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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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65
examples/pybullet/pybullet.c
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@@ -2431,6 +2431,56 @@ static PyObject* pybullet_getMatrixFromQuaterion(PyObject* self, PyObject* args)
};
static PyObject* pybullet_setVRCameraState(PyObject* self, PyObject* args, PyObject *keywds)
{
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
PyObject* rootPosObj=0;
PyObject* rootOrnObj=0;
int trackObjectUid=-2;
double rootPos[3];
double rootOrn[4];
static char *kwlist[] = {"rootPosition", "rootOrientation", "trackObject", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|OOii", kwlist,&rootPosObj, &rootOrnObj, &trackObjectUid,&physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
commandHandle = b3SetVRCameraStateCommandInit(sm);
if (pybullet_internalSetVectord(rootPosObj,rootPos))
{
b3SetVRCameraRootPosition(commandHandle,rootPos);
}
if (pybullet_internalSetVector4d(rootOrnObj,rootOrn))
{
b3SetVRCameraRootOrientation(commandHandle,rootOrn);
}
if (trackObjectUid>=-1)
{
b3SetVRCameraTrackingObject(commandHandle,trackObjectUid);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
Py_INCREF(Py_None);
return Py_None;
}
static PyObject* pybullet_getVREvents(PyObject* self, PyObject* args, PyObject *keywds)
{
b3SharedMemoryCommandHandle commandHandle;
@@ -3732,10 +3782,10 @@ static PyObject* pybullet_renderImageObsolete(PyObject* self, PyObject* args) {
static PyObject* pybullet_applyExternalForce(PyObject* self, PyObject* args,PyObject* keywds) {
{
int objectUniqueId, linkIndex, flags;
int objectUniqueId=-1, linkIndex=-1, flags;
double force[3];
double position[3] = {0.0, 0.0, 0.0};
PyObject* forceObj, *posObj;
PyObject* forceObj=0, *posObj=0;
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
@@ -4304,15 +4354,15 @@ static PyMethodDef SpamMethods[] = {
"Set a single joint motor control mode and desired target value. There is "
"no immediate state change, stepSimulation will process the motors."},
{"applyExternalForce",(PyCFunction) pybullet_applyExternalForce, METH_VARARGS,
{"applyExternalForce",(PyCFunction) pybullet_applyExternalForce, METH_VARARGS| METH_KEYWORDS,
"for objectUniqueId, linkIndex (-1 for base/root link), apply a force "
"[x,y,z] at the a position [x,y,z], flag to select FORCE_IN_LINK_FRAME or "
"FORCE_IN_WORLD_FRAME coordinates"},
"WORLD_FRAME coordinates"},
{"applyExternalTorque", (PyCFunction)pybullet_applyExternalTorque, METH_VARARGS| METH_KEYWORDS,
"for objectUniqueId, linkIndex (-1 for base/root link) apply a torque "
"[x,y,z] in Cartesian coordinates, flag to select TORQUE_IN_LINK_FRAME or "
"TORQUE_IN_WORLD_FRAME coordinates"},
"WORLD_FRAME coordinates"},
{"renderImage", pybullet_renderImageObsolete, METH_VARARGS,
"obsolete, please use getCameraImage and getViewProjectionMatrices instead"
@@ -4420,6 +4470,11 @@ static PyMethodDef SpamMethods[] = {
{ "getVREvents", (PyCFunction)pybullet_getVREvents, METH_VARARGS | METH_KEYWORDS,
"Get Virtual Reality events, for example to track VR controllers position/buttons"
},
{ "setVRCameraState", (PyCFunction)pybullet_setVRCameraState, METH_VARARGS | METH_KEYWORDS,
"Set properties of the VR Camera such as its root transform "
"for teleporting or to track objects (camera inside a vehicle for example)."
},
{ "rayTest", (PyCFunction)pybullet_rayTest, METH_VARARGS | METH_KEYWORDS,
"Cast a ray and return the first object hit, if any. "