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expose texture unique id after loading URD file, so you can restore to the original texture after changing it to a custom texture. See also getTextureUid.py example.

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This commit is contained in:
Erwin Coumans
2018-07-08 11:23:12 +02:00
parent bfc85ff1fd
commit 127b82ec1b
8 changed files with 227 additions and 26 deletions
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66
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2719,6 +2719,7 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
SaveWorldObjectData sd;
sd.m_fileName = fileName;
int currentOpenGLTextureIndex = 0;
for (int m =0; m<u2b.getNumModels();m++)
{
@@ -2885,6 +2886,44 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
}
}
{
int startShapeIndex = 0;
if (m_data->m_pluginManager.getRenderInterface())
{
int totalNumVisualShapes = m_data->m_pluginManager.getRenderInterface()->getNumVisualShapes(bodyUniqueId);
//int totalBytesPerVisualShape = sizeof (b3VisualShapeData);
//int visualShapeStorage = bufferSizeInBytes / totalBytesPerVisualShape - 1;
b3VisualShapeData tmpShape;
int remain = totalNumVisualShapes - startShapeIndex;
int shapeIndex = startShapeIndex;
int success = m_data->m_pluginManager.getRenderInterface()->getVisualShapesData(bodyUniqueId,shapeIndex,&tmpShape);
if (success)
{
if (tmpShape.m_tinyRendererTextureId>=0)
{
int openglTextureUniqueId = -1;
//find companion opengl texture unique id and create a 'textureUid'
if (currentOpenGLTextureIndex<u2b.getNumAllocatedTextures())
{
openglTextureUniqueId = u2b.getAllocatedTexture(currentOpenGLTextureIndex);
currentOpenGLTextureIndex++;
}
int texHandle = m_data->m_textureHandles.allocHandle();
InternalTextureHandle* texH = m_data->m_textureHandles.getHandle(texHandle);
if(texH)
{
texH->m_tinyRendererTextureId = tmpShape.m_tinyRendererTextureId;
texH->m_openglTextureId = openglTextureUniqueId;
}
}
}
}
}
}
@@ -2895,6 +2934,14 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
}
/*
int texHandle = m_data->m_textureHandles.allocHandle();
InternalTextureHandle* texH = m_data->m_textureHandles.getHandle(texHandle);
if(texH)
{
texH->m_tinyRendererTextureId = -1;
texH->m_openglTextureId = -1;
*/
for (int i=0;i<u2b.getNumAllocatedMeshInterfaces();i++)
{
@@ -9284,6 +9331,25 @@ bool PhysicsServerCommandProcessor::processRequestVisualShapeInfoCommand(const s
shapeIndex,
visualShapeStoragePtr);
if (success) {
//find the matching texture unique ids.
if (visualShapeStoragePtr->m_tinyRendererTextureId>=0)
{
b3AlignedObjectArray<int> usedHandles;
m_data->m_textureHandles.getUsedHandles(usedHandles);
for (int i=0;i<usedHandles.size();i++)
{
int texHandle =usedHandles[i];
InternalTextureHandle* texH = m_data->m_textureHandles.getHandle(texHandle);
if (texH && (texH->m_tinyRendererTextureId == visualShapeStoragePtr->m_tinyRendererTextureId))
{
visualShapeStoragePtr->m_openglTextureId =texH->m_openglTextureId;
visualShapeStoragePtr->m_textureUniqueId = texHandle;
}
}
}
serverCmd.m_sendVisualShapeArgs.m_numRemainingVisualShapes = remain-1;
serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied = 1;
serverCmd.m_sendVisualShapeArgs.m_startingVisualShapeIndex = clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex;

9
examples/SharedMemory/SharedMemoryPublic.h
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@@ -595,6 +595,11 @@ typedef union {
#define MAX_RAY_HITS MAX_RAY_INTERSECTION_BATCH_SIZE
#define VISUAL_SHAPE_MAX_PATH_LEN 1024
enum b3VisualShapeDataFlags
{
eVISUAL_SHAPE_DATA_TEXTURE_UNIQUE_IDS = 1,
};
struct b3VisualShapeData
{
int m_objectUniqueId;
@@ -605,6 +610,10 @@ struct b3VisualShapeData
double m_localVisualFrame[7];//pos[3], orn[4]
//todo: add more data if necessary (material color etc, although material can be in asset file .obj file)
double m_rgbaColor[4];
int m_tinyRendererTextureId;
int m_textureUniqueId;
int m_openglTextureId;
};
struct b3VisualShapeInformation

72
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
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@@ -155,6 +155,69 @@ btVector3 b3RobotSimulatorClientAPI_NoDirect::getEulerFromQuaternion(const btQua
return rpy2;
}
int b3RobotSimulatorClientAPI_NoDirect::loadTexture(const std::string& fileName)
{
if (!isConnected())
{
b3Warning("Not connected");
return -1;
}
btAssert(b3CanSubmitCommand(m_data->m_physicsClientHandle));
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
{
commandHandle = b3InitLoadTexture(m_data->m_physicsClientHandle, fileName.c_str());
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_LOAD_TEXTURE_COMPLETED)
{
return b3GetStatusTextureUniqueId(statusHandle);
}
}
return -1;
}
bool b3RobotSimulatorClientAPI_NoDirect::changeVisualShape(const struct b3RobotSimulatorChangeVisualShapeArgs& args)
{
if (!isConnected())
{
b3Warning("Not connected");
return false;
}
int objectUniqueId = args.m_objectUniqueId;
int jointIndex = args.m_linkIndex;
int shapeIndex = args.m_shapeIndex;
int textureUniqueId = args.m_textureUniqueId;
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
commandHandle = b3InitUpdateVisualShape(m_data->m_physicsClientHandle, objectUniqueId, jointIndex, shapeIndex, textureUniqueId);
if (args.m_hasSpecularColor)
{
double specularColor[3] = {args.m_specularColor[0],args.m_specularColor[1],args.m_specularColor[2]};
b3UpdateVisualShapeSpecularColor(commandHandle,specularColor);
}
if (args.m_hasRgbaColor)
{
double rgbaColor[4] = {args.m_rgbaColor[0],args.m_rgbaColor[1],args.m_rgbaColor[2],args.m_rgbaColor[3]};
b3UpdateVisualShapeRGBAColor(commandHandle,rgbaColor);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
statusType = b3GetStatusType(statusHandle);
return (statusType == CMD_VISUAL_SHAPE_UPDATE_COMPLETED);
}
int b3RobotSimulatorClientAPI_NoDirect::loadURDF(const std::string& fileName, const struct b3RobotSimulatorLoadUrdfFileArgs& args)
{
int robotUniqueId = -1;
@@ -2177,7 +2240,8 @@ void b3RobotSimulatorClientAPI_NoDirect::restoreStateFromMemory(int stateId)
bool b3RobotSimulatorClientAPI_NoDirect::getVisualShapeData(int bodyUniqueId, b3VisualShapeInformation &visualShapeInfo)
{
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) {
if (sm == 0)
{
b3Warning("Not connected");
return false;
}
@@ -2185,17 +2249,17 @@ bool b3RobotSimulatorClientAPI_NoDirect::getVisualShapeData(int bodyUniqueId, b3
b3SharedMemoryStatusHandle statusHandle;
int statusType;
{
commandHandle = b3InitRequestVisualShapeInformation(sm, bodyUniqueId);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
btAssert(statusType == CMD_VISUAL_SHAPE_INFO_COMPLETED);
if (statusType == CMD_VISUAL_SHAPE_INFO_COMPLETED) {
if (statusType == CMD_VISUAL_SHAPE_INFO_COMPLETED)
{
b3GetVisualShapeInformation(sm, &visualShapeInfo);
}
return true;
}
return false;
}
void b3RobotSimulatorClientAPI_NoDirect::setAdditionalSearchPath(const std::string& path)

30
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
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@@ -60,6 +60,30 @@ struct b3RobotSimulatorLoadFileResults
}
};
struct b3RobotSimulatorChangeVisualShapeArgs
{
int m_objectUniqueId;
int m_linkIndex;
int m_shapeIndex;
int m_textureUniqueId;
btVector4 m_rgbaColor;
bool m_hasRgbaColor;
btVector3 m_specularColor;
bool m_hasSpecularColor;
b3RobotSimulatorChangeVisualShapeArgs()
:m_objectUniqueId(-1),
m_linkIndex(-1),
m_shapeIndex(-1),
m_textureUniqueId(-1),
m_rgbaColor(0,0,0,1),
m_hasRgbaColor(false),
m_specularColor(1,1,1),
m_hasSpecularColor(false)
{
}
};
struct b3RobotSimulatorJointMotorArgs
{
int m_controlMode;
@@ -505,6 +529,10 @@ public:
bool loadBullet(const std::string& fileName, b3RobotSimulatorLoadFileResults& results);
bool saveBullet(const std::string& fileName);
int loadTexture(const std::string& fileName);
bool changeVisualShape(const struct b3RobotSimulatorChangeVisualShapeArgs& args);
bool savePythonWorld(const std::string& fileName);
bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo* bodyInfo);
@@ -648,7 +676,7 @@ public:
bool getCollisionShapeData(int bodyUniqueId, int linkIndex, b3CollisionShapeInformation &collisionShapeInfo);
bool getVisualShapeData(int bodyUniqueId, b3VisualShapeInformation &visualShapeInfo);
bool getVisualShapeData(int bodyUniqueId, struct b3VisualShapeInformation &visualShapeInfo);
int saveStateToMemory();
void restoreStateFromMemory(int stateId);

16
examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
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@@ -671,12 +671,14 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
visualShape.m_rgbaColor[1] = rgbaColor[1];
visualShape.m_rgbaColor[2] = rgbaColor[2];
visualShape.m_rgbaColor[3] = rgbaColor[3];
visualShape.m_openglTextureId = -1;
visualShape.m_tinyRendererTextureId = -1;
visualShape.m_textureUniqueId = -1;
{
B3_PROFILE("convertURDFToVisualShape");
convertURDFToVisualShape(vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices, textures, visualShape);
}
m_data->m_visualShapes.push_back(visualShape);
if (vertices.size() && indices.size())
{
@@ -701,13 +703,15 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
}
visuals->m_renderObjects.push_back(tinyObj);
}
btAssert(textures.size()<=1);
for (int i=0;i<textures.size();i++)
{
if (!textures[i].m_isCached)
{
free(textures[i].textureData1);
}
visualShape.m_tinyRendererTextureId = m_data->m_textures.size();
m_data->m_textures.push_back(textures[i]);
}
m_data->m_visualShapes.push_back(visualShape);
}
}
}
@@ -1199,13 +1203,13 @@ void TinyRendererVisualShapeConverter::changeShapeTexture(int objectUniqueId, in
for (int v = 0; v < visualArray->m_renderObjects.size(); v++)
{
TinyRenderObjectData* renderObj = visualArray->m_renderObjects[v];
if ((shapeIndex < 0) || (shapeIndex == v))
{
renderObj->m_model->setDiffuseTextureFromData(m_data->m_textures[textureUniqueId].textureData1, m_data->m_textures[textureUniqueId].m_width, m_data->m_textures[textureUniqueId].m_height);
}
}
}
}
}
}

19
examples/pybullet/examples/getTextureUid.py Normal file
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@@ -0,0 +1,19 @@
import pybullet as p
p.connect(p.GUI)
plane = p.loadURDF("plane.urdf")
visualData = p.getVisualShapeData(plane, p.VISUAL_SHAPE_DATA_TEXTURE_UNIQUE_IDS)
print(visualData)
curTexUid = visualData[0][8]
print(curTexUid)
texUid = p.loadTexture("tex256.png")
print("texUid=",texUid)
p.changeVisualShape(plane,-1,textureUniqueId=texUid)
for i in range (100):
p.getCameraImage(320,200)
p.changeVisualShape(plane,-1,textureUniqueId=curTexUid)
for i in range (100):
p.getCameraImage(320,200)

4
examples/pybullet/examples/projective_texture.py
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@@ -13,8 +13,8 @@ bearStartPos2 = [0,0,0]
bearStartOrientation2 = p.getQuaternionFromEuler([0,0,0])
bearId2 = p.loadURDF("teddy_large.urdf",bearStartPos2, bearStartOrientation2)
textureId = p.loadTexture("checker_grid.jpg")
p.changeVisualShape(objectUniqueId=0, linkIndex=-1, textureUniqueId=textureId)
p.changeVisualShape(objectUniqueId=1, linkIndex=-1, textureUniqueId=textureId)
#p.changeVisualShape(objectUniqueId=0, linkIndex=-1, textureUniqueId=textureId)
#p.changeVisualShape(objectUniqueId=1, linkIndex=-1, textureUniqueId=textureId)
useRealTimeSimulation = 1

17
examples/pybullet/pybullet.c
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@@ -5428,8 +5428,10 @@ static PyObject* pybullet_getVisualShapeData(PyObject* self, PyObject* args, PyO
PyObject* pyResultList = 0;
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = {"objectUniqueId", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|i", kwlist, &objectUniqueId, &physicsClientId))
int flags=0;
static char* kwlist[] = {"objectUniqueId", "flags", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|ii", kwlist, &objectUniqueId, &flags, &physicsClientId))
{
return NULL;
}
@@ -5450,7 +5452,9 @@ static PyObject* pybullet_getVisualShapeData(PyObject* self, PyObject* args, PyO
pyResultList = PyTuple_New(visualShapeInfo.m_numVisualShapes);
for (i = 0; i < visualShapeInfo.m_numVisualShapes; i++)
{
PyObject* visualShapeObList = PyTuple_New(8);
int numFields = flags&eVISUAL_SHAPE_DATA_TEXTURE_UNIQUE_IDS ? 9 : 8;
PyObject* visualShapeObList = PyTuple_New(numFields);
PyObject* item;
item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_objectUniqueId);
PyTuple_SetItem(visualShapeObList, 0, item);
@@ -5511,6 +5515,11 @@ static PyObject* pybullet_getVisualShapeData(PyObject* self, PyObject* args, PyO
PyTuple_SetItem(rgba, 3, item);
PyTuple_SetItem(visualShapeObList, 7, rgba);
}
if (flags&eVISUAL_SHAPE_DATA_TEXTURE_UNIQUE_IDS)
{
item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_textureUniqueId);
PyTuple_SetItem(visualShapeObList, 8, item);
}
PyTuple_SetItem(pyResultList, i, visualShapeObList);
}
@@ -9656,6 +9665,8 @@ initpybullet(void)
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_EXCLUDE_PARENT", URDF_USE_SELF_COLLISION_EXCLUDE_PARENT);
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS", URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS);
PyModule_AddIntConstant(m, "VISUAL_SHAPE_DATA_TEXTURE_UNIQUE_IDS", eVISUAL_SHAPE_DATA_TEXTURE_UNIQUE_IDS);
PyModule_AddIntConstant(m, "MAX_RAY_INTERSECTION_BATCH_SIZE", MAX_RAY_INTERSECTION_BATCH_SIZE_STREAMING);
PyModule_AddIntConstant(m, "B3G_F1", B3G_F1);