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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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82
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -255,9 +255,11 @@ struct MotionArgs
btAlignedObjectArray<MyMouseCommand> m_mouseCommands;
b3VRControllerEvent m_vrControllerEvents[MAX_VR_CONTROLLERS];
b3VRControllerEvent m_sendVrControllerEvents[MAX_VR_CONTROLLERS];
btAlignedObjectArray<b3KeyboardEvent> m_keyboardEvents;
btAlignedObjectArray<b3KeyboardEvent> m_sendKeyEvents;
PhysicsServerSharedMemory* m_physicsServerPtr;
b3AlignedObjectArray<b3Vector3> m_positions;
@@ -408,10 +410,33 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
}
}
args->m_sendKeyEvents.resize(args->m_keyboardEvents.size());
for (int i=0;i<args->m_keyboardEvents.size();i++)
{
args->m_sendKeyEvents[i] = args->m_keyboardEvents[i];
if (args->m_keyboardEvents[i].m_keyState&eButtonReleased)
{
args->m_keyboardEvents[i].m_keyState = 0;
} else
{
args->m_keyboardEvents[i].m_keyState &= ~eButtonTriggered;
}
}
//remove the 'released' events
for (int i=args->m_keyboardEvents.size()-1;i>=0;i--)
{
if (args->m_keyboardEvents[i].m_keyState==0)
{
args->m_keyboardEvents.removeAtIndex(i);
}
}
b3KeyboardEvent* keyEvents = args->m_sendKeyEvents.size()? &args->m_sendKeyEvents[0] : 0;
args->m_csGUI->unlock();
{
BT_PROFILE("stepSimulationRealTime");
args->m_physicsServerPtr->stepSimulationRealTime(deltaTimeInSeconds, args->m_sendVrControllerEvents,numSendVrControllers);
args->m_physicsServerPtr->stepSimulationRealTime(deltaTimeInSeconds, args->m_sendVrControllerEvents,numSendVrControllers, keyEvents, args->m_sendKeyEvents.size());
}
deltaTimeInSeconds = 0;
@@ -1086,6 +1111,59 @@ public:
return false;
}
virtual bool keyboardCallback(int key, int state){
//printf("key=%d, state=%d\n", key,state);
{
int keyIndex = -1;
//is already there?
for (int i=0;i<m_args[0].m_keyboardEvents.size();i++)
{
if (m_args[0].m_keyboardEvents[i].m_keyCode == key)
{
keyIndex = i;
break;
}
}
if (state)
{
b3KeyboardEvent ev;
ev.m_keyCode = key;
ev.m_keyState = eButtonIsDown+eButtonTriggered;
m_args[0].m_csGUI->lock();
if (keyIndex>=0)
{
if (0==(m_args[0].m_keyboardEvents[keyIndex].m_keyState & eButtonIsDown))
{
m_args[0].m_keyboardEvents[keyIndex] = ev;
}
} else
{
m_args[0].m_keyboardEvents.push_back(ev);
}
m_args[0].m_csGUI->unlock();
} else
{
m_args[0].m_csGUI->lock();
b3KeyboardEvent ev;
ev.m_keyCode = key;
ev.m_keyState = eButtonReleased;
if (keyIndex>=0)
{
m_args[0].m_keyboardEvents[keyIndex]=ev;
} else
{
m_args[0].m_keyboardEvents.push_back(ev);
}
m_args[0].m_csGUI->unlock();
}
}
/*printf("m_args[0].m_keyboardEvents.size()=%d\n", m_args[0].m_keyboardEvents.size());
for (int i=0;i<m_args[0].m_keyboardEvents.size();i++)
{
printf("key[%d]=%d state = %d\n",i,m_args[0].m_keyboardEvents[i].m_keyCode,m_args[0].m_keyboardEvents[i].m_keyState);
}
*/
if (key=='w' && state)
{
gVRTeleportPos1[0]+=0.1;