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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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8
src/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp
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@@ -636,10 +636,10 @@ cl_program b3OpenCLUtils_compileCLProgramFromString(cl_context clContext, cl_dev
FILETIME modtimeBinary;
CreateDirectory(sCachedBinaryPath,0);
CreateDirectoryA(sCachedBinaryPath,0);
{
HANDLE binaryFileHandle = CreateFile(binaryFileName,GENERIC_READ,0,0,OPEN_EXISTING,FILE_ATTRIBUTE_NORMAL,0);
HANDLE binaryFileHandle = CreateFileA(binaryFileName,GENERIC_READ,0,0,OPEN_EXISTING,FILE_ATTRIBUTE_NORMAL,0);
if (binaryFileHandle ==INVALID_HANDLE_VALUE)
{
DWORD errorCode;
@@ -677,7 +677,7 @@ cl_program b3OpenCLUtils_compileCLProgramFromString(cl_context clContext, cl_dev
if (binaryFileValid)
{
HANDLE srcFileHandle = CreateFile(clFileNameForCaching,GENERIC_READ,0,0,OPEN_EXISTING,FILE_ATTRIBUTE_NORMAL,0);
HANDLE srcFileHandle = CreateFileA(clFileNameForCaching,GENERIC_READ,0,0,OPEN_EXISTING,FILE_ATTRIBUTE_NORMAL,0);
if (srcFileHandle==INVALID_HANDLE_VALUE)
{
@@ -686,7 +686,7 @@ cl_program b3OpenCLUtils_compileCLProgramFromString(cl_context clContext, cl_dev
{
char relativeFileName[1024];
sprintf(relativeFileName,"%s%s",prefix[i],clFileNameForCaching);
srcFileHandle = CreateFile(relativeFileName,GENERIC_READ,0,0,OPEN_EXISTING,FILE_ATTRIBUTE_NORMAL,0);
srcFileHandle = CreateFileA(relativeFileName,GENERIC_READ,0,0,OPEN_EXISTING,FILE_ATTRIBUTE_NORMAL,0);
}
}