bullet3/examples/pybullet/vrEvent.py
2016-12-26 22:40:08 -08:00

57 lines
1.9 KiB
Python

# 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
p.resetSimulation()
p.loadURDF("plane.urdf")
prevPosition=[None]*p.VR_MAX_CONTROLLERS
colors=[0.,0.5,0.5]*p.VR_MAX_CONTROLLERS
widths = [3]*p.VR_MAX_CONTROLLERS
#use a few default colors
colors[0] = [0,0,0]
colors[1] = [0.5,0,0]
colors[2] = [0,0.5,0]
colors[3] = [0,0,0.5]
colors[4] = [0.5,0.5,0.]
colors[5] = [.5,.5,.5]
while True:
events = p.getVREvents()
for e in (events):
if (e[BUTTONS][33]&p.VR_BUTTON_WAS_TRIGGERED):
prevPosition[e[CONTROLLER_ID]] = e[POSITION]
if (e[BUTTONS][32]&p.VR_BUTTON_WAS_TRIGGERED):
widths[e[CONTROLLER_ID]]=widths[e[0]]+1
if (widths[e[CONTROLLER_ID]]>20):
widths[e[CONTROLLER_ID]] = 1
if (e[BUTTONS][1]&p.VR_BUTTON_WAS_TRIGGERED):
p.resetSimulation()
#p.setGravity(0,0,-10)
p.removeAllUserDebugItems()
p.loadURDF("plane.urdf")
if (e[BUTTONS][33]==p.VR_BUTTON_IS_DOWN):
pt = prevPosition[e[CONTROLLER_ID]]
#print(prevPosition[e[0]])
#print(e[1])
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[POSITION],prevPosition[e[CONTROLLER_ID]],colors[e[CONTROLLER_ID]],widths[e[CONTROLLER_ID]])
#p.loadURDF("cube_small.urdf",e[1])
colors[e[CONTROLLER_ID]] = [1-colors[e[CONTROLLER_ID]][0],1-colors[e[CONTROLLER_ID]][1],1-colors[e[CONTROLLER_ID]][2]]
prevPosition[e[CONTROLLER_ID]] = e[POSITION]