObj,3, PyInt_FromLong(mouseEventsData.m_mouseEvents[i].m_buttonIndex));
PyTuple_SetItem(mouseEventObj,4, PyInt_FromLong(mouseEventsData.m_mouseEvents[i].m_buttonState));
PyTuple_SetItem(mouseEventsObj,i,mouseEventObj);
}
return mouseEventsObj;
}
static PyObject* pybullet_getVREvents(PyObject* self, PyObject* args, PyObject* keywds)
{
b3SharedMemoryCommandHandle commandHandle;
@@ -6756,7 +6800,10 @@ static PyMethodDef SpamMethods[] = {
"Set properties of the VR Camera such as its root transform "
"for teleporting or to track objects (camera inside a vehicle for example)."},
{"getKeyboardEvents", (PyCFunction)pybullet_getKeyboardEvents, METH_VARARGS | METH_KEYWORDS,
"Get Keyboard events, keycode and state (KEY_IS_DOWN, KEY_WAS_TRIGGER, KEY_WAS_RELEASED)"},
"Get keyboard events, keycode and state (KEY_IS_DOWN, KEY_WAS_TRIGGERED, KEY_WAS_RELEASED)"},
{"getMouseEvents", (PyCFunction)pybullet_getMouseEvents, METH_VARARGS | METH_KEYWORDS,
"Get mouse events, event type and button state (KEY_IS_DOWN, KEY_WAS_TRIGGERED, KEY_WAS_RELEASED)"},
{"startStateLogging", (PyCFunction)pybullet_startStateLogging, METH_VARARGS | METH_KEYWORDS,
"Start logging of state, such as robot base position, orientation, joint positions etc. "
@@ -6923,6 +6970,8 @@ initpybullet(void)
PyModule_AddIntConstant(m, "COV_ENABLE_VR_TELEPORTING", COV_ENABLE_VR_TELEPORTING);
PyModule_AddIntConstant(m, "COV_ENABLE_RENDERING", COV_ENABLE_RENDERING);
PyModule_AddIntConstant(m, "COV_ENABLE_VR_RENDER_CONTROLLERS", COV_ENABLE_VR_RENDER_CONTROLLERS);
PyModule_AddIntConstant(m, "COV_ENABLE_KEYBOARD_SHORTCUTS", COV_ENABLE_KEYBOARD_SHORTCUTS);
PyModule_AddIntConstant(m, "COV_ENABLE_MOUSE_PICKING", COV_ENABLE_MOUSE_PICKING);
PyModule_AddIntConstant(m, "ER_TINY_RENDERER", ER_TINY_RENDERER);