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VR video recording, use command-line --mp4=videoname.mp4

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tune gripper grasp example with tefal pan, 800Newton force.
URDF importer: if using single transform 1 child shape, don't use compound shape.
if renderGUI is false, don't intercept mouse clicks
add manyspheres.py example (performance is pretty bad, will look into it)
[pybullet] expose contactBreakingThreshold
This commit is contained in:
Erwin Coumans
2017-02-16 14:19:09 -08:00
parent 08b83c3cd8
commit 63486a712c
18 changed files with 140 additions and 82 deletions
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71
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -553,7 +553,7 @@ public:
while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
{
b3Clock::usleep(100);
b3Clock::usleep(0);
}
}
@@ -940,6 +940,8 @@ public:
virtual void stepSimulation(float deltaTime);
virtual void updateGraphics();
void enableCommandLogging()
{
m_physicsServer.enableCommandLogging(true,"BulletPhysicsCommandLog.bin");
@@ -1342,39 +1344,8 @@ bool PhysicsServerExample::wantsTermination()
return m_wantsShutdown;
}
void PhysicsServerExample::stepSimulation(float deltaTime)
void PhysicsServerExample::updateGraphics()
{
BT_PROFILE("PhysicsServerExample::stepSimulation");
//this->m_physicsServer.processClientCommands();
for (int i = m_multiThreadedHelper->m_userDebugLines.size()-1;i>=0;i--)
{
if (m_multiThreadedHelper->m_userDebugLines[i].m_lifeTime)
{
m_multiThreadedHelper->m_userDebugLines[i].m_lifeTime -= deltaTime;
if (m_multiThreadedHelper->m_userDebugLines[i].m_lifeTime<=0)
{
m_multiThreadedHelper->m_userDebugLines.swap(i,m_multiThreadedHelper->m_userDebugLines.size()-1);
m_multiThreadedHelper->m_userDebugLines.pop_back();
}
}
}
for (int i = m_multiThreadedHelper->m_userDebugText.size()-1;i>=0;i--)
{
if (m_multiThreadedHelper->m_userDebugText[i].m_lifeTime)
{
m_multiThreadedHelper->m_userDebugText[i].m_lifeTime -= deltaTime;
if (m_multiThreadedHelper->m_userDebugText[i].m_lifeTime<=0)
{
m_multiThreadedHelper->m_userDebugText.swap(i,m_multiThreadedHelper->m_userDebugText.size()-1);
m_multiThreadedHelper->m_userDebugText.pop_back();
}
}
}
//check if any graphics related tasks are requested
switch (m_multiThreadedHelper->getCriticalSection()->getSharedParam(1))
@@ -1543,6 +1514,40 @@ void PhysicsServerExample::stepSimulation(float deltaTime)
}
}
void PhysicsServerExample::stepSimulation(float deltaTime)
{
BT_PROFILE("PhysicsServerExample::stepSimulation");
//this->m_physicsServer.processClientCommands();
for (int i = m_multiThreadedHelper->m_userDebugLines.size()-1;i>=0;i--)
{
if (m_multiThreadedHelper->m_userDebugLines[i].m_lifeTime)
{
m_multiThreadedHelper->m_userDebugLines[i].m_lifeTime -= deltaTime;
if (m_multiThreadedHelper->m_userDebugLines[i].m_lifeTime<=0)
{
m_multiThreadedHelper->m_userDebugLines.swap(i,m_multiThreadedHelper->m_userDebugLines.size()-1);
m_multiThreadedHelper->m_userDebugLines.pop_back();
}
}
}
for (int i = m_multiThreadedHelper->m_userDebugText.size()-1;i>=0;i--)
{
if (m_multiThreadedHelper->m_userDebugText[i].m_lifeTime)
{
m_multiThreadedHelper->m_userDebugText[i].m_lifeTime -= deltaTime;
if (m_multiThreadedHelper->m_userDebugText[i].m_lifeTime<=0)
{
m_multiThreadedHelper->m_userDebugText.swap(i,m_multiThreadedHelper->m_userDebugText.size()-1);
m_multiThreadedHelper->m_userDebugText.pop_back();
}
}
}
updateGraphics();