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add vrhand for vive tracker

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tweak 'saveWorld' feature a bit (mjcf, gui fallback if shared memory server is not available)
This commit is contained in:
Erwin Coumans
2017-04-21 10:28:20 -07:00
parent 14edf72695
commit e8c1602232
2 changed files with 169 additions and 3 deletions
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23
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2792,10 +2792,21 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
fwrite(line,len,1,f);
}
{
sprintf(line,"p.connect(p.SHARED_MEMORY)\n");
sprintf(line,"cin = p.connect(p.SHARED_MEMORY)\n");
int len = strlen(line);
fwrite(line,len,1,f);
}
{
sprintf(line,"if (cin < 0):\n");
int len = strlen(line);
fwrite(line,len,1,f);
}
{
sprintf(line," cin = p.connect(p.GUI)\n");
int len = strlen(line);
fwrite(line,len,1,f);
}
//for each objects ...
for (int i=0;i<m_data->m_saveWorldBodyData.size();i++)
{
@@ -2830,15 +2841,21 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
int len = strlen(line);
fwrite(line,len,1,f);
}
if (strstr(sd.m_fileName.c_str(),".xml") && i==0)
{
sprintf(line,"objects = p.loadMJCF(\"%s\")\n",sd.m_fileName.c_str());
int len = strlen(line);
fwrite(line,len,1,f);
}
if (strstr(sd.m_fileName.c_str(),".sdf") || ((strstr(sd.m_fileName.c_str(),".urdf")) && mb->getNumLinks()) )
if (strstr(sd.m_fileName.c_str(),".sdf") || strstr(sd.m_fileName.c_str(),".xml") || ((strstr(sd.m_fileName.c_str(),".urdf")) && mb->getNumLinks()) )
{
sprintf(line,"ob = objects[%d]\n",i);
int len = strlen(line);
fwrite(line,len,1,f);
}
if (strstr(sd.m_fileName.c_str(),".sdf"))
if (strstr(sd.m_fileName.c_str(),".sdf")||strstr(sd.m_fileName.c_str(),".xml"))
{
sprintf(line,"p.resetBasePositionAndOrientation(ob,[%f,%f,%f],[%f,%f,%f,%f])\n",
comTr.getOrigin()[0],comTr.getOrigin()[1],comTr.getOrigin()[2],