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

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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
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41
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -44,11 +44,14 @@ bool gEnableRealTimeSimVR=false;
bool gCreateDefaultRobotAssets = false;
int gInternalSimFlags = 0;
bool gResetSimulation = 0;
int gHuskyId = -1;
btTransform huskyTr = btTransform::getIdentity();
int gVRTrackingObjectUniqueId = -1;
btTransform gVRTrackingObjectTr = btTransform::getIdentity();
int gCreateObjectSimVR = -1;
int gEnableKukaControl = 0;
btVector3 gVRTeleportPos1(0,0,0);
btQuaternion gVRTeleportOrn(0, 0, 0,1);
btScalar simTimeScalingFactor = 1;
btScalar gRhsClamp = 1.f;
@@ -1369,6 +1372,32 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
#endif
case CMD_SET_VR_CAMERA_STATE:
{
if (clientCmd.m_updateFlags & VR_CAMERA_ROOT_POSITION)
{
gVRTeleportPos1[0] = clientCmd.m_vrCameraStateArguments.m_rootPosition[0];
gVRTeleportPos1[1] = clientCmd.m_vrCameraStateArguments.m_rootPosition[1];
gVRTeleportPos1[2] = clientCmd.m_vrCameraStateArguments.m_rootPosition[2];
}
if (clientCmd.m_updateFlags & VR_CAMERA_ROOT_ORIENTATION)
{
gVRTeleportOrn[0] = clientCmd.m_vrCameraStateArguments.m_rootOrientation[0];
gVRTeleportOrn[1] = clientCmd.m_vrCameraStateArguments.m_rootOrientation[1];
gVRTeleportOrn[2] = clientCmd.m_vrCameraStateArguments.m_rootOrientation[2];
gVRTeleportOrn[3] = clientCmd.m_vrCameraStateArguments.m_rootOrientation[3];
}
if (clientCmd.m_updateFlags & VR_CAMERA_ROOT_TRACKING_OBJECT)
{
gVRTrackingObjectUniqueId = clientCmd.m_vrCameraStateArguments.m_trackingObjectUniqueId;
}
serverStatusOut.m_type = CMD_CLIENT_COMMAND_COMPLETED;
hasStatus = true;
break;
}
case CMD_REQUEST_VR_EVENTS_DATA:
{
serverStatusOut.m_sendVREvents.m_numVRControllerEvents = 0;
@@ -4287,12 +4316,12 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec, const
gSubStep = m_data->m_physicsDeltaTime;
}
if (gHuskyId >= 0)
if (gVRTrackingObjectUniqueId >= 0)
{
InternalBodyHandle* bodyHandle = m_data->getHandle(gHuskyId);
InternalBodyHandle* bodyHandle = m_data->getHandle(gVRTrackingObjectUniqueId);
if (bodyHandle && bodyHandle->m_multiBody)
{
huskyTr = bodyHandle->m_multiBody->getBaseWorldTransform();
gVRTrackingObjectTr = bodyHandle->m_multiBody->getBaseWorldTransform();
}
}
@@ -4595,8 +4624,6 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
//loadUrdf("knight.urdf", btVector3(-1.2, 0.2, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("husky/husky.urdf", btVector3(2, -5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
gHuskyId = bodyId;
b3Printf("huskyId = %d", gHuskyId);
m_data->m_huskyId = bodyId;
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, -10));