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/CommonInterfaces/CommonExampleInterface.h

@@ -55,7 +55,7 @@ public:
 	virtual bool	mouseButtonCallback(int button, int state, float x, float y)=0;
 	virtual bool	keyboardCallback(int key, int state)=0;
 
-	virtual void	vrControllerMoveCallback(int controllerId, float pos[4], float orientation[4], float analogAxis) {}
+	virtual void	vrControllerMoveCallback(int controllerId, float pos[4], float orientation[4], float analogAxis, float auxAnalogAxes[10]) {}
 	virtual void	vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orientation[4]){}
 	virtual void	vrHMDMoveCallback(int controllerId, float pos[4], float orientation[4]){}
 	virtual void	vrGenericTrackerMoveCallback(int controllerId, float pos[4], float orientation[4]){}

examples/ExampleBrowser/main.cpp

@@ -30,19 +30,16 @@ static OpenGLExampleBrowser* sExampleBrowser=0;
 static void cleanup(int signo)
 {
 
-    if (interrupted) {  // this is the second time, we're hanging somewhere
+    if (!interrupted) {  // this is the second time, we're hanging somewhere
-      //  if (example) {
-      //      example->abort();
-      //  }
-
         b3Printf("Aborting and deleting SharedMemoryCommon object");
-        sleep(1);
         delete sExampleBrowser;
-	sExampleBrowser = 0;
+		sleep(1);
+		sExampleBrowser = 0;
         errx(EXIT_FAILURE, "aborted example on signal %d", signo);
     } else
     {
-	b3Printf("no action");
+		b3Printf("no action");
+		exit(EXIT_FAILURE);
     }
     interrupted = true;
     warnx("caught signal %d", signo);

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -889,8 +889,18 @@ struct b3VRControllerEvents
 			if (vrEvents[i].m_numMoveEvents)
 			{
 				m_vrEvents[controlledId].m_analogAxis = vrEvents[i].m_analogAxis;
+				for (int a=0;a<10;a++)
+				{
+					m_vrEvents[controlledId].m_auxAnalogAxis[a] = vrEvents[i].m_auxAnalogAxis[a];
+				}
+			} else
+			{
+				m_vrEvents[controlledId].m_analogAxis = 0;
+				for (int a=0;a<10;a++)
+				{
+					m_vrEvents[controlledId].m_auxAnalogAxis[a] = 0;
+				}
 			}
-
 			if (vrEvents[i].m_numMoveEvents+vrEvents[i].m_numButtonEvents)
 			{
 				m_vrEvents[controlledId].m_controllerId = vrEvents[i].m_controllerId;

examples/SharedMemory/PhysicsServerExample.cpp

@@ -1330,7 +1330,7 @@ public:
 	btVector3	getRayTo(int x,int y);
 
 	virtual void	vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orientation[4]);
-	virtual void	vrControllerMoveCallback(int controllerId, float pos[4], float orientation[4], float analogAxis);
+	virtual void	vrControllerMoveCallback(int controllerId, float pos[4], float orientation[4], float analogAxis, float auxAnalogAxes[10]);
 	virtual void	vrHMDMoveCallback(int controllerId, float pos[4], float orientation[4]);
 	virtual void	vrGenericTrackerMoveCallback(int controllerId, float pos[4], float orientation[4]);
 
@@ -2874,7 +2874,7 @@ void	PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
 }
 
 
-void	PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[4], float orn[4], float analogAxis)
+void	PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[4], float orn[4], float analogAxis, float auxAnalogAxes[10])
 {
 
 	if (controllerId < 0 || controllerId >= MAX_VR_CONTROLLERS)
@@ -2927,6 +2927,11 @@ void	PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[
 	m_args[0].m_vrControllerEvents[controllerId].m_orn[3] = trTotal.getRotation()[3];
 	m_args[0].m_vrControllerEvents[controllerId].m_numMoveEvents++;
 	m_args[0].m_vrControllerEvents[controllerId].m_analogAxis = analogAxis;
+	for (int i=0;i<10;i++)
+	{
+		m_args[0].m_vrControllerEvents[controllerId].m_auxAnalogAxis[i] = auxAnalogAxes[i];
+	}
+	
 	m_args[0].m_csGUI->unlock();
 
 }

examples/SharedMemory/SharedMemoryPublic.h

@@ -339,6 +339,7 @@ enum b3VREventType
 	VR_GENERIC_TRACKER_MOVE_EVENT=8,
 };
 
+#define MAX_VR_ANALOG_AXIS 5
 #define MAX_VR_BUTTONS 64
 #define MAX_VR_CONTROLLERS 8
 
@@ -380,7 +381,7 @@ struct b3VRControllerEvent
 	float m_orn[4];//valid for VR_CONTROLLER_MOVE_EVENT and VR_CONTROLLER_BUTTON_EVENT
 
 	float m_analogAxis;//valid if VR_CONTROLLER_MOVE_EVENT
-
+	float m_auxAnalogAxis[MAX_VR_ANALOG_AXIS*2];//store x,y per axis, only valid if VR_CONTROLLER_MOVE_EVENT
 	int m_buttons[MAX_VR_BUTTONS];//valid if VR_CONTROLLER_BUTTON_EVENT, see b3VRButtonInfo
 };
 

examples/StandaloneMain/hellovr_opengl_main.cpp

@@ -814,7 +814,15 @@ bool CMainApplication::HandleInput()
 				for (int button = 0; button < vr::k_EButton_Max; button++)
 				{
 					uint64_t trigger = vr::ButtonMaskFromId((vr::EVRButtonId)button);
-
+					
+					btAssert(vr::k_unControllerStateAxisCount>=5);
+					float allAxis[10];//store x,y times 5 controllers
+					int index=0;
+					for (int i=0;i<5;i++)
+					{
+						allAxis[index++]=state.rAxis[i].x;
+						allAxis[index++]=state.rAxis[i].y;
+					}
 					bool isTrigger = (state.ulButtonPressed&trigger) != 0;
 					if (isTrigger)
 					{
@@ -824,31 +832,15 @@ bool CMainApplication::HandleInput()
 						if ((sPrevStates[unDevice].ulButtonPressed&trigger)==0)
 						{
 //							printf("Device PRESSED: %d, button %d\n", unDevice, button);
-							if (button==2)
-							{
-								//glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
-
-								///todo(erwincoumans) can't use reguar debug drawer, because physics/graphics are not in sync
-								///so it can (and likely will) cause crashes
-								///add a special debug drawer that deals with this
-									//gDebugDrawFlags = btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints+
-									//btIDebugDraw::DBG_DrawConstraintLimits+
-									//btIDebugDraw::DBG_DrawConstraints
-									//;
-								//gDebugDrawFlags = btIDebugDraw::DBG_DrawFrames;
-									
-
-
-							}
-
 							sExample->vrControllerButtonCallback(unDevice, button, 1, pos, orn);
 
 						}
 						else
 						{
 							
+							
 //							printf("Device MOVED: %d\n", unDevice);
-							sExample->vrControllerMoveCallback(unDevice, pos, orn, state.rAxis[1].x);
+							sExample->vrControllerMoveCallback(unDevice, pos, orn, state.rAxis[1].x, allAxis);
 						}
 					}
 					else
@@ -871,7 +863,7 @@ bool CMainApplication::HandleInput()
 							} else
 							{
 
-								sExample->vrControllerMoveCallback(unDevice, pos, orn, state.rAxis[1].x);
+								sExample->vrControllerMoveCallback(unDevice, pos, orn, state.rAxis[1].x,allAxis);
 							}
 						}
 					}

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

examples/pybullet/pybullet.c

@@ -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};
+	static char* kwlist[] = {"deviceTypeFilter", "allAnalogAxes", "physicsClientId", NULL};
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|ii", kwlist, &deviceTypeFilter, &physicsClientId))
+	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;