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

26
examples/SharedMemory/PhysicsDirect.cpp
View File

@@ -52,6 +52,8 @@ struct PhysicsDirectInternalData
btAlignedObjectArray<b3VisualShapeData> m_cachedVisualShapes;
btAlignedObjectArray<b3VRControllerEvent> m_cachedVREvents;
btAlignedObjectArray<b3KeyboardEvent> m_cachedKeyboardEvents;
btAlignedObjectArray<b3RayHitInfo> m_raycastHits;
PhysicsCommandProcessorInterface* m_commandProcessor;
@@ -667,10 +669,23 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
{
b3Printf("Request VR Events completed");
}
m_data->m_cachedVREvents.clear();
m_data->m_cachedVREvents.resize(serverCmd.m_sendVREvents.m_numVRControllerEvents);
for (int i=0;i< serverCmd.m_sendVREvents.m_numVRControllerEvents;i++)
{
m_data->m_cachedVREvents.push_back(serverCmd.m_sendVREvents.m_controllerEvents[i]);
m_data->m_cachedVREvents[i] = serverCmd.m_sendVREvents.m_controllerEvents[i];
}
break;
}
case CMD_REQUEST_KEYBOARD_EVENTS_DATA_COMPLETED:
{
if (m_data->m_verboseOutput)
{
b3Printf("Request keyboard events completed");
}
m_data->m_cachedKeyboardEvents.resize(serverCmd.m_sendKeyboardEvents.m_numKeyboardEvents);
for (int i=0;i<serverCmd.m_sendKeyboardEvents.m_numKeyboardEvents;i++)
{
m_data->m_cachedKeyboardEvents[i] = serverCmd.m_sendKeyboardEvents.m_keyboardEvents[i];
}
break;
}
@@ -1031,6 +1046,13 @@ void PhysicsDirect::getCachedVREvents(struct b3VREventsData* vrEventsData)
&m_data->m_cachedVREvents[0] : 0;
}
void PhysicsDirect::getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData)
{
keyboardEventsData->m_numKeyboardEvents = m_data->m_cachedKeyboardEvents.size();
keyboardEventsData->m_keyboardEvents = keyboardEventsData->m_numKeyboardEvents?
&m_data->m_cachedKeyboardEvents[0] : 0;
}
void PhysicsDirect::getCachedRaycastHits(struct b3RaycastInformation* raycastHits)
{
raycastHits->m_numRayHits = m_data->m_raycastHits.size();