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add a tray, similar to those ones:

Browse Source 
https://research.googleblog.com/2016/03/deep-learning-for-robots-learning-from.html

tune the VR demo a bit, to make it more user friendly.
This commit is contained in:
Erwin Coumans
2016-11-29 17:08:47 -08:00
parent 8de35cf01c
commit 746c4d0d2a
7 changed files with 351 additions and 27 deletions
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11
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -39,6 +39,7 @@ extern bool gEnableRealTimeSimVR;
extern bool gCreateDefaultRobotAssets;
extern int gInternalSimFlags;
extern int gCreateObjectSimVR;
extern bool gResetSimulation;
extern int gEnableKukaControl;
int gGraspingController = -1;
extern btScalar simTimeScalingFactor;
@@ -273,7 +274,7 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
args->m_physicsServerPtr->removePickingConstraint();
}
if (!gEnableKukaControl)
// if (!gEnableKukaControl)
{
if (args->m_isVrControllerPicking[c])
{
@@ -1670,7 +1671,8 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
{
if (button == 1 && state == 0)
{
// gVRTeleportPos = gLastPickPos;
gResetSimulation = true;
//gVRTeleportPos1 = gLastPickPos;
}
} else
{
@@ -1682,7 +1684,7 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
} else
{
gDebugRenderToggle = 0;
#if 0//it confuses people, make it into a debug option in a VR GUI?
if (simTimeScalingFactor==0)
{
simTimeScalingFactor = 1;
@@ -1697,6 +1699,7 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
simTimeScalingFactor = 0;
}
}
#endif
}
} else
{
@@ -1714,7 +1717,7 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
}
else
{
gEnableKukaControl = !gEnableKukaControl;
// gEnableKukaControl = !gEnableKukaControl;
}
}