Merge pull request #817 from erwincoumans/master

avoid wavefront obj texture index out-of-bounds (most obj out-of-boun…

README.md

@@ -2,18 +2,19 @@
 [![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
 
 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 Bullet 2 API will stay default and up-to-date while slowly moving to a new API.
-The steps towards Bullet 3 are in a nutshell:
+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
+2. A new physics-engine agnostic C-API is created, see examples/SharedMemory/PhysicsClientC_API.h
-3. All Bullet2 functionality is added to Bullet 3.
+3. Python bindings in pybullet are on top of this C-API, see examples/pybullet
-4. The OpenCL examples in the ExampleBrowser can be enabled using --enable_experimental_opencl
+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 +50,18 @@ 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.
+Build and run the App_SharedMemoryPhysics_VR project, preferably in Release/optimized build.
+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:
@@ -80,9 +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

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 
+premake4     --targetdir="../bin" vs2010
-
+start 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

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

data/kuka_iiwa/model.urdf

@@ -174,7 +174,7 @@
     <child link="lbr_iiwa_link_4"/>
     <origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
     <axis xyz="0 0 1"/>
-    <limit effort="300" lower=".29439510239" upper="2.09439510239" velocity="10"/>
+    <limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
     <dynamics damping="0.5"/>
   </joint>
   <link name="lbr_iiwa_link_4">

examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp

@@ -33,6 +33,10 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector<tiny
 					int vtxBaseIndex = vertices->size();
 					
 					
+					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<tiny
 					vtx0.xyzw[2] = shape.mesh.positions[shape.mesh.indices[f]*3+2];
 					vtx0.xyzw[3] = 0.f;
 					
-					if (shape.mesh.texcoords.size())
+
+					if (shape.mesh.texcoords.size() )
 					{
-						vtx0.uv[0] = shape.mesh.texcoords[shape.mesh.indices[f]*2+0];
+						int uv0Index = shape.mesh.indices[f]*2+0;
-						vtx0.uv[1] = shape.mesh.texcoords[shape.mesh.indices[f]*2+1];
+						int uv1Index = shape.mesh.indices[f]*2+1;
+						if (uv0Index>=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<tiny
 
 					if (shape.mesh.texcoords.size())
 					{
-						vtx1.uv[0] = shape.mesh.texcoords[shape.mesh.indices[f+1]*2+0];
+						int uv0Index = shape.mesh.indices[f+1]*2+0;
-						vtx1.uv[1] = shape.mesh.texcoords[shape.mesh.indices[f+1]*2+1];
+						int uv1Index = shape.mesh.indices[f+1]*2+1;
+						if (uv0Index>=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<tiny
 					vtx2.xyzw[3] = 0.f;
 					if (shape.mesh.texcoords.size())
 					{
-						vtx2.uv[0] = shape.mesh.texcoords[shape.mesh.indices[f+2]*2+0];
+						int uv0Index = shape.mesh.indices[f+2]*2+0;
-						vtx2.uv[1] = shape.mesh.texcoords[shape.mesh.indices[f+2]*2+1];
+						int uv1Index = shape.mesh.indices[f+2]*2+1;
+						if (uv0Index>=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;

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;

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);
 

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;
@@ -1488,7 +1490,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 
                     break;
                 }
-                case CMD_SEND_DESIRED_STATE:
+				case CMD_SEND_DESIRED_STATE:
                     {
 						if (m_data->m_verboseOutput)
 						{
@@ -1668,18 +1670,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 										break;
 									}
                                 default:
-                                    {
+						{
-                                        b3Warning("m_controlMode not implemented yet");
+							b3Warning("m_controlMode not implemented yet");
-                                        break;
+							break;
-                                    }
+						}
 
-                                }
+						}
-                            }
+					}
 
-							serverStatusOut.m_type = CMD_DESIRED_STATE_RECEIVED_COMPLETED;
+					serverStatusOut.m_type = CMD_DESIRED_STATE_RECEIVED_COMPLETED;
-							hasStatus = true;
+					hasStatus = true;
-                        break;
+					break;
-                    }
+				}
 				case CMD_REQUEST_ACTUAL_STATE:
 					{
 						if (m_data->m_verboseOutput)
@@ -1942,6 +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;
@@ -2931,8 +2937,9 @@ 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;
 
 
@@ -3148,7 +3155,7 @@ 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);
@@ -3198,7 +3205,7 @@ 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<double> q_new;
@@ -3219,7 +3226,7 @@ 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};
 
@@ -3390,7 +3397,7 @@ 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);

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;
+						if (args->m_isVrControllerPicking[c])
-						args->m_isVrControllerDragging[c] = true;
+						{
-						args->m_physicsServerPtr->pickBody(from,-toZ);
+							args->m_isVrControllerPicking[c]  = false;
-						//printf("PICK!\n");
+							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);