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allow getClosestPoints for btCompoundCollisionAlgorithm and btSphereTriangleCollisionAlgorithm

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add optional 'lightColor' arg to testrender.py script
This commit is contained in:
erwincoumans
2016-11-22 10:11:04 -08:00
parent 24c9020aac
commit 0516d2ecaa
4 changed files with 7 additions and 3 deletions
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3
examples/pybullet/testrender.py
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@@ -19,6 +19,7 @@ pixelHeight = 240
nearPlane = 0.01 nearPlane = 0.01
farPlane = 1000 farPlane = 1000
lightDirection = [0,1,0] lightDirection = [0,1,0]
lightColor = [1,1,1]#optional argument
fov = 60 fov = 60
#img_arr = pybullet.renderImage(pixelWidth, pixelHeight) #img_arr = pybullet.renderImage(pixelWidth, pixelHeight)
@@ -28,7 +29,7 @@ for pitch in range (0,360,10) :
viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex) viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex)
aspect = pixelWidth / pixelHeight; aspect = pixelWidth / pixelHeight;
projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane); projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane);
img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, lightDirection) img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, lightDirection,lightColor)
w=img_arr[0] w=img_arr[0]
h=img_arr[1] h=img_arr[1]
rgb=img_arr[2] rgb=img_arr[2]

2
src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
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@@ -100,7 +100,7 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po
btScalar radiusWithThreshold = radius + contactBreakingThreshold; btScalar radiusWithThreshold = radius + contactBreakingThreshold;
btVector3 normal = (vertices[1]-vertices[0]).cross(vertices[2]-vertices[0]); btVector3 normal = (vertices[1]-vertices[0]).cross(vertices[2]-vertices[0]);
normal.normalize(); normal.safeNormalize();
btVector3 p1ToCentre = sphereCenter - vertices[0]; btVector3 p1ToCentre = sphereCenter - vertices[0];
btScalar distanceFromPlane = p1ToCentre.dot(normal); btScalar distanceFromPlane = p1ToCentre.dot(normal);

3
src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
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@@ -292,6 +292,9 @@ void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrap
btTransform otherInCompoundSpace; btTransform otherInCompoundSpace;
otherInCompoundSpace = colObjWrap->getWorldTransform().inverse() * otherObjWrap->getWorldTransform(); otherInCompoundSpace = colObjWrap->getWorldTransform().inverse() * otherObjWrap->getWorldTransform();
otherObjWrap->getCollisionShape()->getAabb(otherInCompoundSpace,localAabbMin,localAabbMax); otherObjWrap->getCollisionShape()->getAabb(otherInCompoundSpace,localAabbMin,localAabbMax);
btVector3 extraExtends(resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold);
localAabbMin -= extraExtends;
localAabbMax += extraExtends;
const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax); const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
//process all children, that overlap with the given AABB bounds //process all children, that overlap with the given AABB bounds

2
src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
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@@ -56,7 +56,7 @@ void btSphereTriangleCollisionAlgorithm::processCollision (const btCollisionObje
/// report a contact. internally this will be kept persistent, and contact reduction is done /// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut->setPersistentManifold(m_manifoldPtr); resultOut->setPersistentManifold(m_manifoldPtr);
SphereTriangleDetector detector(sphere,triangle, m_manifoldPtr->getContactBreakingThreshold()); SphereTriangleDetector detector(sphere,triangle, m_manifoldPtr->getContactBreakingThreshold()+ resultOut->m_closestPointDistanceThreshold);
btDiscreteCollisionDetectorInterface::ClosestPointInput input; btDiscreteCollisionDetectorInterface::ClosestPointInput input;
input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);///@todo: tighter bounds input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);///@todo: tighter bounds