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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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7
examples/StandaloneMain/hellovr_opengl_main.cpp
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@@ -713,14 +713,17 @@ bool CMainApplication::HandleInput()
}
else
{
// printf("Device MOVED: %d\n", unDevice);
sExample->vrControllerMoveCallback(unDevice, pos, orn);
sExample->vrControllerMoveCallback(unDevice, pos, orn, state.rAxis[1].x);
}
}
else
{
if( m_pHMD->GetTrackedDeviceClass( unDevice) == vr::TrackedDeviceClass_Controller )
{
b3Transform tr;
getControllerTransform(unDevice, tr);
float pos[3] = { tr.getOrigin()[0], tr.getOrigin()[1], tr.getOrigin()[2] };
@@ -741,7 +744,7 @@ bool CMainApplication::HandleInput()
} else
{
sExample->vrControllerMoveCallback(unDevice, pos, orn);
sExample->vrControllerMoveCallback(unDevice, pos, orn, state.rAxis[1].x);
}
}
}