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

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

examples/pybullet/vrEvent.py

@@ -0,0 +1,45 @@
+#See pybullet quickstart guide here:
+#https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#
+
+# Create a Tiltbrush-like app, drawing lines using any controller
+# Line width can be changed
+
+import pybullet as p
+#assume that the VR physics server is already started before
+p.connect(p.SHARED_MEMORY)
+
+p.loadURDF("plane.urdf")
+
+prev=[None]*p.VR_MAX_CONTROLLERS
+colors=[0.,0.5,0.5]*p.VR_MAX_CONTROLLERS
+widths = [3]*p.VR_MAX_CONTROLLERS
+
+#use a few default colors
+colors[0] = [0,0,0]
+colors[1] = [0.5,0,0]
+colors[2] = [0,0.5,0]
+colors[3] = [0,0,0.5]
+colors[4] = [0.5,0.5,0.]
+colors[5] = [.5,.5,.5]
+
+while True:
+	events = p.getVREvents()
+
+	for e in (events):
+		if (e[6][33]&2):
+			prev[e[0]] = e[1]
+		if (e[6][32]&2):
+			widths[e[0]]=widths[e[0]]+1
+			if (widths[e[0]]>20):
+				widths[e[0]] = 1
+		if (e[6][33]==1):
+			pt = prev[e[0]]
+			#print(prev[e[0]])
+			#print(e[1])
+			diff = [pt[0]-e[1][0],pt[1]-e[1][1],pt[2]-e[1][2]]
+			lenSqr =	diff[0]*diff[0]+diff[1]*diff[1]+diff[2]*diff[2]
+			ptDistThreshold = 0.01
+			if (lenSqr>(ptDistThreshold*ptDistThreshold)):
+				p.addUserDebugLine(e[1],prev[e[0]],colors[e[0]],widths[e[0]])
+				colors[e[0]] = [1-colors[e[0]][0],1-colors[e[0]][1],1-colors[e[0]][2]]
+				prev[e[0]] = e[1]