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fix signal handling in ExampleBrowser on linux/mac on termination

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expose all analogue axes from OpenVR (5 controllers, each x,y -> 10 floats) in pybullet.getVREvents(allAnalogAxes=1)
This commit is contained in:
erwincoumans
2017-10-05 12:59:58 -07:00
parent 822ff077c7
commit b572fe43f9
8 changed files with 81 additions and 39 deletions
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28
examples/pybullet/examples/vrEvent.py
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@@ -8,7 +8,9 @@ import pybullet as p
CONTROLLER_ID = 0
POSITION=1
ORIENTATION=2
NUM_MOVE_EVENTS=5
BUTTONS=6
ANALOG_AXIS=8
#assume that the VR physics server is already started before
c = p.connect(p.SHARED_MEMORY)
@@ -20,7 +22,7 @@ p.setInternalSimFlags(0)#don't load default robot assets etc
p.resetSimulation()
p.loadURDF("plane.urdf")
prevPosition=[None]*p.VR_MAX_CONTROLLERS
prevPosition=[[0,0,0]]*p.VR_MAX_CONTROLLERS
colors=[0.,0.5,0.5]*p.VR_MAX_CONTROLLERS
widths = [3]*p.VR_MAX_CONTROLLERS
@@ -32,10 +34,27 @@ colors[3] = [0,0,0.5]
colors[4] = [0.5,0.5,0.]
colors[5] = [.5,.5,.5]
while True:
controllerId = -1
pt=[0,0,0]
print("waiting for VR controller trigger")
while (controllerId<0):
events = p.getVREvents()
for e in (events):
if (e[BUTTONS][33]==p.VR_BUTTON_IS_DOWN):
controllerId = e[CONTROLLER_ID]
if (e[BUTTONS][32]==p.VR_BUTTON_IS_DOWN):
controllerId = e[CONTROLLER_ID]
print("Using controllerId="+str(controllerId))
while True:
events = p.getVREvents(allAnalogAxes=1)
for e in (events):
if (e[CONTROLLER_ID]==controllerId ):
for a in range(10):
print("analog axis"+str(a)+"="+str(e[8][a]))
if (e[BUTTONS][33]&p.VR_BUTTON_WAS_TRIGGERED):
prevPosition[e[CONTROLLER_ID]] = e[POSITION]
if (e[BUTTONS][32]&p.VR_BUTTON_WAS_TRIGGERED):
@@ -51,7 +70,10 @@ while True:
pt = prevPosition[e[CONTROLLER_ID]]
#print(prevPosition[e[0]])
#print(e[1])
print("e[POSITION]")
print(e[POSITION])
print("pt")
print(pt)
diff = [pt[0]-e[POSITION][0],pt[1]-e[POSITION][1],pt[2]-e[POSITION][2]]
lenSqr = diff[0]*diff[0]+diff[1]*diff[1]+diff[2]*diff[2]
ptDistThreshold = 0.01

21
examples/pybullet/pybullet.c
View File

@@ -4277,9 +4277,10 @@ static PyObject* pybullet_getVREvents(PyObject* self, PyObject* args, PyObject*
int statusType;
int deviceTypeFilter = VR_DEVICE_CONTROLLER;
int physicsClientId = 0;
int allAnalogAxes = 0;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = {"deviceTypeFilter", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|ii", kwlist, &deviceTypeFilter, &physicsClientId))
static char* kwlist[] = {"deviceTypeFilter", "allAnalogAxes", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|iii", kwlist, &deviceTypeFilter, &allAnalogAxes, &physicsClientId))
{
return NULL;
}
@@ -4307,7 +4308,8 @@ static PyObject* pybullet_getVREvents(PyObject* self, PyObject* args, PyObject*
vrEventsObj = PyTuple_New(vrEvents.m_numControllerEvents);
for (i = 0; i < vrEvents.m_numControllerEvents; i++)
{
PyObject* vrEventObj = PyTuple_New(8);
int numFields = allAnalogAxes? 9 : 8;
PyObject* vrEventObj = PyTuple_New(numFields);
PyTuple_SetItem(vrEventObj, 0, PyInt_FromLong(vrEvents.m_controllerEvents[i].m_controllerId));
{
@@ -4340,6 +4342,19 @@ static PyObject* pybullet_getVREvents(PyObject* self, PyObject* args, PyObject*
PyTuple_SetItem(vrEventObj, 6, buttonsObj);
}
PyTuple_SetItem(vrEventObj, 7, PyInt_FromLong(vrEvents.m_controllerEvents[i].m_deviceType));
if (allAnalogAxes)
{
PyObject* buttonsObj = PyTuple_New(MAX_VR_ANALOG_AXIS*2);
int b;
for (b = 0; b < MAX_VR_ANALOG_AXIS*2; b++)
{
PyObject* axisVal = PyFloat_FromDouble(vrEvents.m_controllerEvents[i].m_auxAnalogAxis[b]);
PyTuple_SetItem(buttonsObj, b, axisVal);
}
PyTuple_SetItem(vrEventObj, 8, buttonsObj);
}
PyTuple_SetItem(vrEventsObj, i, vrEventObj);
}
return vrEventsObj;