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Merge pull request #827 from erwincoumans/master

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add check for #dof of KUKA in VR demo
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erwincoumans 2016-10-09 21:49:37 -07:00 committed by GitHub
commit 7cb8756c28
2 changed files with 5 additions and 5 deletions
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4
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -3068,7 +3068,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
m_data->m_dynamicsWorld->addMultiBodyConstraint(m_data->m_kukaGripperRevolute1);
m_data->m_dynamicsWorld->addMultiBodyConstraint(m_data->m_kukaGripperRevolute2);
if (kukaBody->m_multiBody)
if (kukaBody->m_multiBody && kukaBody->m_multiBody->getNumDofs()==7)
{
gripperBody->m_multiBody->setHasSelfCollision(0);
btVector3 pivotInParent(0, 0, 0.05);
@ -3204,7 +3204,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
//if (0)
{
InternalBodyHandle* bodyHandle = m_data->getHandle(m_data->m_KukaId);
if (bodyHandle && bodyHandle->m_multiBody)
if (bodyHandle && bodyHandle->m_multiBody && bodyHandle->m_multiBody->getNumDofs()==7)
{
btMultiBody* mb = bodyHandle->m_multiBody;
btScalar sqLen = (mb->getBaseWorldTransform().getOrigin() - gVRController2Pos).length2();

6
examples/StandaloneMain/hellovr_opengl_main.cpp
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@ -703,13 +703,13 @@ bool CMainApplication::HandleInput()
{
glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
///todo(erwincoumans) can't use reguar debug drawer, because physics/graphics are not in sync
//so it can (and likely will) cause crashes
//add a special debug drawer that deals with this
///so it can (and likely will) cause crashes
///add a special debug drawer that deals with this
//gDebugDrawFlags = btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints+
//btIDebugDraw::DBG_DrawConstraintLimits+
//btIDebugDraw::DBG_DrawConstraints
//;
gDebugDrawFlags = btIDebugDraw::DBG_DrawConstraintLimits+ btIDebugDraw::DBG_DrawConstraints+btIDebugDraw::DBG_DrawContactPoints+btIDebugDraw::DBG_DrawFrames;
//gDebugDrawFlags = btIDebugDraw::DBG_DrawFrames;