update to OpenVR sdk 1.03 from https://github.com/ValveSoftware/openvr
add camPosX/Y/Z and camRotZ to adjust relative camera/world transform for VR (so you can align virtual table with real table etc)
tweak quadruped.py to move a bit
add mouse picking to physics server
add UDP network connection for physics client <-> server.
also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever)
//Use at own risk: magic things may or my not happen when calling this API.
This allows to enable/disable robot assets (samurai world, gripper, KUKA robot etc) in Physics Server (and App_PhysicsServerVR etc)
1 = create robot assets
2 = create experimental box-vr-gui
Add optional command-line parameter for App_PhysicsServerVR, --norobotassets, to start with an empty world, no assets in VR (no gripper, no kuka)
add rolling/spinning friction to cube, remove it from plane/samurai.urdf
URDF2Bullet: support joint limits for revolute and prismatic, only if defined (if upper < lower, disable limit)
add some profiling markers to improve performance
rolling friction -> only along the normal, until we have separate rolling friction coefficients on normal and non-normal directions
Don't teleport with grasping controller (VR)
Tune VR grasping a bit.
URDF/SDF: add a flag to force concave mesh collisiofor static objects. <collision concave="yes" name="pod_collision">
VR: support teleporting using buttong, allow multiple controllers to be used, fast wireframe rendering,
Turn off warnings about deprecated C routine in btScalar.h/b3Scalar.h
Add a dummy return to stop a warning
Expose defaultContactERP in shared memory api/pybullet.
First start to expose IK in shared memory api/pybullet (not working yet)
Compile using premake+visual studio, and compile App_SharedMemoryPhysics_VR
Compile pybullet using cmake using cmake -DBUILD_PYBULLET=OFF -DCMAKE_BUILD_TYPE=Release ..
Create a symbolic link from c:\python\dlls\pybullet.pyd to C:\develop\bullet3\cmp\lib\Release\pybullet.dll
App_SharedMemoryPhysics_VR
Run Python. Here are some Python lines to get going:
import pybullet as p
p.connect(p.SHARED_MEMORY)
p.loadURDF("cube.urdf")
p.setGravity(0,0,-10)
p.setRealTimeSimulation(1)
Allow real-time simulation in physics server, add pybullet command setRealTimeSimulation to control it
Mesh decimation (reduce number of triangles/vertices) using a Blender modifier for Kuka IIWA and Husky
Disabled the 'glFlush' commands in GLInstancingRenderer.
Add VR controller methods to examples\CommonInterfaces\CommonExampleInterface.h
Use the ANSI version in Windows file/string operations instead of unicode, hope this doesn't break builds.
add test for VR HUD/sub-titles
fix issue in previous commit, partial string use %.8s not %8.s
use long long int in b3Clock
fix warning/error in pointer alignment in serialization
Fix pybullet Windows compilation.
(thanks to bkeys/https://github.com/bulletphysics/bullet3/pull/687)
Add option to have Z as up-axis for VR examples.
Add OpenVR LICENSE + README file
Don't crash VR app when no HMD is detected, just exit.
For now, don't request debug lines in client, it slows down physics server in VR mode too much.
