allow to enable/disable VR picking and VR teleport. Disabling VR picking will also disable the rendering of the VR controller frames.

examples/SharedMemory/PhysicsServerExample.cpp

@@ -25,6 +25,8 @@
 
 //@todo(erwincoumans) those globals are hacks for a VR demo, move this to Python/pybullet!
 extern btVector3 gLastPickPos;
+bool gEnablePicking=true;
+bool gEnableTeleporting=true;
 
 btVector3 gVRTeleportPosLocal(0,0,0);
 btQuaternion gVRTeleportOrnLocal(0,0,0,1);
@@ -565,7 +567,11 @@ public:
         m_childGuiHelper->setVisualizerFlag(flag,enable);
     }
 
-    
+    void	setVisualizerFlagCallback(VisualizerFlagCallback callback)
+	{
+		m_childGuiHelper->setVisualizerFlagCallback(callback);
+	}
+
 	GUIHelperInterface* m_childGuiHelper;
 
 	int m_uidGenerator;
@@ -998,6 +1004,10 @@ public:
 	
 	}
 
+	
+
+
+
 	const char* m_mp4FileName;
 	virtual void	dumpFramesToVideo(const char* mp4FileName)
 	{
@@ -2015,28 +2025,31 @@ void PhysicsServerExample::renderScene()
 	}
 	m_physicsServer.renderScene();
 	
-	for (int i=0;i<MAX_VR_CONTROLLERS;i++)
+	if (gEnablePicking)
 	{
-		if (m_args[0].m_isVrControllerPicking[i] || m_args[0].m_isVrControllerDragging[i])
+		for (int i=0;i<MAX_VR_CONTROLLERS;i++)
 		{
-			btVector3 from = m_args[0].m_vrControllerPos[i];
+			if (m_args[0].m_isVrControllerPicking[i] || m_args[0].m_isVrControllerDragging[i])
-			btMatrix3x3 mat(m_args[0].m_vrControllerOrn[i]);
+			{
+				btVector3 from = m_args[0].m_vrControllerPos[i];
+				btMatrix3x3 mat(m_args[0].m_vrControllerOrn[i]);
 	
-			btVector3 toX = from+mat.getColumn(0);
+				btVector3 toX = from+mat.getColumn(0);
-			btVector3 toY = from+mat.getColumn(1);
+				btVector3 toY = from+mat.getColumn(1);
-			btVector3 toZ = from+mat.getColumn(2);
+				btVector3 toZ = from+mat.getColumn(2);
 	
-			int width = 2;
+				int width = 2;
 
 	
-			btVector4 color;
+				btVector4 color;
-			color=btVector4(1,0,0,1);
+				color=btVector4(1,0,0,1);
-			m_guiHelper->getAppInterface()->m_renderer->drawLine(from,toX,color,width);
+				m_guiHelper->getAppInterface()->m_renderer->drawLine(from,toX,color,width);
-			color=btVector4(0,1,0,1);
+				color=btVector4(0,1,0,1);
-			m_guiHelper->getAppInterface()->m_renderer->drawLine(from,toY,color,width);
+				m_guiHelper->getAppInterface()->m_renderer->drawLine(from,toY,color,width);
-			color=btVector4(0,0,1,1);
+				color=btVector4(0,0,1,1);
-			m_guiHelper->getAppInterface()->m_renderer->drawLine(from,toZ,color,width);
+				m_guiHelper->getAppInterface()->m_renderer->drawLine(from,toZ,color,width);
 	
+			}
 		}
 	}
 
@@ -2132,10 +2145,12 @@ btVector3	PhysicsServerExample::getRayTo(int x,int y)
 
 extern int gSharedMemoryKey;
 
+
 class CommonExampleInterface*    PhysicsServerCreateFunc(struct CommonExampleOptions& options)
 {
 
 	MultiThreadedOpenGLGuiHelper* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper(options.m_guiHelper->getAppInterface(),options.m_guiHelper);
+	
 
   	PhysicsServerExample* example = new PhysicsServerExample(guiHelperWrapper, 
 		options.m_sharedMem, 
@@ -2250,7 +2265,7 @@ void	PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
 	}
 	
 
-	if (button==1)
+	if (button==1 && gEnableTeleporting)
 	{
 		m_args[0].m_isVrControllerTeleporting[controllerId] = true;
 	}
@@ -2262,7 +2277,7 @@ void	PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
 	else
 	{
 
-		if (button == 33)
+		if (button == 33 && gEnablePicking)
 		{
 			m_args[0].m_isVrControllerPicking[controllerId] = (state != 0);
 			m_args[0].m_isVrControllerReleasing[controllerId] = (state == 0);

examples/SharedMemory/SharedMemoryPublic.h

@@ -495,6 +495,8 @@ enum b3ConfigureDebugVisualizerEnum
     COV_ENABLE_GUI=1,
     COV_ENABLE_SHADOWS,
     COV_ENABLE_WIREFRAME,
+	COV_ENABLE_VR_TELEPORTING,
+	COV_ENABLE_VR_PICKING,
 };
 
 enum eCONNECT_METHOD {

examples/SharedMemory/TinyRendererVisualShapeConverter.cpp

@@ -516,7 +516,6 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
 	btAssert(linkPtr); // TODO: remove if (not doing it now, because diff will be 50+ lines)
 	if (linkPtr)
 	{
-		const btArray<UrdfVisual>* shapeArray;
 		bool useVisual;
 		int cnt = 0;
 		if (linkPtr->m_visualArray.size() > 0)

examples/StandaloneMain/hellovr_opengl_main.cpp

@@ -367,6 +367,47 @@ void MyKeyboardCallback(int key, int state)
 		prevKeyboardCallback(key,state);
 
 }
+
+
+
+
+#include "../SharedMemory/SharedMemoryPublic.h"
+extern bool useShadowMap;
+extern int gDebugDrawFlags;
+
+extern bool gEnablePicking;
+extern bool gEnableTeleporting;
+
+void VRPhysicsServerVisualizerFlagCallback(int flag, bool enable)
+{
+    if (flag == COV_ENABLE_SHADOWS)
+    {
+        useShadowMap = enable;
+    }
+    if (flag == COV_ENABLE_GUI)
+    {
+		//there is no regular GUI here, but disable the 
+    }
+
+	if (flag==COV_ENABLE_VR_TELEPORTING)
+	{
+		gEnableTeleporting = enable;
+	}
+
+	if (flag == COV_ENABLE_VR_PICKING)
+	{
+		gEnablePicking = enable;
+	}
+    
+    if (flag == COV_ENABLE_WIREFRAME)
+    {
+		gDebugDrawFlags |= btIDebugDraw::DBG_DrawWireframe;
+    } else
+	{
+		gDebugDrawFlags &= ~btIDebugDraw::DBG_DrawWireframe;
+	}
+}
+
 //-----------------------------------------------------------------------------
 // Purpose:
 //-----------------------------------------------------------------------------
@@ -418,6 +459,7 @@ bool CMainApplication::BInit()
 
 	
 	sGuiPtr = new OpenGLGuiHelper(m_app,false);
+	sGuiPtr->setVisualizerFlagCallback(VRPhysicsServerVisualizerFlagCallback);
 	sGuiPtr->setVRMode(true);
 
 	//sGuiPtr = new DummyGUIHelper;

examples/pybullet/pybullet.c

@@ -6346,6 +6346,8 @@ initpybullet(void)
 	PyModule_AddIntConstant(m, "COV_ENABLE_GUI", COV_ENABLE_GUI);
 	PyModule_AddIntConstant(m, "COV_ENABLE_SHADOWS", COV_ENABLE_SHADOWS);
 	PyModule_AddIntConstant(m, "COV_ENABLE_WIREFRAME", COV_ENABLE_WIREFRAME);
+	PyModule_AddIntConstant(m, "COV_ENABLE_VR_PICKING", COV_ENABLE_VR_PICKING);
+	PyModule_AddIntConstant(m, "COV_ENABLE_VR_TELEPORTING", COV_ENABLE_VR_TELEPORTING);
 
 	PyModule_AddIntConstant(m, "ER_TINY_RENDERER", ER_TINY_RENDERER);
 	PyModule_AddIntConstant(m, "ER_BULLET_HARDWARE_OPENGL", ER_BULLET_HARDWARE_OPENGL);