Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Add pybullet setVRCameraState and b3SetVRCameraStateCommandInit to set the VR camera root transform (position/orientation) and optional tracking object unique id (-1 for no tracking)

Browse Source 
Fix robotcontrol.py script, getContactPointData -> getContactPoints
This commit is contained in:
Erwin Coumans
2017-01-05 17:41:58 -08:00
parent c940f0ec47
commit 83e103ac15
10 changed files with 229 additions and 41 deletions
Download Patch File Download Diff File Expand all files Collapse all files

51
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -2191,3 +2191,54 @@ void b3GetVREventsData(b3PhysicsClientHandle physClient, struct b3VREventsData*
cl->getCachedVREvents(vrEventsData);
}
}
b3SharedMemoryCommandHandle b3SetVRCameraStateCommandInit(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_SET_VR_CAMERA_STATE;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle)command;
}
int b3SetVRCameraRootPosition(b3SharedMemoryCommandHandle commandHandle, double rootPos[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_SET_VR_CAMERA_STATE);
command->m_updateFlags |= VR_CAMERA_ROOT_POSITION;
command->m_vrCameraStateArguments.m_rootPosition[0] = rootPos[0];
command->m_vrCameraStateArguments.m_rootPosition[1] = rootPos[1];
command->m_vrCameraStateArguments.m_rootPosition[2] = rootPos[2];
return 0;
}
int b3SetVRCameraRootOrientation(b3SharedMemoryCommandHandle commandHandle, double rootOrn[4])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_SET_VR_CAMERA_STATE);
command->m_updateFlags |= VR_CAMERA_ROOT_ORIENTATION;
command->m_vrCameraStateArguments.m_rootOrientation[0] = rootOrn[0];
command->m_vrCameraStateArguments.m_rootOrientation[1] = rootOrn[1];
command->m_vrCameraStateArguments.m_rootOrientation[2] = rootOrn[2];
return 0;
}
int b3SetVRCameraTrackingObject(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_SET_VR_CAMERA_STATE);
command->m_updateFlags |= VR_CAMERA_ROOT_TRACKING_OBJECT;
command->m_vrCameraStateArguments.m_trackingObjectUniqueId = objectUniqueId;
return 0;
}