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Merge pull request #706 from erwincoumans/master

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Improve OpenVR support, fix some multi-threading issue (disable CProfileManager singleton), fix/remove old API
This commit is contained in:
erwincoumans
2016-07-20 10:31:11 -07:00
committed by GitHub
parent 73ac7c89c6 81af5db2da
commit 628d029e30
7 changed files with 74 additions and 68 deletions
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5
examples/Collision/CollisionTutorialBullet2.cpp
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@@ -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()
{

7
examples/ExampleBrowser/GwenGUISupport/GwenProfileWindow.cpp
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@@ -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

6
examples/RoboticsLearning/b3RobotSimAPI.cpp
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@@ -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;

6
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -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)
{

85
examples/StandaloneMain/hellovr_opengl_main.cpp
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@@ -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);
if (sPrevPacketNum != state.unPacketNum)
//we need to have the 'move' events, so no early out here
//if (sPrevStates[unDevice].unPacketNum != state.unPacketNum)
{
static int counter=0;
sPrevPacketNum = state.unPacketNum;
//b3Printf(".");
bool isTrigger = (state.ulButtonPressed&trigger)!=0;
if (isTrigger)
sPrevStates[unDevice].unPacketNum = state.unPacketNum;
for (int button = 0; button < vr::k_EButton_Max; button++)
{
//printf("unDevice=%d\n",unDevice);
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]};
uint64_t trigger = vr::ButtonMaskFromId((vr::EVRButtonId)button);
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);
float pos[3] = {tr.getOrigin()[0],tr.getOrigin()[1],tr.getOrigin()[2]};
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]};
float orn[4] = { born[0], born[1], born[2], born[3] };
sIsPressed=-1;
printf("device released: %d",unDevice);
sExample->vrControllerButtonCallback(unDevice,1,0,pos, orn);
//pressed now, not pressed before -> raise a button down event
if ((sPrevStates[unDevice].ulButtonPressed&trigger)==0)
{
// 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;

8
src/LinearMath/btQuickprof.cpp
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@@ -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

25
src/LinearMath/btQuickprof.h
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@@ -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