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Allow to build PhysicsServer in VR mode, to see the URDF/SDF robots in proper scale in VR.

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Add option to have Z as up-axis for VR examples.
Add OpenVR LICENSE + README file
Don't crash VR app when no HMD is detected, just exit.
For now, don't request debug lines in client, it slows down physics server in VR mode too much.
This commit is contained in:
erwin coumans
2016-07-02 18:53:19 -07:00
parent 471d3652e4
commit d0f20eafd1
7 changed files with 129 additions and 16 deletions
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2
build_visual_studio.bat
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@@ -2,7 +2,7 @@
rem premake4 --with-pe vs2010
rem premake4 --bullet2demos vs2010
cd build3
premake4 --targetdir="../bin" vs2010
premake4 --enable_openvr --targetdir="../bin" vs2010
rem premake4 --targetdir="../server2bin" vs2010
rem cd vs2010
rem rename 0_Bullet3Solution.sln 0_server.sln

3
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -835,7 +835,7 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
enqueueCommand(CMD_STEP_FORWARD_SIMULATION);
if (m_options != eCLIENTEXAMPLE_SERVER)
{
enqueueCommand(CMD_REQUEST_DEBUG_LINES);
//enqueueCommand(CMD_REQUEST_DEBUG_LINES);
}
}
}
@@ -855,3 +855,4 @@ class CommonExampleInterface* PhysicsClientCreateFunc(struct CommonExampleOpt
}
return example;
}

2
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -306,3 +306,5 @@ class CommonExampleInterface* PhysicsServerCreateFunc(struct CommonExampleOpt
return example;
}
B3_STANDALONE_EXAMPLE(PhysicsServerCreateFunc)

62
examples/SharedMemory/premake4.lua
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@@ -15,7 +15,8 @@ links {
language "C++"
files {
myfiles =
{
"PhysicsClient.cpp",
"PhysicsClientSharedMemory.cpp",
"PhysicsClientExample.cpp",
@@ -24,7 +25,6 @@ files {
"PhysicsServerSharedMemory.h",
"PhysicsServer.cpp",
"PhysicsServer.h",
"main.cpp",
"PhysicsClientC_API.cpp",
"SharedMemoryCommands.h",
"SharedMemoryPublic.h",
@@ -84,3 +84,61 @@ files {
"../ThirdPartyLibs/stb_image/stb_image.cpp",
}
files {
myfiles,
"main.cpp",
}
project "App_SharedMemoryPhysics_VR"
defines {"B3_USE_STANDALONE_EXAMPLE","BT_ENABLE_VR"}
if _OPTIONS["ios"] then
kind "WindowedApp"
else
kind "ConsoleApp"
end
includedirs {
".","../../src", "../ThirdPartyLibs",
"../ThirdPartyLibs/openvr/headers",
"../ThirdPartyLibs/openvr/samples/shared"
}
links {
"Bullet3Common", "BulletDynamics","BulletCollision", "LinearMath","OpenGL_Window","openvr_api"
}
language "C++"
initOpenGL()
initGlew()
files
{
myfiles,
"../StandaloneMain/hellovr_opengl_main.cpp",
"../ExampleBrowser/OpenGLGuiHelper.cpp",
"../ExampleBrowser/GL_ShapeDrawer.cpp",
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
"../ThirdPartyLibs/openvr/samples/shared/lodepng.cpp",
"../ThirdPartyLibs/openvr/samples/shared/lodepng.h",
"../ThirdPartyLibs/openvr/samples/shared/Matrices.cpp",
"../ThirdPartyLibs/openvr/samples/shared/Matrices.h",
"../ThirdPartyLibs/openvr/samples/shared/pathtools.cpp",
"../ThirdPartyLibs/openvr/samples/shared/pathtools.h",
"../ThirdPartyLibs/openvr/samples/shared/Vectors.h",
}
if os.is("Windows") then
libdirs {"../ThirdPartyLibs/openvr/lib/win32"}
end
if os.is("Linux") then initX11() end
if os.is("MacOSX") then
links{"Cocoa.framework"}
end

40
examples/StandaloneMain/hellovr_opengl_main.cpp
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@@ -11,6 +11,7 @@
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
int gSharedMemoryKey = -1;
//how can you try typing on a keyboard, without seeing it?
//it is pretty funny, to see the desktop in VR!
@@ -139,7 +140,7 @@ private:
SimpleOpenGL3App* m_app;
uint32_t m_nWindowWidth;
uint32_t m_nWindowHeight;
bool m_hasContext;
private: // OpenGL bookkeeping
int m_iTrackedControllerCount;
@@ -234,6 +235,7 @@ private: // OpenGL bookkeeping
//-----------------------------------------------------------------------------
CMainApplication::CMainApplication( int argc, char *argv[] )
: m_app(NULL)
, m_hasContext(false)
, m_nWindowWidth( 1280 )
, m_nWindowHeight( 720 )
, m_unSceneProgramID( 0 )
@@ -556,13 +558,16 @@ void CMainApplication::Shutdown()
}
m_vecRenderModels.clear();
if( 1)//m_pContext )
if( m_hasContext)
{
glDebugMessageControl( GL_DONT_CARE, GL_DONT_CARE, GL_DONT_CARE, 0, nullptr, GL_FALSE );
glDebugMessageCallback(nullptr, nullptr);
glDeleteBuffers(1, &m_glSceneVertBuffer);
glDeleteBuffers(1, &m_glIDVertBuffer);
glDeleteBuffers(1, &m_glIDIndexBuffer);
if (m_glSceneVertBuffer)
{
glDebugMessageControl( GL_DONT_CARE, GL_DONT_CARE, GL_DONT_CARE, 0, nullptr, GL_FALSE );
glDebugMessageCallback(nullptr, nullptr);
glDeleteBuffers(1, &m_glSceneVertBuffer);
glDeleteBuffers(1, &m_glIDVertBuffer);
glDeleteBuffers(1, &m_glIDIndexBuffer);
}
if ( m_unSceneProgramID )
{
@@ -1067,6 +1072,7 @@ void CMainApplication::SetupScene()
glDisableVertexAttribArray(0);
glDisableVertexAttribArray(1);
m_hasContext = true;
}
@@ -1462,10 +1468,19 @@ void CMainApplication::RenderStereoTargets()
m_app->m_instancingRenderer->init();
Matrix4 rotYtoZ = rotYtoZ.identity();
//some Bullet apps (especially robotics related) require Z as up-axis)
if (m_app->getUpAxis()==2)
{
rotYtoZ.rotateX(-90);
}
// Left Eye
{
Matrix4 viewMatLeft = m_mat4eyePosLeft * m_mat4HMDPose;
Matrix4 viewMatLeft = m_mat4eyePosLeft * m_mat4HMDPose * rotYtoZ;
m_app->m_instancingRenderer->getActiveCamera()->setVRCamera(viewMatLeft.get(),m_mat4ProjectionLeft.get());
m_app->m_instancingRenderer->updateCamera();
}
@@ -1477,8 +1492,9 @@ void CMainApplication::RenderStereoTargets()
m_app->m_window->startRendering();
RenderScene( vr::Eye_Left );
m_app->drawGrid();
DrawGridData gridUp;
gridUp.upAxis = m_app->getUpAxis();
m_app->drawGrid(gridUp);
sExample->stepSimulation(1./60.);
sExample->renderScene();
@@ -1507,7 +1523,7 @@ void CMainApplication::RenderStereoTargets()
// Right Eye
{
Matrix4 viewMatRight = m_mat4eyePosRight * m_mat4HMDPose;
Matrix4 viewMatRight = m_mat4eyePosRight * m_mat4HMDPose * rotYtoZ;
m_app->m_instancingRenderer->getActiveCamera()->setVRCamera(viewMatRight.get(),m_mat4ProjectionRight.get());
m_app->m_instancingRenderer->updateCamera();
}
@@ -1518,7 +1534,7 @@ void CMainApplication::RenderStereoTargets()
m_app->m_window->startRendering();
RenderScene( vr::Eye_Right );
m_app->drawGrid();
m_app->drawGrid(gridUp);
m_app->m_instancingRenderer->setRenderFrameBuffer((unsigned int)rightEyeDesc.m_nRenderFramebufferId);
m_app->m_renderer->renderScene();

27
examples/ThirdPartyLibs/openvr/LICENSE Normal file
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@@ -0,0 +1,27 @@
Copyright (c) 2015, Valve Corporation
All rights reserved.
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation and/or
other materials provided with the distribution.
3. Neither the name of the copyright holder nor the names of its contributors
may be used to endorse or promote products derived from this software without
specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

9
examples/ThirdPartyLibs/openvr/README Normal file
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@@ -0,0 +1,9 @@
OpenVR is an API and runtime that allows access to VR hardware from multiple
vendors without requiring that applications have specific knowledge of the
hardware they are targeting. This repository is an SDK that contains the API
and samples. The runtime is under SteamVR in Tools on Steam.
Documentation for the API is available in the wiki: https://github.com/ValveSoftware/openvr/wiki/API-Documentation
More information on OpenVR and SteamVR can be found on http://steamvr.com