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add hand.py/hand.ino used to create this VR glove, using MuJoCo Haptix MPL hand (Apache 2 license)

Browse Source 
https://www.youtube.com/watch?v=VMJyZtHQL50
added b3InitSyncBodyInfoCommand, to retrieve body info, when connecting to a server with existing bodies
pybullet will call this b3InitSyncBodyInfoCommand automatically after connecting
Avoid overriding the py.setVRCameraState setting in VR
This commit is contained in:
Erwin Coumans
2017-01-20 18:13:24 -08:00
parent d81d62a70b
commit 64957ece9f
40 changed files with 837 additions and 74 deletions
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29
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -423,6 +423,12 @@ struct PhysicsServerCommandProcessorInternalData
btAlignedObjectArray<InternalBodyHandle> m_bodyHandles;
int m_numUsedHandles; // number of active handles
int m_firstFreeHandle; // free handles list
int getNumHandles() const
{
return m_bodyHandles.size();
}
InternalBodyHandle* getHandle(int handle)
{
btAssert(handle>=0);
@@ -1741,6 +1747,23 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
break;
}
case CMD_SYNC_BODY_INFO:
{
int numHandles = m_data->getNumHandles();
int actualNumBodies = 0;
for (int i=0;i<numHandles;i++)
{
InteralBodyData* body = m_data->getHandle(i);
if (body && (body->m_multiBody || body->m_rigidBody))
{
serverStatusOut.m_sdfLoadedArgs.m_bodyUniqueIds[actualNumBodies++] = i;
}
}
serverStatusOut.m_sdfLoadedArgs.m_numBodies = actualNumBodies;
serverStatusOut.m_type = CMD_SYNC_BODY_INFO_COMPLETED;
hasStatus = true;
break;
}
case CMD_REQUEST_BODY_INFO:
{
const SdfRequestInfoArgs& sdfInfoArgs = clientCmd.m_sdfRequestInfoArgs;
@@ -3672,7 +3695,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
if (userConstraintPtr->m_rbConstraint)
{
//todo
}
serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = -1;
serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED;
@@ -4367,7 +4390,7 @@ void PhysicsServerCommandProcessor::replayFromLogFile(const char* fileName)
}
btVector3 gVRGripperPos(0.6, 0.4, 0.7);
btVector3 gVRGripperPos(0.7, 0.3, 0.7);
btQuaternion gVRGripperOrn(0,0,0,1);
btVector3 gVRController2Pos(0,0,0.2);
btQuaternion gVRController2Orn(0,0,0,1);
@@ -4764,7 +4787,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
loadUrdf("husky/husky.urdf", btVector3(2, -5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
m_data->m_huskyId = bodyId;
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, -10));
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, 0));
}