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Merge pull request #827 from erwincoumans/master

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add check for #dof of KUKA in VR demo
This commit is contained in:
erwincoumans
2016-10-09 21:49:37 -07:00
committed by GitHub
parent 6c718d5ffb a6225d4cd0
commit 7cb8756c28
2 changed files with 5 additions and 5 deletions
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4
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -3068,7 +3068,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
m_data->m_dynamicsWorld->addMultiBodyConstraint(m_data->m_kukaGripperRevolute1); m_data->m_dynamicsWorld->addMultiBodyConstraint(m_data->m_kukaGripperRevolute1);
m_data->m_dynamicsWorld->addMultiBodyConstraint(m_data->m_kukaGripperRevolute2); m_data->m_dynamicsWorld->addMultiBodyConstraint(m_data->m_kukaGripperRevolute2);
if (kukaBody->m_multiBody) if (kukaBody->m_multiBody && kukaBody->m_multiBody->getNumDofs()==7)
{ {
gripperBody->m_multiBody->setHasSelfCollision(0); gripperBody->m_multiBody->setHasSelfCollision(0);
btVector3 pivotInParent(0, 0, 0.05); btVector3 pivotInParent(0, 0, 0.05);
@@ -3204,7 +3204,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
//if (0) //if (0)
{ {
InternalBodyHandle* bodyHandle = m_data->getHandle(m_data->m_KukaId); InternalBodyHandle* bodyHandle = m_data->getHandle(m_data->m_KukaId);
if (bodyHandle && bodyHandle->m_multiBody) if (bodyHandle && bodyHandle->m_multiBody && bodyHandle->m_multiBody->getNumDofs()==7)
{ {
btMultiBody* mb = bodyHandle->m_multiBody; btMultiBody* mb = bodyHandle->m_multiBody;
btScalar sqLen = (mb->getBaseWorldTransform().getOrigin() - gVRController2Pos).length2(); btScalar sqLen = (mb->getBaseWorldTransform().getOrigin() - gVRController2Pos).length2();

6
examples/StandaloneMain/hellovr_opengl_main.cpp
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@@ -703,13 +703,13 @@ bool CMainApplication::HandleInput()
{ {
glPolygonMode( GL_FRONT_AND_BACK, GL_LINE ); glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
///todo(erwincoumans) can't use reguar debug drawer, because physics/graphics are not in sync ///todo(erwincoumans) can't use reguar debug drawer, because physics/graphics are not in sync
//so it can (and likely will) cause crashes ///so it can (and likely will) cause crashes
//add a special debug drawer that deals with this ///add a special debug drawer that deals with this
//gDebugDrawFlags = btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints+ //gDebugDrawFlags = btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints+
//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; //gDebugDrawFlags = btIDebugDraw::DBG_DrawFrames;