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create premake/cmake file for Bullet/Extras/obj2sdf

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add missing 1.sdf for Bullet/data/kitchens/1.sdf
add support for getting keyboard events (pybullet.getKeyboardEvents and b3RobotSimulatorClientAPI::getKeyboardEvents)
This commit is contained in:
Erwin Coumans
2017-03-02 12:33:22 -08:00
parent 255b21a776
commit 34fc2fb589
29 changed files with 7317 additions and 40 deletions
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24
examples/RobotSimulator/RobotSimulatorMain.cpp
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@@ -49,17 +49,33 @@ int main(int argc, char* argv[])
sim->stepSimulation();
}
#endif
sim->setRealTimeSimulation(true);
sim->setRealTimeSimulation(false);
startTime = clock.getTimeInSeconds();
while (clock.getTimeInSeconds()-startTime < simWallClockSeconds)
while (sim->canSubmitCommand())
{
b3Clock::usleep(1000);
b3KeyboardEventsData keyEvents;
sim->getKeyboardEvents(&keyEvents);
if (keyEvents.m_numKeyboardEvents)
{
printf("num key events = %d]\n", keyEvents.m_numKeyboardEvents);
//m_keyState is a flag combination of eButtonIsDown,eButtonTriggered, eButtonReleased
for (int i=0;i<keyEvents.m_numKeyboardEvents;i++)
{
printf("keyEvent[%d].m_keyCode = %d, state = %d\n", i,keyEvents.m_keyboardEvents[i].m_keyCode,keyEvents.m_keyboardEvents[i].m_keyState);
}
}
b3Clock::usleep(1000*1000);
}
printf("sim->disconnect\n");
sim->disconnect();
printf("delete sim\n");
delete sim;
printf("exit\n");
}

46
examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
View File

@@ -177,7 +177,16 @@ void b3RobotSimulatorClientAPI::resetSimulation()
}
b3SharedMemoryStatusHandle statusHandle;
statusHandle = b3SubmitClientCommandAndWaitStatus(
m_data->m_physicsClientHandle, b3InitResetSimulationCommand(m_data->m_physicsClientHandle));
m_data->m_physicsClientHandle, b3InitResetSimulationCommand(m_data->m_physicsClientHandle));
}
bool b3RobotSimulatorClientAPI::canSubmitCommand() const
{
if (!isConnected())
{
return false;
}
return (b3CanSubmitCommand(m_data->m_physicsClientHandle));
}
void b3RobotSimulatorClientAPI::stepSimulation()
@@ -190,8 +199,7 @@ void b3RobotSimulatorClientAPI::stepSimulation()
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3Assert(b3CanSubmitCommand(m_data->m_physicsClientHandle));
if (b3CanSubmitCommand(m_data->m_physicsClientHandle))
if (b3CanSubmitCommand(m_data->m_physicsClientHandle))
{
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, b3InitStepSimulationCommand(m_data->m_physicsClientHandle));
statusType = b3GetStatusType(statusHandle);
@@ -740,6 +748,38 @@ void b3RobotSimulatorClientAPI::configureDebugVisualizer(b3ConfigureDebugVisuali
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
}
void b3RobotSimulatorClientAPI::getVREvents(b3VREventsData* vrEventsData)
{
vrEventsData->m_numControllerEvents = 0;
vrEventsData->m_controllerEvents = 0;
if (!isConnected())
{
b3Warning("Not connected");
return;
}
b3SharedMemoryCommandHandle commandHandle = b3RequestVREventsCommandInit(m_data->m_physicsClientHandle);
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
b3GetVREventsData(m_data->m_physicsClientHandle, vrEventsData);
}
void b3RobotSimulatorClientAPI::getKeyboardEvents(b3KeyboardEventsData* keyboardEventsData)
{
keyboardEventsData->m_numKeyboardEvents = 0;
keyboardEventsData->m_keyboardEvents = 0;
if (!isConnected())
{
b3Warning("Not connected");
return;
}
b3SharedMemoryCommandHandle commandHandle = b3RequestKeyboardEventsCommandInit(m_data->m_physicsClientHandle);
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
b3GetKeyboardEventsData(m_data->m_physicsClientHandle,keyboardEventsData);
}
int b3RobotSimulatorClientAPI::startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const b3AlignedObjectArray<int>& objectUniqueIds)
{
int loggingUniqueId = -1;

5
examples/RobotSimulator/b3RobotSimulatorClientAPI.h
View File

@@ -167,6 +167,8 @@ public:
void stepSimulation();
bool canSubmitCommand() const;
void setRealTimeSimulation(bool enableRealTimeSimulation);
void setGravity(const b3Vector3& gravityAcceleration);
@@ -186,6 +188,9 @@ public:
int startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const b3AlignedObjectArray<int>& objectUniqueIds);
void stopStateLogging(int stateLoggerUniqueId);
void getVREvents(b3VREventsData* vrEventsData);
void getKeyboardEvents(b3KeyboardEventsData* keyboardEventsData);
};
#endif //B3_ROBOT_SIMULATOR_CLIENT_API_H