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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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11
examples/RobotSimulator/b3RobotSimulatorClientAPI.h
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@@ -132,6 +132,8 @@ class b3RobotSimulatorClientAPI
struct b3RobotSimulatorClientAPI_InternalData* m_data;
public:
b3RobotSimulatorClientAPI();
virtual ~b3RobotSimulatorClientAPI();
@@ -167,7 +169,11 @@ public:
bool getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo* jointInfo);
void createConstraint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo);
int createConstraint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo);
int changeConstraint(int constraintId, b3JointInfo* jointInfo);
void removeConstraint(int constraintId);
bool getJointState(int bodyUniqueId, int jointIndex, struct b3JointSensorState* state);
@@ -188,6 +194,7 @@ public:
void setTimeStep(double timeStepInSeconds);
void setNumSimulationSubSteps(int numSubSteps);
void setNumSolverIterations(int numIterations);
void setContactBreakingThreshold(double threshold);
bool calculateInverseKinematics(const struct b3RobotSimulatorInverseKinematicArgs& args, struct b3RobotSimulatorInverseKinematicsResults& results);
@@ -201,7 +208,7 @@ public:
int startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const b3AlignedObjectArray<int>& objectUniqueIds=b3AlignedObjectArray<int>(), int maxLogDof = -1);
void stopStateLogging(int stateLoggerUniqueId);
void getVREvents(b3VREventsData* vrEventsData);
void getVREvents(b3VREventsData* vrEventsData, int deviceTypeFilter);
void getKeyboardEvents(b3KeyboardEventsData* keyboardEventsData);
};