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Code Issues Releases Wiki Activity

make the event fields understandable

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This commit is contained in:
Erwin Coumans 2016-12-26 22:31:41 -08:00
parent a4cf0c8b11
commit c378d236bb
1 changed files with 20 additions and 16 deletions
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36
examples/pybullet/vrEvent.py
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@ -1,10 +1,14 @@
#See pybullet quickstart guide here:
#https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#
# See pybullet quickstart guide here:
# https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#
# Create a Tiltbrush-like app, drawing lines using any controller
# Line width can be changed
import pybullet as p
CONTROLLER_ID = 0
POSITION=1
BUTTONS=6
#assume that the VR physics server is already started before
p.connect(p.SHARED_MEMORY)
p.setInternalSimFlags(0)#don't load default robot assets etc
@ -27,27 +31,27 @@ while True:
events = p.getVREvents()
for e in (events):
if (e[6][33]&2):
prev[e[0]] = e[1]
if (e[6][32]&2):
widths[e[0]]=widths[e[0]]+1
if (widths[e[0]]>20):
widths[e[0]] = 1
if (e[6][1]&2):
if (e[BUTTONS][33]&2):
prev[e[CONTROLLER_ID]] = e[POSITION]
if (e[BUTTONS][32]&2):
widths[e[CONTROLLER_ID]]=widths[e[0]]+1
if (widths[e[CONTROLLER_ID]]>20):
widths[e[CONTROLLER_ID]] = 1
if (e[BUTTONS][1]&2):
p.resetSimulation()
#p.setGravity(0,0,-10)
p.removeAllUserDebugItems()
p.loadURDF("plane.urdf")
if (e[6][33]==1):
pt = prev[e[0]]
if (e[BUTTONS][33]==1):
pt = prev[e[CONTROLLER_ID]]
#print(prev[e[0]])
#print(e[1])
diff = [pt[0]-e[1][0],pt[1]-e[1][1],pt[2]-e[1][2]]
diff = [pt[0]-e[POSITION][0],pt[1]-e[POSITION][1],pt[2]-e[POSITION][2]]
lenSqr = diff[0]*diff[0]+diff[1]*diff[1]+diff[2]*diff[2]
ptDistThreshold = 0.01
if (lenSqr>(ptDistThreshold*ptDistThreshold)):
p.addUserDebugLine(e[1],prev[e[0]],colors[e[0]],widths[e[0]])
p.addUserDebugLine(e[POSITION],prev[e[CONTROLLER_ID]],colors[e[CONTROLLER_ID]],widths[e[CONTROLLER_ID]])
#p.loadURDF("cube_small.urdf",e[1])
colors[e[0]] = [1-colors[e[0]][0],1-colors[e[0]][1],1-colors[e[0]][2]]
prev[e[0]] = e[1]
colors[e[CONTROLLER_ID]] = [1-colors[e[CONTROLLER_ID]][0],1-colors[e[CONTROLLER_ID]][1],1-colors[e[CONTROLLER_ID]][2]]
prev[e[CONTROLLER_ID]] = e[POSITION]