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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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37
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -374,6 +374,8 @@ struct PhysicsServerCommandProcessorInternalData
///end handle management
bool m_allowRealTimeSimulation;
bool m_hasGround;
CommandLogger* m_commandLogger;
CommandLogPlayback* m_logPlayback;
@@ -417,7 +419,8 @@ struct PhysicsServerCommandProcessorInternalData
TinyRendererVisualShapeConverter m_visualConverter;
PhysicsServerCommandProcessorInternalData()
:
:m_hasGround(false),
m_allowRealTimeSimulation(false),
m_commandLogger(0),
m_logPlayback(0),
m_physicsDeltaTime(1./240.),
@@ -496,6 +499,9 @@ void PhysicsServerCommandProcessor::setGuiHelper(struct GUIHelperInterface* guiH
}
}
m_data->m_guiHelper = guiHelper;
}
@@ -504,6 +510,7 @@ PhysicsServerCommandProcessor::PhysicsServerCommandProcessor()
m_data = new PhysicsServerCommandProcessorInternalData();
createEmptyDynamicsWorld();
}
PhysicsServerCommandProcessor::~PhysicsServerCommandProcessor()
@@ -983,7 +990,7 @@ int PhysicsServerCommandProcessor::createBodyInfoStream(int bodyUniqueId, char*
bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes )
{
bool hasStatus = false;
{
@@ -1768,6 +1775,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
m_data->m_physicsDeltaTime = clientCmd.m_physSimParamArgs.m_deltaTime;
}
if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_REAL_TIME_SIMULATION)
{
m_data->m_allowRealTimeSimulation = clientCmd.m_physSimParamArgs.m_allowRealTimeSimulation;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_GRAVITY)
{
btVector3 grav(clientCmd.m_physSimParamArgs.m_gravityAcceleration[0],
@@ -1873,7 +1884,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
SharedMemoryStatus& serverCmd =serverStatusOut;
serverCmd.m_type = CMD_RESET_SIMULATION_COMPLETED;
hasStatus = true;
m_data->m_hasGround = false;
break;
}
case CMD_CREATE_RIGID_BODY:
@@ -2307,6 +2318,26 @@ void PhysicsServerCommandProcessor::replayFromLogFile(const char* fileName)
m_data->m_logPlayback = pb;
}
void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
{
if (m_data->m_allowRealTimeSimulation)
{
if (!m_data->m_hasGround)
{
m_data->m_hasGround = true;
int bodyId = 0;
btAlignedObjectArray<char> bufferServerToClient;
bufferServerToClient.resize(32768);
loadUrdf("plane.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, true, &bodyId, &bufferServerToClient[0], bufferServerToClient.size());
}
m_data->m_dynamicsWorld->stepSimulation(dtInSec);
}
}
void PhysicsServerCommandProcessor::applyJointDamping(int bodyUniqueId)
{
InteralBodyData* body = m_data->getHandle(bodyUniqueId);