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See also pybullet quickstart guide here: https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#

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vrevent.py: add a Tiltbrush-style drawing example using pybullet
Expose getVREvents to pybullet / shared memory API, access to any VR controller state & state changes.
Improve performance of user debug lines (pybullet/shared memory API) by batching lines with same color/width
expose rayTest to pybullet/shared memory API (single ray for now)
add pybullet getMatrixFromQuaterion
This commit is contained in:
Erwin Coumans
2016-12-26 19:40:09 -08:00
parent e592290f4c
commit 826c5854a8
19 changed files with 830 additions and 35 deletions
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130
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -463,6 +463,8 @@ struct PhysicsServerCommandProcessorInternalData
bool m_allowRealTimeSimulation;
bool m_hasGround;
b3VRControllerEvent m_vrEvents[MAX_VR_CONTROLLERS];
btMultiBodyFixedConstraint* m_gripperRigidbodyFixed;
btMultiBody* m_gripperMultiBody;
btMultiBodyFixedConstraint* m_kukaGripperFixed;
@@ -562,6 +564,15 @@ struct PhysicsServerCommandProcessorInternalData
m_pickedConstraint(0),
m_pickingMultiBodyPoint2Point(0)
{
for (int i=0;i<MAX_VR_CONTROLLERS;i++)
{
m_vrEvents[i].m_numButtonEvents = 0;
m_vrEvents[i].m_numMoveEvents = 0;
for (int b=0;b<MAX_VR_BUTTONS;b++)
{
m_vrEvents[i].m_buttons[b] = 0;
}
}
initHandles();
#if 0
@@ -1308,6 +1319,85 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
#endif
case CMD_REQUEST_VR_EVENTS_DATA:
{
serverStatusOut.m_sendVREvents.m_numVRControllerEvents = 0;
for (int i=0;i<MAX_VR_CONTROLLERS;i++)
{
if (m_data->m_vrEvents[i].m_numButtonEvents + m_data->m_vrEvents[i].m_numMoveEvents)
{
serverStatusOut.m_sendVREvents.m_controllerEvents[serverStatusOut.m_sendVREvents.m_numVRControllerEvents++] = m_data->m_vrEvents[i];
m_data->m_vrEvents[i].m_numButtonEvents = 0;
m_data->m_vrEvents[i].m_numMoveEvents = 0;
for (int b=0;b<MAX_VR_BUTTONS;b++)
{
m_data->m_vrEvents[i].m_buttons[b] = 0;
}
}
}
serverStatusOut.m_type = CMD_REQUEST_VR_EVENTS_DATA_COMPLETED;
hasStatus = true;
break;
};
case CMD_REQUEST_RAY_CAST_INTERSECTIONS:
{
btVector3 rayFromWorld(clientCmd.m_requestRaycastIntersections.m_rayFromPosition[0],
clientCmd.m_requestRaycastIntersections.m_rayFromPosition[1],
clientCmd.m_requestRaycastIntersections.m_rayFromPosition[2]);
btVector3 rayToWorld(clientCmd.m_requestRaycastIntersections.m_rayToPosition[0],
clientCmd.m_requestRaycastIntersections.m_rayToPosition[1],
clientCmd.m_requestRaycastIntersections.m_rayToPosition[2]);
btCollisionWorld::ClosestRayResultCallback rayResultCallback(rayFromWorld,rayToWorld);
m_data->m_dynamicsWorld->rayTest(rayFromWorld,rayToWorld,rayResultCallback);
serverStatusOut.m_raycastHits.m_numRaycastHits = 0;
if (rayResultCallback.hasHit())
{
serverStatusOut.m_raycastHits.m_rayHits[serverStatusOut.m_raycastHits.m_numRaycastHits].m_hitFraction
= rayResultCallback.m_closestHitFraction;
int objectUniqueId = -1;
int linkIndex = -1;
const btRigidBody* body = btRigidBody::upcast(rayResultCallback.m_collisionObject);
if (body)
{
objectUniqueId = rayResultCallback.m_collisionObject->getUserIndex2();
} else
{
const btMultiBodyLinkCollider* mblB = btMultiBodyLinkCollider::upcast(rayResultCallback.m_collisionObject);
if (mblB && mblB->m_multiBody)
{
linkIndex = mblB->m_link;
objectUniqueId = mblB->m_multiBody->getUserIndex2();
}
}
serverStatusOut.m_raycastHits.m_rayHits[serverStatusOut.m_raycastHits.m_numRaycastHits].m_hitObjectUniqueId
= objectUniqueId;
serverStatusOut.m_raycastHits.m_rayHits[serverStatusOut.m_raycastHits.m_numRaycastHits].m_hitObjectLinkIndex
= linkIndex;
serverStatusOut.m_raycastHits.m_rayHits[serverStatusOut.m_raycastHits.m_numRaycastHits].m_hitPositionWorld[0]
= rayResultCallback.m_hitPointWorld[0];
serverStatusOut.m_raycastHits.m_rayHits[serverStatusOut.m_raycastHits.m_numRaycastHits].m_hitPositionWorld[1]
= rayResultCallback.m_hitPointWorld[1];
serverStatusOut.m_raycastHits.m_rayHits[serverStatusOut.m_raycastHits.m_numRaycastHits].m_hitPositionWorld[2]
= rayResultCallback.m_hitPointWorld[2];
serverStatusOut.m_raycastHits.m_rayHits[serverStatusOut.m_raycastHits.m_numRaycastHits].m_hitNormalWorld[0]
= rayResultCallback.m_hitNormalWorld[0];
serverStatusOut.m_raycastHits.m_rayHits[serverStatusOut.m_raycastHits.m_numRaycastHits].m_hitNormalWorld[1]
= rayResultCallback.m_hitNormalWorld[1];
serverStatusOut.m_raycastHits.m_rayHits[serverStatusOut.m_raycastHits.m_numRaycastHits].m_hitNormalWorld[2]
= rayResultCallback.m_hitNormalWorld[2];
serverStatusOut.m_raycastHits.m_numRaycastHits++;
}
serverStatusOut.m_type = CMD_REQUEST_RAY_CAST_INTERSECTIONS_COMPLETED;
hasStatus = true;
break;
};
case CMD_REQUEST_DEBUG_LINES:
{
int curFlags =m_data->m_remoteDebugDrawer->getDebugMode();
@@ -4054,8 +4144,46 @@ void PhysicsServerCommandProcessor::enableRealTimeSimulation(bool enableRealTime
m_data->m_allowRealTimeSimulation = enableRealTimeSim;
}
void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec, const struct b3VRControllerEvent* vrEvents, int numVREvents)
{
//update m_vrEvents
for (int i=0;i<numVREvents;i++)
{
int controlledId = vrEvents[i].m_controllerId;
if (vrEvents[i].m_numMoveEvents)
{
m_data->m_vrEvents[controlledId].m_analogAxis = vrEvents[i].m_analogAxis;
}
if (vrEvents[i].m_numMoveEvents+vrEvents[i].m_numButtonEvents)
{
m_data->m_vrEvents[controlledId].m_controllerId = vrEvents[i].m_controllerId;
m_data->m_vrEvents[controlledId].m_pos[0] = vrEvents[i].m_pos[0];
m_data->m_vrEvents[controlledId].m_pos[1] = vrEvents[i].m_pos[1];
m_data->m_vrEvents[controlledId].m_pos[2] = vrEvents[i].m_pos[2];
m_data->m_vrEvents[controlledId].m_orn[0] = vrEvents[i].m_orn[0];
m_data->m_vrEvents[controlledId].m_orn[1] = vrEvents[i].m_orn[1];
m_data->m_vrEvents[controlledId].m_orn[2] = vrEvents[i].m_orn[2];
m_data->m_vrEvents[controlledId].m_orn[3] = vrEvents[i].m_orn[3];
}
m_data->m_vrEvents[controlledId].m_numButtonEvents += vrEvents[i].m_numButtonEvents;
m_data->m_vrEvents[controlledId].m_numMoveEvents += vrEvents[i].m_numMoveEvents;
for (int b=0;b<MAX_VR_BUTTONS;b++)
{
m_data->m_vrEvents[controlledId].m_buttons[b] |= vrEvents[i].m_buttons[b];
if (vrEvents[i].m_buttons[b] & eButtonIsDown)
{
m_data->m_vrEvents[controlledId].m_buttons[b] |= eButtonIsDown;
} else
{
m_data->m_vrEvents[controlledId].m_buttons[b] &= ~eButtonIsDown;
}
}
}
if (gResetSimulation)
{
resetSimulation();