From 9c12e4edb0a996cf740a014162a50a73fe1dea94 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Mon, 26 Dec 2016 21:08:10 -0800
Subject: [PATCH] don't reset the simulation (in C++), when pressing some VR
 button add some little tests in vrEvent.py

---
 examples/SharedMemory/PhysicsServerExample.cpp |  4 ++--
 examples/pybullet/vrEvent.py                   | 10 +++++++++-
 2 files changed, 11 insertions(+), 3 deletions(-)

diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index 804007cc1..4a7fa4686 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -1030,7 +1030,7 @@ public:
 
 		if (args.CheckCmdLineFlag("robotassets"))
 		{
-//			gCreateDefaultRobotAssets = true;
+			gCreateDefaultRobotAssets = true;
 		}
 
 		if (args.CheckCmdLineFlag("norobotassets"))
@@ -1859,7 +1859,7 @@ void	PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
 	{
 		if (button == 1 && state == 0)
 		{
-			gResetSimulation = true;
+			//gResetSimulation = true;
 			//gVRTeleportPos1 = gLastPickPos;
 		}
 	} else
diff --git a/examples/pybullet/vrEvent.py b/examples/pybullet/vrEvent.py
index e52a2faea..4112defd9 100644
--- a/examples/pybullet/vrEvent.py
+++ b/examples/pybullet/vrEvent.py
@@ -7,7 +7,8 @@
 import pybullet as p
 #assume that the VR physics server is already started before
 p.connect(p.SHARED_MEMORY)
-
+p.setInternalSimFlags(0)#don't load default robot assets etc
+p.resetSimulation()
 p.loadURDF("plane.urdf")
 
 prev=[None]*p.VR_MAX_CONTROLLERS
@@ -32,8 +33,14 @@ while True:
 			widths[e[0]]=widths[e[0]]+1
 			if (widths[e[0]]>20):
 				widths[e[0]] = 1
+		if (e[6][1]&2):
+			p.resetSimulation()
+			#p.setGravity(0,0,-10)
+			p.removeAllUserDebugItems()
+			p.loadURDF("plane.urdf")
 		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]]
@@ -41,5 +48,6 @@ while True:
 			ptDistThreshold = 0.01
 			if (lenSqr>(ptDistThreshold*ptDistThreshold)):
 				p.addUserDebugLine(e[1],prev[e[0]],colors[e[0]],widths[e[0]])
+				#p.loadURDF("cube_small.urdf",e[1])
 				colors[e[0]] = [1-colors[e[0]][0],1-colors[e[0]][1],1-colors[e[0]][2]]
 				prev[e[0]] = e[1]			
\ No newline at end of file