53 lines
1.5 KiB
Python
53 lines
1.5 KiB
Python
#See pybullet quickstart guide here:
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#https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#
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# Create a Tiltbrush-like app, drawing lines using any controller
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# Line width can be changed
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import pybullet as p
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#assume that the VR physics server is already started before
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p.connect(p.SHARED_MEMORY)
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p.setInternalSimFlags(0)#don't load default robot assets etc
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p.resetSimulation()
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p.loadURDF("plane.urdf")
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prev=[None]*p.VR_MAX_CONTROLLERS
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colors=[0.,0.5,0.5]*p.VR_MAX_CONTROLLERS
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widths = [3]*p.VR_MAX_CONTROLLERS
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#use a few default colors
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colors[0] = [0,0,0]
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colors[1] = [0.5,0,0]
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colors[2] = [0,0.5,0]
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colors[3] = [0,0,0.5]
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colors[4] = [0.5,0.5,0.]
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colors[5] = [.5,.5,.5]
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while True:
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events = p.getVREvents()
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for e in (events):
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if (e[6][33]&2):
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prev[e[0]] = e[1]
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if (e[6][32]&2):
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widths[e[0]]=widths[e[0]]+1
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if (widths[e[0]]>20):
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widths[e[0]] = 1
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if (e[6][1]&2):
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p.resetSimulation()
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#p.setGravity(0,0,-10)
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p.removeAllUserDebugItems()
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p.loadURDF("plane.urdf")
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if (e[6][33]==1):
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pt = prev[e[0]]
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#print(prev[e[0]])
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#print(e[1])
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diff = [pt[0]-e[1][0],pt[1]-e[1][1],pt[2]-e[1][2]]
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lenSqr = diff[0]*diff[0]+diff[1]*diff[1]+diff[2]*diff[2]
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ptDistThreshold = 0.01
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if (lenSqr>(ptDistThreshold*ptDistThreshold)):
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p.addUserDebugLine(e[1],prev[e[0]],colors[e[0]],widths[e[0]])
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#p.loadURDF("cube_small.urdf",e[1])
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colors[e[0]] = [1-colors[e[0]][0],1-colors[e[0]][1],1-colors[e[0]][2]]
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prev[e[0]] = e[1] |