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Merge pull request #825 from erwincoumans/master

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App_SharedMemoryPhysics_VR: Add a command-line flag (--emptyworld) to start with an empty VR world and use pybullet to populate it over shared memory.
This commit is contained in:
erwincoumans
2016-10-09 17:19:29 -07:00
committed by GitHub
parent 4e69166ef1 489f5c0637
commit 724d2c5d61
4 changed files with 460 additions and 431 deletions
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2
examples/CommonInterfaces/CommonExampleInterface.h
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@@ -48,6 +48,8 @@ public:
virtual void vrControllerMoveCallback(int controllerId, float pos[4], float orientation[4], float analogAxis) {} virtual void vrControllerMoveCallback(int controllerId, float pos[4], float orientation[4], float analogAxis) {}
virtual void vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orientation[4]){} virtual void vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orientation[4]){}
virtual void processCommandLineArgs(int argc, char* argv[]){};
}; };
class ExampleEntries class ExampleEntries

39
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -31,6 +31,8 @@
btVector3 gLastPickPos(0, 0, 0); btVector3 gLastPickPos(0, 0, 0);
bool gCloseToKuka=false; bool gCloseToKuka=false;
bool gEnableRealTimeSimVR=false; bool gEnableRealTimeSimVR=false;
bool gCreateSamuraiRobotAssets = true;
int gCreateObjectSimVR = -1; int gCreateObjectSimVR = -1;
btScalar simTimeScalingFactor = 1; btScalar simTimeScalingFactor = 1;
btScalar gRhsClamp = 1.f; btScalar gRhsClamp = 1.f;
@@ -2972,6 +2974,9 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
} }
} }
///this hardcoded C++ scene creation is temporary for demo purposes. It will be done in Python later...
if (gCreateSamuraiRobotAssets)
{
if (!m_data->m_hasGround) if (!m_data->m_hasGround)
{ {
m_data->m_hasGround = true; m_data->m_hasGround = true;
@@ -3011,7 +3016,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
} }
} }
loadUrdf("kuka_iiwa/model.urdf", btVector3(1.4, -0.2, 0.6), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); loadUrdf("kuka_iiwa/model_vr_limits.urdf", btVector3(1.4, -0.2, 0.6), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
m_data->m_KukaId = bodyId; m_data->m_KukaId = bodyId;
loadUrdf("lego/lego.urdf", btVector3(1.0, -0.2, .7), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); loadUrdf("lego/lego.urdf", btVector3(1.0, -0.2, .7), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("lego/lego.urdf", btVector3(1.0, -0.2, .8), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); loadUrdf("lego/lego.urdf", btVector3(1.0, -0.2, .8), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
@@ -3291,7 +3296,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
} }
} }
int ikMethod= IK2_VEL_DLS_WITH_ORIENTATION; //IK2_VEL_DLS_WITH_ORIENTATION_NULLSPACE; //IK2_VEL_DLS; int ikMethod= IK2_VEL_DLS_WITH_ORIENTATION_NULLSPACE;//IK2_VEL_DLS_WITH_ORIENTATION; //IK2_VEL_DLS;
btVector3DoubleData endEffectorWorldPosition; btVector3DoubleData endEffectorWorldPosition;
btVector3DoubleData endEffectorWorldOrientation; btVector3DoubleData endEffectorWorldOrientation;
@@ -3332,20 +3337,20 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
upper_limit.resize(numDofs); upper_limit.resize(numDofs);
joint_range.resize(numDofs); joint_range.resize(numDofs);
rest_pose.resize(numDofs); rest_pose.resize(numDofs);
lower_limit[0] = -2.32; lower_limit[0] = -.967;
lower_limit[1] = -1.6; lower_limit[1] = -2.0;
lower_limit[2] = -2.32; lower_limit[2] = -2.96;
lower_limit[3] = -1.6; lower_limit[3] = 0.19;
lower_limit[4] = -2.32; lower_limit[4] = -2.96;
lower_limit[5] = -1.6; lower_limit[5] = -2.09;
lower_limit[6] = -2.4; lower_limit[6] = -3.05;
upper_limit[0] = 2.32; upper_limit[0] = .96;
upper_limit[1] = 1.6; upper_limit[1] = 2.0;
upper_limit[2] = 2.32; upper_limit[2] = 2.96;
upper_limit[3] = 1.6; upper_limit[3] = 2.29;
upper_limit[4] = 2.32; upper_limit[4] = 2.96;
upper_limit[5] = 1.6; upper_limit[5] = 2.09;
upper_limit[6] = 2.4; upper_limit[6] = 3.05;
joint_range[0] = 5.8; joint_range[0] = 5.8;
joint_range[1] = 4; joint_range[1] = 4;
joint_range[2] = 5.8; joint_range[2] = 5.8;
@@ -3414,7 +3419,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
} }
} }
}
int maxSteps = m_data->m_numSimulationSubSteps+3; int maxSteps = m_data->m_numSimulationSubSteps+3;
if (m_data->m_numSimulationSubSteps) if (m_data->m_numSimulationSubSteps)

13
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -7,7 +7,7 @@
#include "PhysicsServerSharedMemory.h" #include "PhysicsServerSharedMemory.h"
#include "Bullet3Common/b3CommandLineArgs.h"
#include "SharedMemoryCommon.h" #include "SharedMemoryCommon.h"
#include "Bullet3Common/b3Matrix3x3.h" #include "Bullet3Common/b3Matrix3x3.h"
#include "../Utils/b3Clock.h" #include "../Utils/b3Clock.h"
@@ -28,6 +28,7 @@ extern btScalar gVRGripperAnalog;
extern btScalar gVRGripper2Analog; extern btScalar gVRGripper2Analog;
extern bool gCloseToKuka; extern bool gCloseToKuka;
extern bool gEnableRealTimeSimVR; extern bool gEnableRealTimeSimVR;
extern bool gCreateSamuraiRobotAssets;
extern int gCreateObjectSimVR; extern int gCreateObjectSimVR;
static int gGraspingController = -1; static int gGraspingController = -1;
extern btScalar simTimeScalingFactor; extern btScalar simTimeScalingFactor;
@@ -656,6 +657,16 @@ public:
m_physicsServer.setSharedMemoryKey(key); m_physicsServer.setSharedMemoryKey(key);
} }
virtual void processCommandLineArgs(int argc, char* argv[])
{
b3CommandLineArgs args(argc,argv);
if (args.CheckCmdLineFlag("emptyworld"))
{
gCreateSamuraiRobotAssets = false;
}
}
}; };

15
examples/StandaloneMain/hellovr_opengl_main.cpp
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@@ -7,6 +7,7 @@
#include "Bullet3Common/b3Quaternion.h" #include "Bullet3Common/b3Quaternion.h"
#include "Bullet3Common/b3Transform.h" #include "Bullet3Common/b3Transform.h"
#include "../ExampleBrowser/OpenGLGuiHelper.h" #include "../ExampleBrowser/OpenGLGuiHelper.h"
#include "../CommonInterfaces/CommonExampleInterface.h" #include "../CommonInterfaces/CommonExampleInterface.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h" #include "../CommonInterfaces/CommonGUIHelperInterface.h"
@@ -708,6 +709,10 @@ bool CMainApplication::HandleInput()
//btIDebugDraw::DBG_DrawConstraintLimits+ //btIDebugDraw::DBG_DrawConstraintLimits+
//btIDebugDraw::DBG_DrawConstraints //btIDebugDraw::DBG_DrawConstraints
//; //;
gDebugDrawFlags = btIDebugDraw::DBG_DrawConstraintLimits+ btIDebugDraw::DBG_DrawConstraints+btIDebugDraw::DBG_DrawContactPoints+btIDebugDraw::DBG_DrawFrames;
} }
sExample->vrControllerButtonCallback(unDevice, button, 1, pos, orn); sExample->vrControllerButtonCallback(unDevice, button, 1, pos, orn);
@@ -1663,7 +1668,7 @@ void CMainApplication::RenderStereoTargets()
{ {
sExample->physicsDebugDraw(gDebugDrawFlags); sExample->physicsDebugDraw(gDebugDrawFlags);
} }
else //else
{ {
sExample->renderScene(); sExample->renderScene();
} }
@@ -1714,7 +1719,7 @@ void CMainApplication::RenderStereoTargets()
{ {
sExample->physicsDebugDraw(gDebugDrawFlags); sExample->physicsDebugDraw(gDebugDrawFlags);
} }
else //else
{ {
sExample->renderScene(); sExample->renderScene();
} }
@@ -2183,6 +2188,7 @@ int main(int argc, char *argv[])
//b3SetCustomLeaveProfileZoneFunc(...); //b3SetCustomLeaveProfileZoneFunc(...);
#endif #endif
CMainApplication *pMainApplication = new CMainApplication( argc, argv ); CMainApplication *pMainApplication = new CMainApplication( argc, argv );
if (!pMainApplication->BInit()) if (!pMainApplication->BInit())
@@ -2191,6 +2197,11 @@ int main(int argc, char *argv[])
return 1; return 1;
} }
if (sExample)
{
sExample->processCommandLineArgs(argc,argv);
}
//request disable VSYNC //request disable VSYNC
typedef bool (APIENTRY *PFNWGLSWAPINTERVALFARPROC)(int); typedef bool (APIENTRY *PFNWGLSWAPINTERVALFARPROC)(int);
PFNWGLSWAPINTERVALFARPROC wglSwapIntervalEXT = 0; PFNWGLSWAPINTERVALFARPROC wglSwapIntervalEXT = 0;