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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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61
examples/SharedMemory/SharedMemoryPublic.h
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@@ -35,14 +35,17 @@ enum EnumSharedMemoryClientCommand
CMD_CALCULATE_JACOBIAN,
CMD_USER_CONSTRAINT,
CMD_REQUEST_CONTACT_POINT_INFORMATION,
CMD_REQUEST_RAY_CAST_INTERSECTIONS,
CMD_REQUEST_AABB_OVERLAP,
CMD_SAVE_WORLD,
CMD_REQUEST_VISUAL_SHAPE_INFO,
CMD_UPDATE_VISUAL_SHAPE,
CMD_LOAD_TEXTURE,
CMD_SET_SHADOW,
CMD_USER_DEBUG_DRAW,
CMD_REQUEST_VR_EVENTS_DATA,
//don't go beyond this command!
CMD_MAX_CLIENT_COMMANDS,
@@ -107,6 +110,8 @@ enum EnumSharedMemoryServerStatus
CMD_USER_DEBUG_DRAW_FAILED,
CMD_USER_CONSTRAINT_COMPLETED,
CMD_USER_CONSTRAINT_FAILED,
CMD_REQUEST_VR_EVENTS_DATA_COMPLETED,
CMD_REQUEST_RAY_CAST_INTERSECTIONS_COMPLETED,
//don't go beyond 'CMD_MAX_SERVER_COMMANDS!
CMD_MAX_SERVER_COMMANDS
};
@@ -199,6 +204,44 @@ struct b3CameraImageData
};
enum b3VREventType
{
VR_CONTROLLER_MOVE_EVENT=1,
VR_CONTROLLER_BUTTON_EVENT
};
#define MAX_VR_BUTTONS 64
#define MAX_VR_CONTROLLERS 8
#define MAX_RAY_HITS 128
enum b3VRButtonInfo
{
eButtonIsDown = 1,
eButtonTriggered = 2,
eButtonReleased = 4,
};
struct b3VRControllerEvent
{
int m_controllerId;//valid for VR_CONTROLLER_MOVE_EVENT and VR_CONTROLLER_BUTTON_EVENT
int m_numMoveEvents;
int m_numButtonEvents;
float m_pos[4];//valid for VR_CONTROLLER_MOVE_EVENT and VR_CONTROLLER_BUTTON_EVENT
float m_orn[4];//valid for VR_CONTROLLER_MOVE_EVENT and VR_CONTROLLER_BUTTON_EVENT
float m_analogAxis;//valid if VR_CONTROLLER_MOVE_EVENT
int m_buttons[MAX_VR_BUTTONS];//valid if VR_CONTROLLER_BUTTON_EVENT, see b3VRButtonInfo
};
struct b3VREventsData
{
int m_numControllerEvents;
struct b3VRControllerEvent* m_controllerEvents;
};
struct b3ContactPointData
{
//todo: expose some contact flags, such as telling which fields below are valid
@@ -237,6 +280,22 @@ struct b3ContactInformation
struct b3ContactPointData* m_contactPointData;
};
struct b3RayHitInfo
{
double m_hitFraction;
int m_hitObjectUniqueId;
int m_hitObjectLinkIndex;
double m_hitPositionWorld[3];
double m_hitNormalWorld[3];
};
struct b3RaycastInformation
{
int m_numRayHits;
struct b3RayHitInfo* m_rayHits;
};
#define VISUAL_SHAPE_MAX_PATH_LEN 128
struct b3VisualShapeData