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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

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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
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91
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -1046,7 +1046,9 @@ public:
virtual void vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orientation[4]);
virtual void vrControllerMoveCallback(int controllerId, float pos[4], float orientation[4], float analogAxis);
virtual void vrHMDMoveCallback(int controllerId, float pos[4], float orientation[4]);
virtual void vrGenericTrackerMoveCallback(int controllerId, float pos[4], float orientation[4]);
virtual bool mouseMoveCallback(float x,float y)
{
@@ -2229,6 +2231,7 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
m_args[0].m_csGUI->lock();
m_args[0].m_vrControllerEvents[controllerId].m_controllerId = controllerId;
m_args[0].m_vrControllerEvents[controllerId].m_deviceType = VR_DEVICE_CONTROLLER;
m_args[0].m_vrControllerEvents[controllerId].m_pos[0] = trTotal.getOrigin()[0];
m_args[0].m_vrControllerEvents[controllerId].m_pos[1] = trTotal.getOrigin()[1];
m_args[0].m_vrControllerEvents[controllerId].m_pos[2] = trTotal.getOrigin()[2];
@@ -2252,7 +2255,7 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
void PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[4], float orn[4], float analogAxis)
{
if (controllerId <= 0 || controllerId >= MAX_VR_CONTROLLERS)
if (controllerId < 0 || controllerId >= MAX_VR_CONTROLLERS)
{
printf("Controller Id exceeds max: %d > %d", controllerId, MAX_VR_CONTROLLERS);
return;
@@ -2299,6 +2302,7 @@ void PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[
m_args[0].m_csGUI->lock();
m_args[0].m_vrControllerEvents[controllerId].m_controllerId = controllerId;
m_args[0].m_vrControllerEvents[controllerId].m_deviceType = VR_DEVICE_CONTROLLER;
m_args[0].m_vrControllerEvents[controllerId].m_pos[0] = trTotal.getOrigin()[0];
m_args[0].m_vrControllerEvents[controllerId].m_pos[1] = trTotal.getOrigin()[1];
m_args[0].m_vrControllerEvents[controllerId].m_pos[2] = trTotal.getOrigin()[2];
@@ -2311,4 +2315,87 @@ void PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[
m_args[0].m_csGUI->unlock();
}
void PhysicsServerExample::vrHMDMoveCallback(int controllerId, float pos[4], float orn[4])
{
if (controllerId < 0 || controllerId >= MAX_VR_CONTROLLERS)
{
printf("Controller Id exceeds max: %d > %d", controllerId, MAX_VR_CONTROLLERS);
return;
}
//we may need to add some trLocal transform, to align the camera to our preferences
btTransform trLocal;
trLocal.setIdentity();
// trLocal.setRotation(btQuaternion(btVector3(0, 0, 1), SIMD_HALF_PI)*btQuaternion(btVector3(0, 1, 0), SIMD_HALF_PI));
btTransform trOrg;
trOrg.setIdentity();
trOrg.setOrigin(btVector3(pos[0], pos[1], pos[2]));
trOrg.setRotation(btQuaternion(orn[0], orn[1], orn[2], orn[3]));
btTransform tr2a;
tr2a.setIdentity();
btTransform tr2;
tr2.setIdentity();
tr2.setOrigin(gVRTeleportPos1);
tr2a.setRotation(gVRTeleportOrn);
btTransform trTotal = tr2*tr2a*trOrg*trLocal;
m_args[0].m_csGUI->lock();
m_args[0].m_vrControllerEvents[controllerId].m_controllerId = controllerId;
m_args[0].m_vrControllerEvents[controllerId].m_deviceType = VR_DEVICE_HMD;
m_args[0].m_vrControllerEvents[controllerId].m_pos[0] = trTotal.getOrigin()[0];
m_args[0].m_vrControllerEvents[controllerId].m_pos[1] = trTotal.getOrigin()[1];
m_args[0].m_vrControllerEvents[controllerId].m_pos[2] = trTotal.getOrigin()[2];
m_args[0].m_vrControllerEvents[controllerId].m_orn[0] = trTotal.getRotation()[0];
m_args[0].m_vrControllerEvents[controllerId].m_orn[1] = trTotal.getRotation()[1];
m_args[0].m_vrControllerEvents[controllerId].m_orn[2] = trTotal.getRotation()[2];
m_args[0].m_vrControllerEvents[controllerId].m_orn[3] = trTotal.getRotation()[3];
m_args[0].m_vrControllerEvents[controllerId].m_numMoveEvents++;
m_args[0].m_csGUI->unlock();
}
void PhysicsServerExample::vrGenericTrackerMoveCallback(int controllerId, float pos[4], float orn[4])
{
if (controllerId < 0 || controllerId >= MAX_VR_CONTROLLERS)
{
printf("Controller Id exceeds max: %d > %d", controllerId, MAX_VR_CONTROLLERS);
return;
}
//we may need to add some trLocal transform, to align the camera to our preferences
btTransform trLocal;
trLocal.setIdentity();
trLocal.setRotation(btQuaternion(btVector3(0, 0, 1), SIMD_HALF_PI)*btQuaternion(btVector3(0, 1, 0), SIMD_HALF_PI));
btTransform trOrg;
trOrg.setIdentity();
trOrg.setOrigin(btVector3(pos[0], pos[1], pos[2]));
trOrg.setRotation(btQuaternion(orn[0], orn[1], orn[2], orn[3]));
btTransform tr2a;
tr2a.setIdentity();
btTransform tr2;
tr2.setIdentity();
tr2.setOrigin(gVRTeleportPos1);
tr2a.setRotation(gVRTeleportOrn);
btTransform trTotal = tr2*tr2a*trOrg*trLocal;
m_args[0].m_csGUI->lock();
m_args[0].m_vrControllerEvents[controllerId].m_controllerId = controllerId;
m_args[0].m_vrControllerEvents[controllerId].m_deviceType = VR_DEVICE_GENERIC_TRACKER;
m_args[0].m_vrControllerEvents[controllerId].m_pos[0] = trTotal.getOrigin()[0];
m_args[0].m_vrControllerEvents[controllerId].m_pos[1] = trTotal.getOrigin()[1];
m_args[0].m_vrControllerEvents[controllerId].m_pos[2] = trTotal.getOrigin()[2];
m_args[0].m_vrControllerEvents[controllerId].m_orn[0] = trTotal.getRotation()[0];
m_args[0].m_vrControllerEvents[controllerId].m_orn[1] = trTotal.getRotation()[1];
m_args[0].m_vrControllerEvents[controllerId].m_orn[2] = trTotal.getRotation()[2];
m_args[0].m_vrControllerEvents[controllerId].m_orn[3] = trTotal.getRotation()[3];
m_args[0].m_vrControllerEvents[controllerId].m_numMoveEvents++;
m_args[0].m_csGUI->unlock();
}
B3_STANDALONE_EXAMPLE(PhysicsServerCreateFunc)