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

66
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -48,7 +48,7 @@ bool gResetSimulation = 0;
int gVRTrackingObjectUniqueId = -1;
btTransform gVRTrackingObjectTr = btTransform::getIdentity();
int gMaxNumCmdPer1ms = 100;//experiment: add some delay to avoid threads starving other threads
int gMaxNumCmdPer1ms = 10;//experiment: add some delay to avoid threads starving other threads
int gCreateObjectSimVR = -1;
int gEnableKukaControl = 0;
btVector3 gVRTeleportPos1(0,0,0);
@@ -823,6 +823,7 @@ struct PhysicsServerCommandProcessorInternalData
bool m_hasGround;
b3VRControllerEvent m_vrEvents[MAX_VR_CONTROLLERS];
btAlignedObjectArray<b3KeyboardEvent> m_keyboardEvents;
btMultiBodyFixedConstraint* m_gripperRigidbodyFixed;
btMultiBody* m_gripperMultiBody;
@@ -1932,6 +1933,42 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
hasStatus = true;
break;
};
case CMD_REQUEST_KEYBOARD_EVENTS_DATA:
{
serverStatusOut.m_sendKeyboardEvents.m_numKeyboardEvents = m_data->m_keyboardEvents.size();
if (serverStatusOut.m_sendKeyboardEvents.m_numKeyboardEvents>MAX_KEYBOARD_EVENTS)
{
serverStatusOut.m_sendKeyboardEvents.m_numKeyboardEvents = MAX_KEYBOARD_EVENTS;
}
for (int i=0;i<serverStatusOut.m_sendKeyboardEvents.m_numKeyboardEvents;i++)
{
serverStatusOut.m_sendKeyboardEvents.m_keyboardEvents[i] = m_data->m_keyboardEvents[i];
}
btAlignedObjectArray<b3KeyboardEvent> events;
//remove out-of-date events
for (int i=0;i<m_data->m_keyboardEvents.size();i++)
{
b3KeyboardEvent event = m_data->m_keyboardEvents[i];
if (event.m_keyState & eButtonIsDown)
{
event.m_keyState = eButtonIsDown;
events.push_back(event);
}
}
m_data->m_keyboardEvents.resize(events.size());
for (int i=0;i<events.size();i++)
{
m_data->m_keyboardEvents[i] = events[i];
}
serverStatusOut.m_type = CMD_REQUEST_KEYBOARD_EVENTS_DATA_COMPLETED;
hasStatus = true;
break;
};
case CMD_REQUEST_RAY_CAST_INTERSECTIONS:
{
btVector3 rayFromWorld(clientCmd.m_requestRaycastIntersections.m_rayFromPosition[0],
@@ -5050,7 +5087,7 @@ void PhysicsServerCommandProcessor::enableRealTimeSimulation(bool enableRealTime
m_data->m_allowRealTimeSimulation = enableRealTimeSim;
}
void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec, const struct b3VRControllerEvent* vrEvents, int numVREvents)
void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec, const struct b3VRControllerEvent* vrEvents, int numVREvents,const struct b3KeyboardEvent* keyEvents, int numKeyEvents)
{
//update m_vrEvents
for (int i=0;i<numVREvents;i++)
@@ -5090,6 +5127,31 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec, const
}
}
for (int i=0;i<numKeyEvents;i++)
{
const b3KeyboardEvent& event = keyEvents[i];
bool found = false;
//search a matching one first, otherwise add new event
for (int e=0;e<m_data->m_keyboardEvents.size();e++)
{
if (event.m_keyCode == m_data->m_keyboardEvents[e].m_keyCode)
{
m_data->m_keyboardEvents[e].m_keyState |= event.m_keyState;
if (event.m_keyState & eButtonIsDown)
{
m_data->m_keyboardEvents[e].m_keyState |= eButtonIsDown;
} else
{
m_data->m_keyboardEvents[e].m_keyState &= ~eButtonIsDown;
}
found=true;
}
}
if (!found)
{
m_data->m_keyboardEvents.push_back(event);
}
}
if (gResetSimulation)
{
resetSimulation();