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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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93
examples/StandaloneMain/hellovr_opengl_main.cpp
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@@ -4,6 +4,8 @@
#include "../OpenGLWindow/SimpleOpenGL3App.h"
#include "../OpenGLWindow/OpenGLInclude.h"
#include "Bullet3Common/b3Quaternion.h"
#include "Bullet3Common/b3Transform.h"
#include "../ExampleBrowser/OpenGLGuiHelper.h"
#include "../CommonInterfaces/CommonExampleInterface.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
@@ -28,6 +30,8 @@ int gSharedMemoryKey = -1;
#include "pathtools.h"
CommonExampleInterface* sExample;
int sIsPressed=-1;
int sPrevPacketNum=0;
GUIHelperInterface* sGuiPtr = 0;
@@ -82,7 +86,7 @@ public:
bool BInit();
bool BInitGL();
bool BInitCompositor();
void getControllerTransform(int unDevice, b3Transform& tr);
void SetupRenderModels();
void Shutdown();
@@ -619,6 +623,26 @@ void CMainApplication::Shutdown()
}
void CMainApplication::getControllerTransform(int unDevice, b3Transform& tr)
{
const Matrix4 & matOrg = m_rmat4DevicePose[unDevice];
tr.setIdentity();
tr.setOrigin(b3MakeVector3(matOrg[12],matOrg[13],matOrg[14]));//pos[1]));
b3Matrix3x3 bmat;
for (int i=0;i<3;i++)
{
for (int j=0;j<3;j++)
{
bmat[i][j] = matOrg[i+4*j];
}
}
tr.setBasis(bmat);
b3Transform y2z;
y2z.setIdentity();
y2z.setRotation(b3Quaternion(0,B3_HALF_PI,0));
tr = y2z*tr;
}
//-----------------------------------------------------------------------------
// Purpose:
//-----------------------------------------------------------------------------
@@ -639,14 +663,61 @@ bool CMainApplication::HandleInput()
vr::VRControllerState_t state;
if( m_pHMD->GetControllerState( unDevice, &state ) )
{
if (state.ulButtonPressed)
uint64_t trigger = vr::ButtonMaskFromId(vr::k_EButton_SteamVR_Trigger);
if (sPrevPacketNum != state.unPacketNum)
{
b3Printf("state.ulButtonPressed=%d\n",state.ulButtonPressed);
sExample->exitPhysics();
m_app->m_instancingRenderer->removeAllInstances();
sExample->initPhysics();
static int counter=0;
sPrevPacketNum = state.unPacketNum;
//b3Printf(".");
bool isTrigger = (state.ulButtonPressed&trigger)!=0;
if (isTrigger)
{
//printf("unDevice=%d\n",unDevice);
b3Transform tr;
getControllerTransform(unDevice,tr);
float pos[3] = {tr.getOrigin()[0],tr.getOrigin()[1],tr.getOrigin()[2]};
b3Quaternion born = tr.getRotation();
float orn[4] = {born[0],born[1],born[2],born[3]};
if (sIsPressed!=unDevice)
{
b3Printf("trigger pressed %d, %d\n",counter++, unDevice);
sIsPressed=unDevice;
sExample->vrControllerButtonCallback(unDevice,1,1,pos, orn);
//
//virtual void vrControllerMoveCallback(int controllerId, float pos[4], float orientation[4]) {}
//virtual void vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orientation[4]){}
//sExample->start
} else
{
sExample->vrControllerMoveCallback(unDevice,pos,orn);
}
//sExample->exitPhysics();
//m_app->m_instancingRenderer->removeAllInstances();
///sExample->initPhysics();
} else
{
if (unDevice==sIsPressed)
{
b3Transform tr;
getControllerTransform(unDevice,tr);
float pos[3] = {tr.getOrigin()[0],tr.getOrigin()[1],tr.getOrigin()[2]};
b3Quaternion born = tr.getRotation();
float orn[4] = {born[0],born[1],born[2],born[3]};
sIsPressed=-1;
printf("device released: %d",unDevice);
sExample->vrControllerButtonCallback(unDevice,1,0,pos, orn);
}
}
}
}
m_rbShowTrackedDevice[ unDevice ] = state.ulButtonPressed == 0;
}
}
@@ -1480,7 +1551,7 @@ void CMainApplication::RenderStereoTargets()
rotYtoZ.rotateX(-90);
}
RenderScene( vr::Eye_Left );
// Left Eye
{
@@ -1527,7 +1598,7 @@ void CMainApplication::RenderStereoTargets()
m_app->m_window->startRendering();
RenderScene( vr::Eye_Left );
@@ -1560,7 +1631,7 @@ void CMainApplication::RenderStereoTargets()
// Right Eye
RenderScene( vr::Eye_Right );
{
Matrix4 viewMatRight = m_mat4eyePosRight * m_mat4HMDPose * rotYtoZ;
@@ -1573,7 +1644,7 @@ void CMainApplication::RenderStereoTargets()
m_app->m_window->startRendering();
RenderScene( vr::Eye_Right );
m_app->m_instancingRenderer->setRenderFrameBuffer((unsigned int)rightEyeDesc.m_nRenderFramebufferId);
//m_app->m_renderer->renderScene();