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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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6
examples/StandaloneMain/hellovr_opengl_main.cpp
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@@ -700,12 +700,16 @@ bool CMainApplication::HandleInput()
if (button==2)
{
glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
gDebugDrawFlags = btIDebugDraw::DBG_DrawContactPoints
///todo(erwincoumans) can't use reguar debug drawer, because physics/graphics are not in sync
//add a special debug drawer that deals with this
//gDebugDrawFlags = btIDebugDraw::DBG_DrawContactPoints
//btIDebugDraw::DBG_DrawConstraintLimits+
//btIDebugDraw::DBG_DrawConstraints
;
}
sExample->vrControllerButtonCallback(unDevice, button, 1, pos, orn);
}
else
{