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OpenVR controller can pick/drag objects. Instructions, Windows only:

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Compile using premake+visual studio, and compile App_SharedMemoryPhysics_VR
Compile pybullet using cmake using cmake -DBUILD_PYBULLET=OFF -DCMAKE_BUILD_TYPE=Release ..
Create a symbolic link from c:\python\dlls\pybullet.pyd to C:\develop\bullet3\cmp\lib\Release\pybullet.dll
App_SharedMemoryPhysics_VR
Run Python. Here are some Python lines to get going:
import pybullet as p
p.connect(p.SHARED_MEMORY)
p.loadURDF("cube.urdf")
p.setGravity(0,0,-10)
p.setRealTimeSimulation(1)

Allow real-time simulation in physics server, add pybullet command setRealTimeSimulation to control it
Mesh decimation (reduce number of triangles/vertices) using a Blender modifier for Kuka IIWA and Husky
Disabled the 'glFlush' commands in GLInstancingRenderer.
Add VR controller methods to examples\CommonInterfaces\CommonExampleInterface.h
Use the ANSI version in Windows file/string operations instead of unicode, hope this doesn't break builds.
This commit is contained in:
erwin coumans
2016-07-17 23:50:11 -07:00
parent e1e76c19a3
commit c28cd03fbd
32 changed files with 295 additions and 50 deletions
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16
examples/OpenGLWindow/GLInstancingRenderer.cpp
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@@ -16,9 +16,9 @@ subject to the following restrictions:
///todo: make this configurable in the gui
bool useShadowMap=true;//false;//true;
bool useShadowMap = true;// true;//false;//true;
int shadowMapWidth=4096;//8192;
int shadowMapHeight=4096;
int shadowMapHeight= 4096;
float shadowMapWorldSize=25;
#define MAX_POINTS_IN_BATCH 1024
@@ -363,7 +363,7 @@ void GLInstancingRenderer::writeSingleInstanceScaleToCPU(double* scale, int srcI
void GLInstancingRenderer::writeSingleInstanceTransformToGPU(float* position, float* orientation, int objectIndex)
{
glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
glFlush();
//glFlush();
char* orgBase = (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_READ_WRITE);
//b3GraphicsInstance* gfxObj = m_graphicsInstances[k];
@@ -393,7 +393,7 @@ void GLInstancingRenderer::writeSingleInstanceTransformToGPU(float* position, fl
orientations [objectIndex*4+3] = orientation[3];
glUnmapBuffer( GL_ARRAY_BUFFER);
glFlush();
//glFlush();
}
@@ -500,7 +500,7 @@ void GLInstancingRenderer::writeTransforms()
glUnmapBuffer( GL_ARRAY_BUFFER);
//if this glFinish is removed, the animation is not always working/blocks
//@todo: figure out why
glFlush();
//glFlush();
#endif
@@ -1037,7 +1037,7 @@ void GLInstancingRenderer::renderScene()
//avoid some Intel driver on a Macbook Pro to lock-up
//todo: figure out what is going on on that machine
glFlush();
//glFlush();
if (useShadowMap)
{
@@ -1539,7 +1539,7 @@ b3Assert(glGetError() ==GL_NO_ERROR);
B3_PROFILE("glFlush2");
glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
glFlush();
//glFlush();
}
b3Assert(glGetError() ==GL_NO_ERROR);
@@ -1730,7 +1730,7 @@ b3Assert(glGetError() ==GL_NO_ERROR);
{
B3_PROFILE("glFlush");
glFlush();
//glFlush();
}
if (renderMode==B3_CREATE_SHADOWMAP_RENDERMODE)
{