270a036cd7
This is in C++ and the sync runs at the simulation speed (240 Hz), so there is less lag than in Python.
Modify the pybullet/examples/vr_kuka_setup.py at the end to do this:
plugin = p.loadPlugin("e:/develop/bullet3/bin/pybullet_vrSyncPlugin_vs2010_x64_release.dll")
controllerId = 3
p.executePluginCommand(plugin ,"bla", [controllerId,pr2_cid],[50])
26 lines
653 B
C
26 lines
653 B
C
#ifndef TEST_PLUGIN_H
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#define TEST_PLUGIN_H
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#include "../b3PluginAPI.h"
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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//initPlugin, exitPlugin and executePluginCommand are required, otherwise plugin won't load
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B3_SHARED_API int initPlugin(struct b3PluginContext* context);
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B3_SHARED_API void exitPlugin(struct b3PluginContext* context);
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B3_SHARED_API int executePluginCommand(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
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//preTickPluginCallback and postTickPluginCallback are optional.
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B3_SHARED_API int preTickPluginCallback(struct b3PluginContext* context);
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#ifdef __cplusplus
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};
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#endif
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#endif//#define TEST_PLUGIN_H
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