From d6f449762ba47b9c83bbde38048b696459943eec Mon Sep 17 00:00:00 2001 From: erwin coumans Date: Tue, 4 Oct 2016 08:53:59 -0700 Subject: [PATCH 1/5] avoid wavefront obj texture index out-of-bounds (most obj out-of-bounds are not checked) use second controller button --- .../Wavefront2GLInstanceGraphicsShape.cpp | 50 ++++++++++++++++--- .../PhysicsServerCommandProcessor.cpp | 11 ++-- .../SharedMemory/PhysicsServerExample.cpp | 17 +++++-- 3 files changed, 62 insertions(+), 16 deletions(-) diff --git a/examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp b/examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp index a83ac9c31..4504fb7fe 100644 --- a/examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp +++ b/examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp @@ -33,6 +33,10 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vectorsize(); + if (f<0 && f>=shape.mesh.indices.size()) + { + continue; + } GLInstanceVertex vtx0; vtx0.xyzw[0] = shape.mesh.positions[shape.mesh.indices[f]*3+0]; @@ -40,10 +44,22 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector=0 && uv1Index>=0 && (uv0Index < shape.mesh.texcoords.size()) && (uv1Index < shape.mesh.texcoords.size())) + { + vtx0.uv[0] = shape.mesh.texcoords[uv0Index]; + vtx0.uv[1] = shape.mesh.texcoords[uv1Index]; + } else + { + b3Warning("obj texture coordinate out-of-range!"); + vtx0.uv[0] = 0; + vtx0.uv[1] = 0; + } + } else { vtx0.uv[0] = 0.5; @@ -58,8 +74,18 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector=0 && uv1Index>=0 && (uv0Index < shape.mesh.texcoords.size()) && (uv1Index < shape.mesh.texcoords.size())) + { + vtx1.uv[0] = shape.mesh.texcoords[uv0Index]; + vtx1.uv[1] = shape.mesh.texcoords[uv1Index]; + } else + { + b3Warning("obj texture coordinate out-of-range!"); + vtx1.uv[0] = 0; + vtx1.uv[1] = 0; + } } else { vtx1.uv[0] = 0.5f; @@ -73,8 +99,18 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector=0 && uv1Index>=0 && (uv0Index < shape.mesh.texcoords.size()) && (uv1Index < shape.mesh.texcoords.size())) + { + vtx2.uv[0] = shape.mesh.texcoords[uv0Index]; + vtx2.uv[1] = shape.mesh.texcoords[uv1Index]; + } else + { + b3Warning("obj texture coordinate out-of-range!"); + vtx2.uv[0] = 0; + vtx2.uv[1] = 0; + } } else { vtx2.uv[0] = 0.5; diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 43f76cf60..3a68fcc69 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -27,7 +27,9 @@ #include "../CommonInterfaces/CommonGUIHelperInterface.h" #include "SharedMemoryCommands.h" +//@todo(erwincoumans) those globals are hacks for a VR demo, move this to Python/pybullet! btVector3 gLastPickPos(0, 0, 0); +bool gCloseToKuka=false; bool gEnableRealTimeSimVR=false; int gCreateObjectSimVR = -1; btScalar simTimeScalingFactor = 1; @@ -2931,8 +2933,9 @@ btVector3 gVRGripperPos(0,0,0.2); btQuaternion gVRGripperOrn(0,0,0,1); btVector3 gVRController2Pos(0,0,0.2); btQuaternion gVRController2Orn(0,0,0,1); - +btScalar gVRGripper2Analog = 0; btScalar gVRGripperAnalog = 0; + bool gVRGripperClosed = false; @@ -3146,7 +3149,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec) btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)childBody->m_multiBody->getLink(1).m_userPtr; if (motor) { - btScalar posTarget = (-0.048)*btMin(btScalar(0.75), gVRGripperAnalog) / 0.75; + btScalar posTarget = (-0.048)*btMin(btScalar(0.75), gVRGripper2Analog) / 0.75; motor->setPositionTarget(posTarget, .2); motor->setVelocityTarget(0.0, .5); motor->setMaxAppliedImpulse(5.0); @@ -3196,7 +3199,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec) btMultiBody* mb = bodyHandle->m_multiBody; btScalar sqLen = (mb->getBaseWorldTransform().getOrigin() - gVRController2Pos).length2(); btScalar distanceThreshold = 1.3; - bool closeToKuka=(sqLen<(distanceThreshold*distanceThreshold)); + gCloseToKuka=(sqLen<(distanceThreshold*distanceThreshold)); int numDofs = bodyHandle->m_multiBody->getNumDofs(); btAlignedObjectArray q_new; @@ -3217,7 +3220,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec) q_new[5] = -SIMD_HALF_PI*0.66; q_new[6] = 0; - if (closeToKuka) + if (gCloseToKuka) { double dampIk[6] = {1.0, 1.0, 1.0, 1.0, 1.0, 0.0}; diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp index 388a0dba7..4b2cb34c9 100644 --- a/examples/SharedMemory/PhysicsServerExample.cpp +++ b/examples/SharedMemory/PhysicsServerExample.cpp @@ -16,6 +16,7 @@ #define MAX_VR_CONTROLLERS 8 +//@todo(erwincoumans) those globals are hacks for a VR demo, move this to Python/pybullet! extern btVector3 gLastPickPos; btVector3 gVRTeleportPos(0,0,0); btQuaternion gVRTeleportOrn(0, 0, 0,1); @@ -24,6 +25,8 @@ extern btQuaternion gVRGripperOrn; extern btVector3 gVRController2Pos; extern btQuaternion gVRController2Orn; extern btScalar gVRGripperAnalog; +extern btScalar gVRGripper2Analog; +extern bool gCloseToKuka; extern bool gEnableRealTimeSimVR; extern int gCreateObjectSimVR; static int gGraspingController = -1; @@ -191,12 +194,15 @@ void MotionThreadFunc(void* userPtr,void* lsMemory) args->m_physicsServerPtr->removePickingConstraint(); } - if (args->m_isVrControllerPicking[c]) + if (!gCloseToKuka) { - args->m_isVrControllerPicking[c] = false; - args->m_isVrControllerDragging[c] = true; - args->m_physicsServerPtr->pickBody(from,-toZ); - //printf("PICK!\n"); + if (args->m_isVrControllerPicking[c]) + { + args->m_isVrControllerPicking[c] = false; + args->m_isVrControllerDragging[c] = true; + args->m_physicsServerPtr->pickBody(from,-toZ); + //printf("PICK!\n"); + } } if (args->m_isVrControllerDragging[c]) @@ -1254,6 +1260,7 @@ void PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[ } else { + gVRGripper2Analog = analogAxis; gVRController2Pos.setValue(pos[0] + gVRTeleportPos[0], pos[1] + gVRTeleportPos[1], pos[2] + gVRTeleportPos[2]); btQuaternion orgOrn(orn[0], orn[1], orn[2], orn[3]); gVRController2Orn = orgOrn*btQuaternion(btVector3(0, 0, 1), SIMD_HALF_PI)*btQuaternion(btVector3(0, 1, 0), SIMD_HALF_PI); From d59b0f05a43503221b9605aa6ba1afac1dc3bdd1 Mon Sep 17 00:00:00 2001 From: erwin coumans Date: Wed, 5 Oct 2016 16:31:48 -0700 Subject: [PATCH 2/5] expose b3PhysicsParamSetNumSolverIterations split Visual Studio project generation batch file in regular and VR+pybullet+double precision build. disable KUKA iiwa joint limit hack --- build_visual_studio.bat | 8 ++---- build_visual_studio_vr_pybullet_double.bat | 8 ++++++ data/kuka_iiwa/model.urdf | 2 +- examples/SharedMemory/PhysicsClientC_API.cpp | 9 ++++++ examples/SharedMemory/PhysicsClientC_API.h | 3 ++ .../PhysicsServerCommandProcessor.cpp | 28 +++++++++++-------- 6 files changed, 39 insertions(+), 19 deletions(-) create mode 100644 build_visual_studio_vr_pybullet_double.bat diff --git a/build_visual_studio.bat b/build_visual_studio.bat index 302194631..d8a85bc44 100644 --- a/build_visual_studio.bat +++ b/build_visual_studio.bat @@ -1,9 +1,5 @@ -IF NOT EXIST bin mkdir bin -IF NOT EXIST bin\openvr_api.dll copy examples\ThirdPartyLibs\openvr\bin\win32\openvr_api.dll bin cd build3 -premake4 --enable_openvr --targetdir="../bin" vs2010 - -rem premake4 --double --enable_pybullet --python_include_dir="C:/Python-3.5.2/include" --python_lib_dir="C:/Python-3.5.2/libs" --enable_openvr --targetdir="../bin" vs2010 -pause +premake4 --targetdir="../bin" vs2010 +start vs2010 diff --git a/build_visual_studio_vr_pybullet_double.bat b/build_visual_studio_vr_pybullet_double.bat new file mode 100644 index 000000000..71d676172 --- /dev/null +++ b/build_visual_studio_vr_pybullet_double.bat @@ -0,0 +1,8 @@ + +IF NOT EXIST bin mkdir bin +IF NOT EXIST bin\openvr_api.dll copy examples\ThirdPartyLibs\openvr\bin\win32\openvr_api.dll bin + +cd build3 + +premake4 --double --enable_openvr --enable_pybullet --python_include_dir="C:/Python-3.5.2/include" --python_lib_dir="C:/Python-3.5.2/libs" --targetdir="../bin" vs2010 +start vs2010 diff --git a/data/kuka_iiwa/model.urdf b/data/kuka_iiwa/model.urdf index c3ef25fd6..a6e53d3ab 100644 --- a/data/kuka_iiwa/model.urdf +++ b/data/kuka_iiwa/model.urdf @@ -174,7 +174,7 @@ - + diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 95babb3a6..0e75054cc 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -145,6 +145,15 @@ int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandH return 0; } +int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; + b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS); + command->m_physSimParamArgs.m_numSolverIterations = numSolverIterations; + command->m_updateFlags |= SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS; + return 0; +} + int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double timeStep) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index dcd68c7d6..b44b9a452 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -101,6 +101,9 @@ int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double int b3PhysicsParamSetDefaultContactERP(b3SharedMemoryCommandHandle commandHandle, double defaultContactERP); int b3PhysicsParamSetNumSubSteps(b3SharedMemoryCommandHandle commandHandle, int numSubSteps); int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation); +int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations); + + b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 3a68fcc69..8628f8bee 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -1490,7 +1490,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm break; } - case CMD_SEND_DESIRED_STATE: + case CMD_SEND_DESIRED_STATE: { if (m_data->m_verboseOutput) { @@ -1670,18 +1670,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm break; } default: - { - b3Warning("m_controlMode not implemented yet"); - break; - } + { + b3Warning("m_controlMode not implemented yet"); + break; + } - } - } + } + } - serverStatusOut.m_type = CMD_DESIRED_STATE_RECEIVED_COMPLETED; - hasStatus = true; - break; - } + serverStatusOut.m_type = CMD_DESIRED_STATE_RECEIVED_COMPLETED; + hasStatus = true; + break; + } case CMD_REQUEST_ACTUAL_STATE: { if (m_data->m_verboseOutput) @@ -1944,6 +1944,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } } + if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS) + { + m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = clientCmd.m_physSimParamArgs.m_numSolverIterations; + } if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_NUM_SIMULATION_SUB_STEPS) { m_data->m_numSimulationSubSteps = clientCmd.m_physSimParamArgs.m_numSimulationSubSteps; @@ -3351,7 +3355,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec) { btScalar desiredVelocity = 0.f; btScalar desiredPosition = q_new[link]; - motor->setRhsClamp(gRhsClamp); + //motor->setRhsClamp(gRhsClamp); //printf("link %d: %f", link, q_new[link]); motor->setVelocityTarget(desiredVelocity,1.0); motor->setPositionTarget(desiredPosition,0.6); From efe86c9b415c44c80f2f9369c4d9bea5f9a3169f Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Wed, 5 Oct 2016 17:22:35 -0700 Subject: [PATCH 3/5] Update README.md --- README.md | 25 +++++++++++++++++++------ 1 file changed, 19 insertions(+), 6 deletions(-) diff --git a/README.md b/README.md index 88d7e4997..fecbeefa4 100644 --- a/README.md +++ b/README.md @@ -2,18 +2,20 @@ [![Travis Build Status](https://api.travis-ci.org/bulletphysics/bullet3.png?branch=master)](https://travis-ci.org/bulletphysics/bullet3) [![Appveyor Build status](https://ci.appveyor.com/api/projects/status/6sly9uxajr6xsstq)](https://ci.appveyor.com/project/erwincoumans/bullet3) -# Bullet 2.x including pybullet and experimental Bullet 3 OpenCL. +# Bullet 2.x including pybullet, Virtual Reality support and +# experimental Bullet 3 OpenCL implementation. This is the official repository of Bullet 2.x, moved from http://bullet.googlecode.com It includes the optional experimental Bullet 3 GPU pipeline. -The Bullet 2 API will stay default and up-to-date while slowly moving to Bullet 3. -The steps towards Bullet 3 are in a nutshell: +The Bullet 2 API will stay default and up-to-date while slowly moving to a new API. +The steps towards a new API is in a nutshell: 1. The old Bullet2 demos are being merged into the examples/ExampleBrowser -2. A new Bullet 3 API is created -3. All Bullet2 functionality is added to Bullet 3. -4. The OpenCL examples in the ExampleBrowser can be enabled using --enable_experimental_opencl +2. A new physics-engine agnostic C-API is created, see examples/SharedMemory/PhysicsClientC_API.h +3. Python bindings in pybullet are on top of this C-API, see examples/pybullet +4. A Virtual Reality sandbox using openvr for HTC Vive and Oculus Rift is available +5. The OpenCL examples in the ExampleBrowser can be enabled using --enable_experimental_opencl You can still use svn or svn externals using the github git repository: use svn co https://github.com/bulletphysics/bullet3/trunk @@ -49,6 +51,17 @@ All source code files are licensed under the permissive zlib license Click on build_visual_studio.bat and open build3/vs2010/0MySolution.sln +**Windows Virtual Reality sandbox for HTC Vive and Oculus Rift ** + +Click on build_visual_studio_vr_pybullet_double.bat and open build3/vs2010/0MySolution.sln +Edit this batch file to choose where Python include/lib directories are located. +You can connect from Python pybullet to the sandbox using: + +``` +import pybullet as p +p.connect(p.SHARED_MEMORY) +``` + **Linux and Mac OSX gnu make** In a terminal type: From 4e9d25a2ef582bd0675835edf69485ba9578d2c8 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Wed, 5 Oct 2016 17:25:49 -0700 Subject: [PATCH 4/5] Update README.md --- README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index fecbeefa4..2e1a67be4 100644 --- a/README.md +++ b/README.md @@ -2,8 +2,7 @@ [![Travis Build Status](https://api.travis-ci.org/bulletphysics/bullet3.png?branch=master)](https://travis-ci.org/bulletphysics/bullet3) [![Appveyor Build status](https://ci.appveyor.com/api/projects/status/6sly9uxajr6xsstq)](https://ci.appveyor.com/project/erwincoumans/bullet3) -# Bullet 2.x including pybullet, Virtual Reality support and -# experimental Bullet 3 OpenCL implementation. +# Bullet 2.x including pybullet, Virtual Reality support This is the official repository of Bullet 2.x, moved from http://bullet.googlecode.com It includes the optional experimental Bullet 3 GPU pipeline. @@ -51,10 +50,11 @@ All source code files are licensed under the permissive zlib license Click on build_visual_studio.bat and open build3/vs2010/0MySolution.sln -**Windows Virtual Reality sandbox for HTC Vive and Oculus Rift ** +**Windows Virtual Reality sandbox for HTC Vive and Oculus Rift** Click on build_visual_studio_vr_pybullet_double.bat and open build3/vs2010/0MySolution.sln Edit this batch file to choose where Python include/lib directories are located. +Build and run the App_SharedMemoryPhysics_VR project, preferably in Release/optimized build. You can connect from Python pybullet to the sandbox using: ``` From 90ae12659c03f5fb0bb6b0d6973147a52ddb85f5 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Wed, 5 Oct 2016 17:27:34 -0700 Subject: [PATCH 5/5] Update README.md --- README.md | 3 --- 1 file changed, 3 deletions(-) diff --git a/README.md b/README.md index 2e1a67be4..b5b9737c6 100644 --- a/README.md +++ b/README.md @@ -93,9 +93,6 @@ You can just run it though a terminal/command prompt, or by clicking it. ``` [--start_demo_name="Demo Name"] Start with a selected demo -[--enable_pybullet] Build with pybullet Python bindings. See also examples/pybullet -[--enable_openvr] Build with VR support for HTC Vive and Oculus Rift using OpenVR -[--enable_experimental_opencl] Enable some experimental OpenCL examples [--mp4=moviename.mp4] Create a mp4 movie of the window, requires ffmpeg installed [--mouse_move_multiplier=0.400000] Set the mouse move sensitivity [--mouse_wheel_multiplier=0.01] Set the mouse wheel sensitivity