fix signal handling in ExampleBrowser on linux/mac on termination

expose all analogue axes from OpenVR (5 controllers, each x,y -> 10 floats) in pybullet.getVREvents(allAnalogAxes=1)

examples/pybullet/examples/vrEvent.py

@@ -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