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Add small sphere, make teddy small too

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Add physics time scale in VR mode
Fix compound collision margin in physics server
Enable visuals for rigid body (non-multi-body) URDF/SDF loading in physics server.
This commit is contained in:
erwincoumans
2016-09-22 08:50:28 -07:00
parent bb214e823b
commit 46b32f17bb
6 changed files with 159 additions and 41 deletions
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83
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -23,6 +23,9 @@ extern btVector3 gVRGripperPos;
extern btQuaternion gVRGripperOrn;
extern btScalar gVRGripperAnalog;
extern bool gEnableRealTimeSimVR;
extern int gCreateObjectSimVR;
static int gGraspingController = -1;
extern btScalar simTimeScalingFactor;
extern bool gVRGripperClosed;
@@ -54,6 +57,7 @@ enum MultiThreadedGUIHelperCommunicationEnums
eGUIHelperRegisterGraphicsInstance,
eGUIHelperCreateCollisionShapeGraphicsObject,
eGUIHelperCreateCollisionObjectGraphicsObject,
eGUIHelperCreateRigidBodyGraphicsObject,
eGUIHelperRemoveAllGraphicsInstances,
eGUIHelperCopyCameraImageData,
};
@@ -305,7 +309,20 @@ public:
return m_cs;
}
virtual void createRigidBodyGraphicsObject(btRigidBody* body,const btVector3& color){}
btRigidBody* m_body;
btVector3 m_color3;
virtual void createRigidBodyGraphicsObject(btRigidBody* body,const btVector3& color)
{
m_body = body;
m_color3 = color;
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperCreateRigidBodyGraphicsObject);
m_cs->unlock();
while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
{
b3Clock::usleep(1000);
}
}
btCollisionObject* m_obj;
btVector3 m_color2;
@@ -776,6 +793,14 @@ void PhysicsServerExample::stepSimulation(float deltaTime)
m_multiThreadedHelper->getCriticalSection()->unlock();
break;
}
case eGUIHelperCreateRigidBodyGraphicsObject:
{
m_multiThreadedHelper->m_childGuiHelper->createRigidBodyGraphicsObject(m_multiThreadedHelper->m_body,m_multiThreadedHelper->m_color3);
m_multiThreadedHelper->getCriticalSection()->lock();
m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
m_multiThreadedHelper->getCriticalSection()->unlock();
break;
}
case eGUIHelperRegisterTexture:
{
@@ -937,10 +962,15 @@ void PhysicsServerExample::renderScene()
}
}
if (gDebugRenderToggle)
if (m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->isVRCamera())
{
gEnableRealTimeSimVR = true;
}
if (gDebugRenderToggle)
if (m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->isVRCamera())
{
B3_PROFILE("Draw Debug HUD");
//some little experiment to add text/HUD to a VR camera (HTC Vive/Oculus Rift)
@@ -970,7 +1000,7 @@ void PhysicsServerExample::renderScene()
count = 0;
sprintf(line0, "Graphics FPS (worse) = %f, frame %d", worseFps, frameCount / 2);
sprintf(line1, "Physics Steps = %d, Dropped = %d, dt %f, Substep %f)", gNumSteps, gDroppedSimulationSteps, gDtInSec, gSubStep);
sprintf(line1, "Physics Steps = %d, Drop = %d, time scale=%f, dt %f, Substep %f)", gNumSteps, gDroppedSimulationSteps, simTimeScalingFactor,gDtInSec, gSubStep);
gDroppedSimulationSteps = 0;
worseFps = 1000000;
@@ -996,15 +1026,25 @@ void PhysicsServerExample::renderScene()
m[14]=+gVRTeleportPos[2];
viewTr.setFromOpenGLMatrix(m);
btTransform viewTrInv = viewTr.inverse();
float upMag = -.6;
btVector3 side = viewTrInv.getBasis().getColumn(0);
btVector3 up = viewTrInv.getBasis().getColumn(1);
up+=0.6*side;
m_guiHelper->getAppInterface()->drawText3D(line0,pos[0]+upMag*up[0],pos[1]+upMag*up[1],pos[2]+upMag*up[2],1);
btVector3 fwd = viewTrInv.getBasis().getColumn(2);
float upMag = 0;
float sideMag = 2.2;
float fwdMag = -4;
m_guiHelper->getAppInterface()->drawText3D(line0,pos[0]+upMag*up[0]-sideMag*side[0]+fwdMag*fwd[0],pos[1]+upMag*up[1]-sideMag*side[1]+fwdMag*fwd[1],pos[2]+upMag*up[2]-sideMag*side[2]+fwdMag*fwd[2],1);
//btVector3 fwd = viewTrInv.getBasis().getColumn(2);
upMag = -0.7;
m_guiHelper->getAppInterface()->drawText3D(line1,pos[0]+upMag*up[0],pos[1]+upMag*up[1],pos[2]+upMag*up[2],1);
up = viewTrInv.getBasis().getColumn(1);
upMag = -0.3;
m_guiHelper->getAppInterface()->drawText3D(line1,pos[0]+upMag*up[0]-sideMag*side[0]+fwdMag*fwd[0],pos[1]+upMag*up[1]-sideMag*side[1]+fwdMag*fwd[1],pos[2]+upMag*up[2]-sideMag*side[2]+fwdMag*fwd[2],1);
}
//m_args[0].m_cs->unlock();
@@ -1112,7 +1152,6 @@ class CommonExampleInterface* PhysicsServerCreateFunc(struct CommonExampleOpt
}
static int gGraspingController = -1;
void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orn[4])
{
@@ -1130,10 +1169,34 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
{
gVRTeleportPos = gLastPickPos;
}
} else
{
if (button == 1)
{
if (state == 1)
{
gDebugRenderToggle = 1;
} else
{
gDebugRenderToggle = 0;
simTimeScalingFactor *= 0.5;
if (simTimeScalingFactor==0)
{
simTimeScalingFactor = 1;
}
if (simTimeScalingFactor<0.01)
{
simTimeScalingFactor = 0;
}
}
} else
{
}
}
if (button==32 && state==0)
{
gDebugRenderToggle = !gDebugRenderToggle;
gCreateObjectSimVR = 1;
}