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Add C++ version VRGloveSimulatorMain example, using the serial library.

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First run the App_PhysicsServer_SharedMemory_VR_vs2010.exe to run the VR server,
then run App_VRGloveHandSimulator. You likely need to tune the minV/maxV for each finger (check values using Arduino IDE Serial Monitor)
This commit is contained in:
Erwin Coumans
2017-05-01 22:35:33 -07:00
parent 305725e52e
commit 9fef6c1d66
13 changed files with 610 additions and 153 deletions
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71
examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
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@@ -560,21 +560,70 @@ bool b3RobotSimulatorClientAPI::getJointInfo(int bodyUniqueId, int jointIndex, b
return (b3GetJointInfo(m_data->m_physicsClientHandle, bodyUniqueId, jointIndex, jointInfo) != 0);
}
void b3RobotSimulatorClientAPI::createConstraint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo)
int b3RobotSimulatorClientAPI::createConstraint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo)
{
if (!isConnected())
{
b3Warning("Not connected");
return;
return -1;
}
b3SharedMemoryStatusHandle statusHandle;
b3Assert(b3CanSubmitCommand(m_data->m_physicsClientHandle));
if (b3CanSubmitCommand(m_data->m_physicsClientHandle))
{
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, b3InitCreateUserConstraintCommand(m_data->m_physicsClientHandle, parentBodyIndex, parentJointIndex, childBodyIndex, childJointIndex, jointInfo));
int statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_USER_CONSTRAINT_COMPLETED)
{
int userConstraintUid = b3GetStatusUserConstraintUniqueId(statusHandle);
return userConstraintUid;
}
}
return -1;
}
int b3RobotSimulatorClientAPI::changeConstraint(int constraintId, b3JointInfo* jointInfo)
{
if (!isConnected())
{
b3Warning("Not connected");
return -1;
}
b3SharedMemoryCommandHandle commandHandle = b3InitChangeUserConstraintCommand(m_data->m_physicsClientHandle, constraintId);
if (jointInfo->m_flags & eJointChangeMaxForce)
{
b3InitChangeUserConstraintSetMaxForce(commandHandle, jointInfo->m_jointMaxForce);
}
if (jointInfo->m_flags & eJointChangeChildFramePosition)
{
b3InitChangeUserConstraintSetPivotInB(commandHandle, &jointInfo->m_childFrame[0]);
}
if (jointInfo->m_flags & eJointChangeChildFrameOrientation)
{
b3InitChangeUserConstraintSetFrameInB(commandHandle, &jointInfo->m_childFrame[3]);
}
b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
int statusType = b3GetStatusType(statusHandle);
return statusType;
}
void b3RobotSimulatorClientAPI::removeConstraint(int constraintId)
{
if (!isConnected())
{
b3Warning("Not connected");
return;
}
b3SharedMemoryCommandHandle commandHandle = b3InitRemoveUserConstraintCommand(m_data->m_physicsClientHandle, constraintId);
b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
int statusType = b3GetStatusType(statusHandle);
}
bool b3RobotSimulatorClientAPI::getJointState(int bodyUniqueId, int jointIndex, struct b3JointSensorState* state)
{
if (!isConnected())
@@ -685,6 +734,21 @@ void b3RobotSimulatorClientAPI::setNumSolverIterations(int numIterations)
b3Assert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
}
void b3RobotSimulatorClientAPI::setContactBreakingThreshold(double threshold)
{
if (!isConnected())
{
b3Warning("Not connected");
return;
}
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClientHandle);
b3SharedMemoryStatusHandle statusHandle;
b3PhysicsParamSetContactBreakingThreshold(command,threshold);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
b3Assert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
}
void b3RobotSimulatorClientAPI::setTimeStep(double timeStepInSeconds)
{
if (!isConnected())
@@ -815,7 +879,7 @@ void b3RobotSimulatorClientAPI::configureDebugVisualizer(b3ConfigureDebugVisuali
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
}
void b3RobotSimulatorClientAPI::getVREvents(b3VREventsData* vrEventsData)
void b3RobotSimulatorClientAPI::getVREvents(b3VREventsData* vrEventsData,int deviceTypeFilter)
{
vrEventsData->m_numControllerEvents = 0;
vrEventsData->m_controllerEvents = 0;
@@ -826,6 +890,7 @@ void b3RobotSimulatorClientAPI::getVREvents(b3VREventsData* vrEventsData)
}
b3SharedMemoryCommandHandle commandHandle = b3RequestVREventsCommandInit(m_data->m_physicsClientHandle);
b3VREventsSetDeviceTypeFilter(commandHandle, deviceTypeFilter);
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
b3GetVREventsData(m_data->m_physicsClientHandle, vrEventsData);
}