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add experimental pr2-gripper support in VR physics server

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add setErp to btMultiBodyJointMotor
This commit is contained in:
erwin coumans
2016-09-09 14:30:37 -07:00
parent f72982306e
commit 3c706306cd
7 changed files with 234 additions and 41 deletions
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41
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -18,6 +18,8 @@
extern btVector3 gLastPickPos;
btVector3 gVRTeleportPos(0,0,0);
extern bool gVRGripperClosed;
bool gDebugRenderToggle = false;
void MotionThreadFunc(void* userPtr,void* lsMemory);
void* MotionlsMemoryFunc();
@@ -1116,20 +1118,29 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
gDebugRenderToggle = !gDebugRenderToggle;
}
if (button==1)
{
m_args[0].m_isVrControllerTeleporting[controllerId] = true;
}
if ((button==33))
if (controllerId == 3 && (button == 33))
{
m_args[0].m_isVrControllerPicking[controllerId] = (state!=0);
m_args[0].m_isVrControllerReleasing[controllerId] = (state==0);
gVRGripperClosed =state;
}
if ((button==33)||(button==1))
else
{
m_args[0].m_vrControllerPos[controllerId].setValue(pos[0]+gVRTeleportPos[0],pos[1]+gVRTeleportPos[1],pos[2]+gVRTeleportPos[2]);
m_args[0].m_vrControllerOrn[controllerId].setValue(orn[0],orn[1],orn[2],orn[3]);
if ((button == 33))
{
m_args[0].m_isVrControllerPicking[controllerId] = (state != 0);
m_args[0].m_isVrControllerReleasing[controllerId] = (state == 0);
}
if ((button == 33) || (button == 1))
{
m_args[0].m_vrControllerPos[controllerId].setValue(pos[0] + gVRTeleportPos[0], pos[1] + gVRTeleportPos[1], pos[2] + gVRTeleportPos[2]);
m_args[0].m_vrControllerOrn[controllerId].setValue(orn[0], orn[1], orn[2], orn[3]);
}
}
}
@@ -1144,13 +1155,17 @@ void PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[
printf("Controller Id exceeds max: %d > %d", controllerId, MAX_VR_CONTROLLERS);
return;
}
m_args[0].m_vrControllerPos[controllerId].setValue(pos[0]+gVRTeleportPos[0],pos[1]+gVRTeleportPos[1],pos[2]+gVRTeleportPos[2]);
m_args[0].m_vrControllerOrn[controllerId].setValue(orn[0],orn[1],orn[2],orn[3]);
gVRGripperPos.setValue(pos[0]+gVRTeleportPos[0],pos[1]+gVRTeleportPos[1],pos[2]+gVRTeleportPos[2]);
btQuaternion orgOrn(orn[0],orn[1],orn[2],orn[3]);
gVRGripperOrn = orgOrn*btQuaternion(btVector3(0,0,1),SIMD_HALF_PI)*btQuaternion(btVector3(0,1,0),SIMD_HALF_PI);
if (controllerId == 3)
{
gVRGripperPos.setValue(pos[0] + gVRTeleportPos[0], pos[1] + gVRTeleportPos[1], pos[2] + gVRTeleportPos[2]);
btQuaternion orgOrn(orn[0], orn[1], orn[2], orn[3]);
gVRGripperOrn = orgOrn*btQuaternion(btVector3(0, 0, 1), SIMD_HALF_PI)*btQuaternion(btVector3(0, 1, 0), SIMD_HALF_PI);
}
else
{
m_args[0].m_vrControllerPos[controllerId].setValue(pos[0] + gVRTeleportPos[0], pos[1] + gVRTeleportPos[1], pos[2] + gVRTeleportPos[2]);
m_args[0].m_vrControllerOrn[controllerId].setValue(orn[0], orn[1], orn[2], orn[3]);
}
}
B3_STANDALONE_EXAMPLE(PhysicsServerCreateFunc)