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avoid wavefront obj texture index out-of-bounds (most obj out-of-bounds are not checked)

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use second controller button
This commit is contained in:
erwin coumans
2016-10-04 08:53:59 -07:00
parent a287227384
commit d6f449762b
3 changed files with 62 additions and 16 deletions
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11
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -27,7 +27,9 @@
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "SharedMemoryCommands.h"
//@todo(erwincoumans) those globals are hacks for a VR demo, move this to Python/pybullet!
btVector3 gLastPickPos(0, 0, 0);
bool gCloseToKuka=false;
bool gEnableRealTimeSimVR=false;
int gCreateObjectSimVR = -1;
btScalar simTimeScalingFactor = 1;
@@ -2931,8 +2933,9 @@ btVector3 gVRGripperPos(0,0,0.2);
btQuaternion gVRGripperOrn(0,0,0,1);
btVector3 gVRController2Pos(0,0,0.2);
btQuaternion gVRController2Orn(0,0,0,1);
btScalar gVRGripper2Analog = 0;
btScalar gVRGripperAnalog = 0;
bool gVRGripperClosed = false;
@@ -3146,7 +3149,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)childBody->m_multiBody->getLink(1).m_userPtr;
if (motor)
{
btScalar posTarget = (-0.048)*btMin(btScalar(0.75), gVRGripperAnalog) / 0.75;
btScalar posTarget = (-0.048)*btMin(btScalar(0.75), gVRGripper2Analog) / 0.75;
motor->setPositionTarget(posTarget, .2);
motor->setVelocityTarget(0.0, .5);
motor->setMaxAppliedImpulse(5.0);
@@ -3196,7 +3199,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
btMultiBody* mb = bodyHandle->m_multiBody;
btScalar sqLen = (mb->getBaseWorldTransform().getOrigin() - gVRController2Pos).length2();
btScalar distanceThreshold = 1.3;
bool closeToKuka=(sqLen<(distanceThreshold*distanceThreshold));
gCloseToKuka=(sqLen<(distanceThreshold*distanceThreshold));
int numDofs = bodyHandle->m_multiBody->getNumDofs();
btAlignedObjectArray<double> q_new;
@@ -3217,7 +3220,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
q_new[5] = -SIMD_HALF_PI*0.66;
q_new[6] = 0;
if (closeToKuka)
if (gCloseToKuka)
{
double dampIk[6] = {1.0, 1.0, 1.0, 1.0, 1.0, 0.0};