Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

also report VR events for HMD and generic tracked devices. Also expose those VR events to pybullet: expose a deviceTypeFilter, that defaults to VR_DEVICE_CONTROLLER

Browse Source
This commit is contained in:
Erwin Coumans
2017-04-07 22:53:36 -07:00
parent 82b576a390
commit 440d445a02
9 changed files with 197 additions and 31 deletions
Download Patch File Download Diff File Expand all files Collapse all files

33
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -605,6 +605,7 @@ struct b3VRControllerEvents
{
for (int i=0;i<MAX_VR_CONTROLLERS;i++)
{
m_vrEvents[i].m_deviceType = 0;
m_vrEvents[i].m_numButtonEvents = 0;
m_vrEvents[i].m_numMoveEvents = 0;
for (int b=0;b<MAX_VR_BUTTONS;b++)
@@ -628,6 +629,7 @@ struct b3VRControllerEvents
if (vrEvents[i].m_numMoveEvents+vrEvents[i].m_numButtonEvents)
{
m_vrEvents[controlledId].m_controllerId = vrEvents[i].m_controllerId;
m_vrEvents[controlledId].m_deviceType = vrEvents[i].m_deviceType;
m_vrEvents[controlledId].m_pos[0] = vrEvents[i].m_pos[0];
m_vrEvents[controlledId].m_pos[1] = vrEvents[i].m_pos[1];
@@ -1209,7 +1211,9 @@ struct PhysicsServerCommandProcessorInternalData
bool m_allowRealTimeSimulation;
bool m_hasGround;
b3VRControllerEvents m_vrEvents1;
b3VRControllerEvents m_vrControllerEvents;
btAlignedObjectArray<b3KeyboardEvent> m_keyboardEvents;
btMultiBodyFixedConstraint* m_gripperRigidbodyFixed;
@@ -1324,7 +1328,7 @@ struct PhysicsServerCommandProcessorInternalData
m_pickedConstraint(0),
m_pickingMultiBodyPoint2Point(0)
{
m_vrEvents1.init();
m_vrControllerEvents.init();
initHandles();
#if 0
@@ -2362,20 +2366,23 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_REQUEST_VR_EVENTS_DATA:
{
BT_PROFILE("CMD_REQUEST_VR_EVENTS_DATA");
serverStatusOut.m_sendVREvents.m_numVRControllerEvents = 0;
for (int i=0;i<MAX_VR_CONTROLLERS;i++)
{
b3VRControllerEvent& event = m_data->m_vrEvents1.m_vrEvents[i];
b3VRControllerEvent& event = m_data->m_vrControllerEvents.m_vrEvents[i];
if (event.m_numButtonEvents + event.m_numMoveEvents)
if (clientCmd.m_updateFlags&event.m_deviceType)
{
serverStatusOut.m_sendVREvents.m_controllerEvents[serverStatusOut.m_sendVREvents.m_numVRControllerEvents++] = event;
event.m_numButtonEvents = 0;
event.m_numMoveEvents = 0;
for (int b=0;b<MAX_VR_BUTTONS;b++)
if (event.m_numButtonEvents + event.m_numMoveEvents)
{
event.m_buttons[b] = 0;
serverStatusOut.m_sendVREvents.m_controllerEvents[serverStatusOut.m_sendVREvents.m_numVRControllerEvents++] = event;
event.m_numButtonEvents = 0;
event.m_numMoveEvents = 0;
for (int b=0;b<MAX_VR_BUTTONS;b++)
{
event.m_buttons[b] = 0;
}
}
}
}
@@ -5668,15 +5675,15 @@ void PhysicsServerCommandProcessor::enableRealTimeSimulation(bool enableRealTime
m_data->m_allowRealTimeSimulation = enableRealTimeSim;
}
void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec, const struct b3VRControllerEvent* vrEvents, int numVREvents,const struct b3KeyboardEvent* keyEvents, int numKeyEvents)
void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec, const struct b3VRControllerEvent* vrControllerEvents, int numVRControllerEvents,const struct b3KeyboardEvent* keyEvents, int numKeyEvents)
{
m_data->m_vrEvents1.addNewVREvents(vrEvents,numVREvents);
m_data->m_vrControllerEvents.addNewVREvents(vrControllerEvents,numVRControllerEvents);
for (int i=0;i<m_data->m_stateLoggers.size();i++)
{
if (m_data->m_stateLoggers[i]->m_loggingType==STATE_LOGGING_VR_CONTROLLERS)
{
VRControllerStateLogger* vrLogger = (VRControllerStateLogger*) m_data->m_stateLoggers[i];
vrLogger->m_vrEvents.addNewVREvents(vrEvents,numVREvents);
vrLogger->m_vrEvents.addNewVREvents(vrControllerEvents,numVRControllerEvents);
}
}