Merge pull request #706 from erwincoumans/master

Improve OpenVR support, fix some multi-threading issue (disable CProfileManager singleton), fix/remove old API

examples/Collision/CollisionTutorialBullet2.cpp

@@ -265,8 +265,9 @@ public:
 	
     virtual void	stepSimulation(float deltaTime)
     {
+#ifndef BT_NO_PROFILE
 		CProfileManager::Reset();
-		
+#endif
 		
 		
 		
@@ -314,7 +315,9 @@ public:
 	
 	
 		 m_app->m_renderer->writeTransforms();
+#ifndef BT_NO_PROFILE
 		 CProfileManager::Increment_Frame_Counter();
+#endif
     }
     virtual void	renderScene()
     {

examples/ExampleBrowser/GwenGUISupport/GwenProfileWindow.cpp

@@ -4,7 +4,7 @@
 #include "LinearMath/btQuickprof.h"
 
 
-
+#ifndef BT_NO_PROFILE  
 
 
 class MyProfileWindow : public Gwen::Controls::WindowControl
@@ -42,8 +42,9 @@ protected:
 	}
 public:
 	
-  
+	
 	CProfileIterator* profIter;
+	
 	class MyMenuItems* m_menuItems;
 	MyProfileWindow (	Gwen::Controls::Base* pParent)
     : Gwen::Controls::WindowControl( pParent ),
@@ -304,3 +305,5 @@ void destroyProfileWindow(MyProfileWindow* window)
 	CProfileManager::Release_Iterator(window->profIter);
 	delete window;
 }
+
+#endif //BT_NO_PROFILE

examples/RoboticsLearning/b3RobotSimAPI.cpp

@@ -556,7 +556,7 @@ void b3RobotSimAPI::setJointMotorControl(int bodyUniqueId, int jointIndex, const
 	{
 		case CONTROL_MODE_VELOCITY:
 		{
-			b3SharedMemoryCommandHandle command = b3JointControlCommandInit( m_data->m_physicsClient, CONTROL_MODE_VELOCITY);
+			b3SharedMemoryCommandHandle command = b3JointControlCommandInit2( m_data->m_physicsClient, bodyUniqueId, CONTROL_MODE_VELOCITY);
 			b3JointInfo jointInfo;
 			b3GetJointInfo(m_data->m_physicsClient, bodyUniqueId, jointIndex, &jointInfo);
 			int uIndex = jointInfo.m_uIndex;
@@ -567,7 +567,7 @@ void b3RobotSimAPI::setJointMotorControl(int bodyUniqueId, int jointIndex, const
 		}
 		case CONTROL_MODE_POSITION_VELOCITY_PD:
 		{
-			b3SharedMemoryCommandHandle command = b3JointControlCommandInit( m_data->m_physicsClient, CONTROL_MODE_POSITION_VELOCITY_PD);
+			b3SharedMemoryCommandHandle command = b3JointControlCommandInit2( m_data->m_physicsClient, bodyUniqueId, CONTROL_MODE_POSITION_VELOCITY_PD);
 			b3JointInfo jointInfo;
 			b3GetJointInfo(m_data->m_physicsClient, bodyUniqueId, jointIndex, &jointInfo);
 			int uIndex = jointInfo.m_uIndex;
@@ -583,7 +583,7 @@ void b3RobotSimAPI::setJointMotorControl(int bodyUniqueId, int jointIndex, const
 		}
 		case CONTROL_MODE_TORQUE:
 		{
-			b3SharedMemoryCommandHandle command = b3JointControlCommandInit( m_data->m_physicsClient, CONTROL_MODE_TORQUE);
+			b3SharedMemoryCommandHandle command = b3JointControlCommandInit2( m_data->m_physicsClient, bodyUniqueId, CONTROL_MODE_TORQUE);
 			b3JointInfo jointInfo;
 			b3GetJointInfo(m_data->m_physicsClient, bodyUniqueId, jointIndex, &jointInfo);
 			int uIndex = jointInfo.m_uIndex;

examples/SharedMemory/PhysicsServerExample.cpp

@@ -140,11 +140,11 @@ void	MotionThreadFunc(void* userPtr,void* lsMemory)
 
 				btVector3 from = args->m_pos;
 				btMatrix3x3 mat(args->m_orn);
-	
+				btScalar pickDistance = 100.;
 				btVector3 toX = args->m_pos+mat.getColumn(0);
 				btVector3 toY = args->m_pos+mat.getColumn(1);
-				btVector3 toZ = args->m_pos+mat.getColumn(2)*50.;
+				btVector3 toZ = args->m_pos+mat.getColumn(2)*pickDistance;
-						
+
 
 				if (args->m_isPicking)
 				{

examples/StandaloneMain/hellovr_opengl_main.cpp

@@ -30,11 +30,14 @@ int gSharedMemoryKey = -1;
 #include "pathtools.h"
 
 CommonExampleInterface*    sExample;
-int sIsPressed=-1;
+
 int sPrevPacketNum=0;
 GUIHelperInterface* sGuiPtr = 0;
 
 
+static vr::VRControllerState_t sPrevStates[vr::k_unMaxTrackedDeviceCount] = { 0 };
+
+
 #if defined(POSIX)
 #include "unistd.h"
 #endif
@@ -663,63 +666,57 @@ bool CMainApplication::HandleInput()
 		vr::VRControllerState_t state;
 		if( m_pHMD->GetControllerState( unDevice, &state ) )
 		{
-			uint64_t trigger = vr::ButtonMaskFromId(vr::k_EButton_SteamVR_Trigger);
+			//we need to have the 'move' events, so no early out here
-			
+			//if (sPrevStates[unDevice].unPacketNum != state.unPacketNum)
-			if (sPrevPacketNum != state.unPacketNum)
 			{
-				
+				sPrevStates[unDevice].unPacketNum = state.unPacketNum;
-				static int counter=0;
+
-				sPrevPacketNum = state.unPacketNum;
+				for (int button = 0; button < vr::k_EButton_Max; button++)
-				//b3Printf(".");
-				bool isTrigger = (state.ulButtonPressed&trigger)!=0;
-				if (isTrigger)
 				{
-					//printf("unDevice=%d\n",unDevice);
+					uint64_t trigger = vr::ButtonMaskFromId((vr::EVRButtonId)button);
-					b3Transform tr;
-					getControllerTransform(unDevice,tr);
-					float pos[3] = {tr.getOrigin()[0],tr.getOrigin()[1],tr.getOrigin()[2]};
-					b3Quaternion born = tr.getRotation();
-					float orn[4] = {born[0],born[1],born[2],born[3]};
-					
 
-					if (sIsPressed!=unDevice)
+					bool isTrigger = (state.ulButtonPressed&trigger) != 0;
+					if (isTrigger)
 					{
-						b3Printf("trigger pressed %d, %d\n",counter++, unDevice);
-						sIsPressed=unDevice;
 
-						sExample->vrControllerButtonCallback(unDevice,1,1,pos, orn);
-
-						//
-						//virtual void	vrControllerMoveCallback(int controllerId, float pos[4], float orientation[4]) {}
-						//virtual void	vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orientation[4]){}
-
-						//sExample->start
-					} else
-					{
-						sExample->vrControllerMoveCallback(unDevice,pos,orn);
-					}
-					//sExample->exitPhysics();
-					//m_app->m_instancingRenderer->removeAllInstances();
-					///sExample->initPhysics();
-				} else
-				{
-					if (unDevice==sIsPressed)
-					{
 						b3Transform tr;
-						getControllerTransform(unDevice,tr);
+						getControllerTransform(unDevice, tr);
-						float pos[3] = {tr.getOrigin()[0],tr.getOrigin()[1],tr.getOrigin()[2]};
+						float pos[3] = { tr.getOrigin()[0], tr.getOrigin()[1], tr.getOrigin()[2] };
 						b3Quaternion born = tr.getRotation();
-						float orn[4] = {born[0],born[1],born[2],born[3]};
+						float orn[4] = { born[0], born[1], born[2], born[3] };
 
-						sIsPressed=-1;
+						//pressed now, not pressed before -> raise a button down event
-						printf("device released: %d",unDevice);
+						if ((sPrevStates[unDevice].ulButtonPressed&trigger)==0)
-						sExample->vrControllerButtonCallback(unDevice,1,0,pos, orn);
+						{
+//							printf("Device PRESSED: %d, button %d\n", unDevice, button);
+							sExample->vrControllerButtonCallback(unDevice, button, 1, pos, orn);
+						}
+						else
+						{
+//							printf("Device MOVED: %d\n", unDevice);
+							sExample->vrControllerMoveCallback(unDevice, pos, orn);
+						}
+					}
+					else
+					{
+						//not pressed now, but pressed before -> raise a button up event
+						if ((sPrevStates[unDevice].ulButtonPressed&trigger) != 0)
+						{
+							b3Transform tr;
+							getControllerTransform(unDevice, tr);
+							float pos[3] = { tr.getOrigin()[0], tr.getOrigin()[1], tr.getOrigin()[2] };
+							b3Quaternion born = tr.getRotation();
+							float orn[4] = { born[0], born[1], born[2], born[3] };
+//							printf("Device RELEASED: %d, button %d\n", unDevice,button);
+							sExample->vrControllerButtonCallback(unDevice, button, 0, pos, orn);
+						}
 					}
 				}
 			} 
 
 			m_rbShowTrackedDevice[ unDevice ] = state.ulButtonPressed == 0;
 		}
+		sPrevStates[unDevice] = state;
 	}
 
 	return bRet;

src/LinearMath/btQuickprof.cpp

@@ -15,11 +15,8 @@
 
 #include "btQuickprof.h"
 
-#ifndef BT_NO_PROFILE
 
 
-static btClock gProfileClock;
-
 
 #ifdef __CELLOS_LV2__
 #include <sys/sys_time.h>
@@ -250,6 +247,10 @@ btScalar btClock::getTimeSeconds()
 	return btScalar(getTimeMicroseconds()) * microseconds_to_seconds;
 }
 
+#ifndef BT_NO_PROFILE
+
+
+static btClock gProfileClock;
 
 
 inline void Profile_Get_Ticks(unsigned long int * ticks)
@@ -265,7 +266,6 @@ inline float Profile_Get_Tick_Rate(void)
 }
 
 
-
 /***************************************************************************************************
 **
 ** CProfileNode

src/LinearMath/btQuickprof.h

@@ -15,18 +15,7 @@
 #ifndef BT_QUICK_PROF_H
 #define BT_QUICK_PROF_H
 
-//To disable built-in profiling, please comment out next line
-//#define BT_NO_PROFILE 1
-#ifndef BT_NO_PROFILE
-#include <stdio.h>//@todo remove this, backwards compatibility
 #include "btScalar.h"
-#include "btAlignedAllocator.h"
-#include <new>
-
-
-
-
-
 #define USE_BT_CLOCK 1
 
 #ifdef USE_BT_CLOCK
@@ -64,6 +53,20 @@ private:
 #endif //USE_BT_CLOCK
 
 
+//To disable built-in profiling, please comment out next line
+#define BT_NO_PROFILE 1
+#ifndef BT_NO_PROFILE
+#include <stdio.h>//@todo remove this, backwards compatibility
+
+#include "btAlignedAllocator.h"
+#include <new>
+
+
+
+
+
+
+
 
 
 ///A node in the Profile Hierarchy Tree