Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

create premake/cmake file for Bullet/Extras/obj2sdf

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

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;