mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 13:50:04 +00:00
b572fe43f9
expose all analogue axes from OpenVR (5 controllers, each x,y -> 10 floats) in pybullet.getVREvents(allAnalogAxes=1)
113 lines
3.1 KiB
C++
113 lines
3.1 KiB
C++
#include "OpenGLExampleBrowser.h"
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#include "Bullet3Common/b3CommandLineArgs.h"
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#include "../Utils/b3Clock.h"
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#include "ExampleEntries.h"
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#include "Bullet3Common/b3Logging.h"
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#include "../Importers/ImportObjDemo/ImportObjExample.h"
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#include "../Importers/ImportBsp/ImportBspExample.h"
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#include "../Importers/ImportColladaDemo/ImportColladaSetup.h"
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#include "../Importers/ImportSTLDemo/ImportSTLSetup.h"
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#include "../Importers/ImportURDFDemo/ImportURDFSetup.h"
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#include "../Importers/ImportSDFDemo/ImportSDFSetup.h"
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#include "../Importers/ImportSTLDemo/ImportSTLSetup.h"
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#include "../Importers/ImportBullet/SerializeSetup.h"
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#include "LinearMath/btAlignedAllocator.h"
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static double gMinUpdateTimeMicroSecs = 1000.;
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static bool interrupted=false;
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static OpenGLExampleBrowser* sExampleBrowser=0;
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#ifndef _WIN32
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#include <signal.h>
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#include <err.h>
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#include <unistd.h>
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static void cleanup(int signo)
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{
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if (!interrupted) { // this is the second time, we're hanging somewhere
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b3Printf("Aborting and deleting SharedMemoryCommon object");
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delete sExampleBrowser;
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sleep(1);
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sExampleBrowser = 0;
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errx(EXIT_FAILURE, "aborted example on signal %d", signo);
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} else
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{
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b3Printf("no action");
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exit(EXIT_FAILURE);
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}
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interrupted = true;
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warnx("caught signal %d", signo);
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}
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#endif//_WIN32
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int main(int argc, char* argv[])
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{
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#ifndef _WIN32
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struct sigaction action;
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memset(&action, 0x0, sizeof(action));
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action.sa_handler = cleanup;
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static const int signos[] = { SIGHUP, SIGINT, SIGQUIT, SIGABRT, SIGSEGV, SIGPIPE, SIGTERM };
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for (int ii(0); ii < sizeof(signos) / sizeof(*signos); ++ii) {
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if (0 != sigaction(signos[ii], &action, NULL)) {
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err(EXIT_FAILURE, "signal %d", signos[ii]);
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}
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}
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#endif
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{
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b3CommandLineArgs args(argc, argv);
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b3Clock clock;
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args.GetCmdLineArgument("minUpdateTimeMicroSecs",gMinUpdateTimeMicroSecs);
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ExampleEntriesAll examples;
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examples.initExampleEntries();
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OpenGLExampleBrowser* exampleBrowser = new OpenGLExampleBrowser(&examples);
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sExampleBrowser = exampleBrowser;//for <CTRL-C> etc, cleanup shared memory
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bool init = exampleBrowser->init(argc, argv);
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exampleBrowser->registerFileImporter(".urdf", ImportURDFCreateFunc);
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exampleBrowser->registerFileImporter(".sdf", ImportSDFCreateFunc);
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exampleBrowser->registerFileImporter(".obj", ImportObjCreateFunc);
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exampleBrowser->registerFileImporter(".stl", ImportSTLCreateFunc);
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exampleBrowser->registerFileImporter(".bullet", SerializeBulletCreateFunc);
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clock.reset();
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if (init)
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{
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do
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{
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float deltaTimeInSeconds = clock.getTimeMicroseconds() / 1000000.f;
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if (deltaTimeInSeconds > 0.1)
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{
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deltaTimeInSeconds = 0.1;
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}
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if (deltaTimeInSeconds < (gMinUpdateTimeMicroSecs/1e6))
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{
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b3Clock::usleep(gMinUpdateTimeMicroSecs/10.);
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} else
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{
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clock.reset();
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exampleBrowser->update(deltaTimeInSeconds);
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}
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} while (!exampleBrowser->requestedExit() && !interrupted);
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}
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delete exampleBrowser;
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}
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#ifdef BT_DEBUG_MEMORY_ALLOCATIONS
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int numBytesLeaked = btDumpMemoryLeaks();
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btAssert(numBytesLeaked==0);
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#endif//BT_DEBUG_MEMORY_ALLOCATIONS
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return 0;
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}
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