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separate spinning and rolling friction coefficients, exposed in URDF as spinning_friction / m_rolling_friction

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improvements in VR demo, add grasper etc.
This commit is contained in:
Erwin Coumans
2016-09-16 00:57:00 +01:00
parent 1d88cf71e4
commit 567b003654
14 changed files with 92 additions and 74 deletions
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17
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -18,6 +18,8 @@
extern btVector3 gLastPickPos;
btVector3 gVRTeleportPos(0,0,0);
btQuaternion gVRTeleportOrn(0, 0, 0,1);
extern bool gVRGripperClosed;
bool gDebugRenderToggle = false;
@@ -556,7 +558,7 @@ public:
btVector3 getRayTo(int x,int y);
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]);
virtual void vrControllerMoveCallback(int controllerId, float pos[4], float orientation[4], float analogAxis);
virtual bool mouseMoveCallback(float x,float y)
{
@@ -894,6 +896,7 @@ void PhysicsServerExample::renderScene()
///debug rendering
//m_args[0].m_cs->lock();
//gVRTeleportPos[0] += 0.01;
vrOffset[12]=-gVRTeleportPos[0];
vrOffset[13]=-gVRTeleportPos[1];
vrOffset[14]=-gVRTeleportPos[2];
@@ -1101,7 +1104,7 @@ class CommonExampleInterface* PhysicsServerCreateFunc(struct CommonExampleOpt
}
static int gGraspingController = 2;
static int gGraspingController = -1;
void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orn[4])
{
@@ -1110,6 +1113,8 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
if (controllerId<0 || controllerId>=MAX_VR_CONTROLLERS)
return;
if (gGraspingController < 0)
gGraspingController = controllerId;
if (controllerId != gGraspingController)
{
@@ -1151,10 +1156,15 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
extern btVector3 gVRGripperPos;
extern btQuaternion gVRGripperOrn;
extern btScalar gVRGripperAnalog;
void PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[4], float orn[4])
void PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[4], float orn[4], float analogAxis)
{
if (controllerId <= 0 || controllerId >= MAX_VR_CONTROLLERS)
{
printf("Controller Id exceeds max: %d > %d", controllerId, MAX_VR_CONTROLLERS);
@@ -1162,6 +1172,7 @@ void PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[
}
if (controllerId == gGraspingController)
{
gVRGripperAnalog = analogAxis;
gVRGripperPos.setValue(pos[0] + gVRTeleportPos[0], pos[1] + gVRTeleportPos[1], pos[2] + gVRTeleportPos[2]);
btQuaternion orgOrn(orn[0], orn[1], orn[2], orn[3]);
gVRGripperOrn = orgOrn*btQuaternion(btVector3(0, 0, 1), SIMD_HALF_PI)*btQuaternion(btVector3(0, 1, 0), SIMD_HALF_PI);