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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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This commit is contained in:
Erwin Coumans
2017-01-05 18:36:54 -08:00
parent 0cf869e56a 249f843d4e
commit 90b1026785
11 changed files with 229 additions and 41 deletions
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58
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -26,9 +26,14 @@
//@todo(erwincoumans) those globals are hacks for a VR demo, move this to Python/pybullet!
extern btVector3 gLastPickPos;
btVector3 gVRTeleportPos1(0,0,0);
btVector3 gVRTeleportPosLocal(0,0,0);
btQuaternion gVRTeleportOrnLocal(0,0,0,1);
extern btVector3 gVRTeleportPos1;
extern btQuaternion gVRTeleportOrn;
btScalar gVRTeleportRotZ = 0;
btQuaternion gVRTeleportOrn(0, 0, 0,1);
extern btVector3 gVRGripperPos;
extern btQuaternion gVRGripperOrn;
extern btVector3 gVRController2Pos;
@@ -57,9 +62,9 @@ static void saveCurrentSettingsVR()
FILE* f = fopen(startFileNameVR, "w");
if (f)
{
fprintf(f, "--camPosX= %f\n", gVRTeleportPos1[0]);
fprintf(f, "--camPosY= %f\n", gVRTeleportPos1[1]);
fprintf(f, "--camPosZ= %f\n", gVRTeleportPos1[2]);
fprintf(f, "--camPosX= %f\n", gVRTeleportPosLocal[0]);
fprintf(f, "--camPosY= %f\n", gVRTeleportPosLocal[1]);
fprintf(f, "--camPosZ= %f\n", gVRTeleportPosLocal[2]);
fprintf(f, "--camRotZ= %f\n", gVRTeleportRotZ);
fclose(f);
}
@@ -109,9 +114,9 @@ void midiCallback(double deltatime, std::vector< unsigned char > *message, void
if (message->at(1) == 16)
{
gVRTeleportRotZ= getParamf(-3.1415, 3.1415, message->at(2));
gVRTeleportOrn = btQuaternion(btVector3(0, 0, 1), gVRTeleportRotZ);
gVRTeleportOrnLocal = btQuaternion(btVector3(0, 0, 1), gVRTeleportRotZ);
saveCurrentSettingsVR();
// b3Printf("gVRTeleportOrn rotZ = %f\n", gVRTeleportRotZ);
// b3Printf("gVRTeleportOrnLocal rotZ = %f\n", gVRTeleportRotZ);
}
if (message->at(1) == 32)
@@ -123,9 +128,9 @@ void midiCallback(double deltatime, std::vector< unsigned char > *message, void
{
if (message->at(1) == i)
{
gVRTeleportPos1[i] = getParamf(-2, 2, message->at(2));
gVRTeleportPosLocal[i] = getParamf(-2, 2, message->at(2));
saveCurrentSettingsVR();
// b3Printf("gVRTeleportPos[%d] = %f\n", i,gVRTeleportPos1[i]);
// b3Printf("gVRTeleportPos[%d] = %f\n", i,gVRTeleportPosLocal[i]);
}
}
@@ -1040,19 +1045,19 @@ public:
setSharedMemoryKey(shmemKey);
}
if (args.GetCmdLineArgument("camPosX", gVRTeleportPos1[0]))
if (args.GetCmdLineArgument("camPosX", gVRTeleportPosLocal[0]))
{
printf("camPosX=%f\n", gVRTeleportPos1[0]);
printf("camPosX=%f\n", gVRTeleportPosLocal[0]);
}
if (args.GetCmdLineArgument("camPosY", gVRTeleportPos1[1]))
if (args.GetCmdLineArgument("camPosY", gVRTeleportPosLocal[1]))
{
printf("camPosY=%f\n", gVRTeleportPos1[1]);
printf("camPosY=%f\n", gVRTeleportPosLocal[1]);
}
if (args.GetCmdLineArgument("camPosZ", gVRTeleportPos1[2]))
if (args.GetCmdLineArgument("camPosZ", gVRTeleportPosLocal[2]))
{
printf("camPosZ=%f\n", gVRTeleportPos1[2]);
printf("camPosZ=%f\n", gVRTeleportPosLocal[2]);
}
float camRotZ = 0.f;
@@ -1060,7 +1065,7 @@ public:
{
printf("camRotZ = %f\n", camRotZ);
btQuaternion ornZ(btVector3(0, 0, 1), camRotZ);
gVRTeleportOrn = ornZ;
gVRTeleportOrnLocal = ornZ;
}
if (args.CheckCmdLineFlag("robotassets"))
@@ -1458,8 +1463,8 @@ extern int gDroppedSimulationSteps;
extern int gNumSteps;
extern double gDtInSec;
extern double gSubStep;
extern int gHuskyId;
extern btTransform huskyTr;
extern int gVRTrackingObjectUniqueId;
extern btTransform gVRTrackingObjectTr;
struct LineSegment
{
@@ -1591,15 +1596,22 @@ void PhysicsServerExample::drawUserDebugLines()
void PhysicsServerExample::renderScene()
{
btTransform vrTrans;
gVRTeleportPos1 = gVRTeleportPosLocal;
gVRTeleportOrn = gVRTeleportOrnLocal;
#if 0
///little VR test to follow/drive Husky vehicle
if (gHuskyId >= 0)
if (gVRTrackingObjectUniqueId >= 0)
{
gVRTeleportPos1 = huskyTr.getOrigin();
gVRTeleportOrn = huskyTr.getRotation();
btTransform vrTrans;
vrTrans.setOrigin(gVRTeleportPosLocal);
vrTrans.setRotation(gVRTeleportOrnLocal);
vrTrans = vrTrans * gVRTrackingObjectTr;
gVRTeleportPos1 = vrTrans.getOrigin();
gVRTeleportOrn = vrTrans.getRotation();
}
#endif
B3_PROFILE("PhysicsServerExample::RenderScene");