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enable file caching, currently only for Wavefront .obj files. You can disable file caching using

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pybullet.setPhysicsEngineParameter(enableFileCaching=0)
Allow VR camera tracking only using position tracking, no orientation tracking (use
pybullet.setVRCamera([posX,posY,posZ],trackObjectFlag=0 or pybullet.VR_CAMERA_TRACK_OBJECT_ORIENTATION)
This commit is contained in:
Erwin Coumans
2017-05-17 19:29:12 -07:00
parent 972660f825
commit 19295f2859
11 changed files with 153 additions and 15 deletions
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5
examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
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@@ -7,7 +7,7 @@
#include "../../Utils/b3ResourcePath.h"
#include "Bullet3Common/b3FileUtils.h"
#include "../../ThirdPartyLibs/stb_image/stb_image.h"
#include "../ImportObjDemo/LoadMeshFromObj.h"
bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string& fileName, b3ImportMeshData& meshData)
{
B3_PROFILE("loadAndRegisterMeshFromFileInternal");
@@ -28,7 +28,8 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
std::vector<tinyobj::shape_t> shapes;
{
B3_PROFILE("tinyobj::LoadObj");
std::string err = tinyobj::LoadObj(shapes, relativeFileName, pathPrefix);
std::string err = LoadFromCachedOrFromObj(shapes, relativeFileName, pathPrefix);
//std::string err = tinyobj::LoadObj(shapes, relativeFileName, pathPrefix);
}
GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(shapes);

49
examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
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@@ -1,11 +1,56 @@
#include "LoadMeshFromObj.h"
#include"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h"
#include "../../OpenGLWindow/GLInstanceGraphicsShape.h"
#include <stdio.h> //fopen
#include "Bullet3Common/b3AlignedObjectArray.h"
#include <string>
#include <vector>
#include "Wavefront2GLInstanceGraphicsShape.h"
#include "Bullet3Common/b3HashMap.h"
struct CachedObjResult
{
std::string m_msg;
std::vector<tinyobj::shape_t> m_shapes;
};
static b3HashMap<b3HashString, CachedObjResult> gCachedObjResults;
static int gEnableFileCaching = 1;
void b3EnableFileCaching(int enable)
{
gEnableFileCaching = enable;
if (enable==0)
{
gCachedObjResults.clear();
}
}
std::string LoadFromCachedOrFromObj(
std::vector<tinyobj::shape_t>& shapes, // [output]
const char* filename,
const char* mtl_basepath)
{
CachedObjResult* resultPtr = gCachedObjResults[filename];
if (resultPtr)
{
const CachedObjResult& result = *resultPtr;
shapes = result.m_shapes;
return result.m_msg;
}
std::string err = tinyobj::LoadObj(shapes, filename, mtl_basepath);
CachedObjResult result;
result.m_msg = err;
result.m_shapes = shapes;
if (gEnableFileCaching)
{
gCachedObjResults.insert(filename,result);
}
return err;
}
GLInstanceGraphicsShape* LoadMeshFromObj(const char* relativeFileName, const char* materialPrefixPath)
{
@@ -13,7 +58,7 @@ GLInstanceGraphicsShape* LoadMeshFromObj(const char* relativeFileName, const cha
std::vector<tinyobj::shape_t> shapes;
{
B3_PROFILE("tinyobj::LoadObj2");
std::string err = tinyobj::LoadObj(shapes, relativeFileName, materialPrefixPath);
std::string err = LoadFromCachedOrFromObj(shapes, relativeFileName, materialPrefixPath);
}
{

8
examples/Importers/ImportObjDemo/LoadMeshFromObj.h
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@@ -4,6 +4,14 @@
struct GLInstanceGraphicsShape;
#include"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h"
void b3EnableFileCaching(int enable);
std::string LoadFromCachedOrFromObj(
std::vector<tinyobj::shape_t>& shapes, // [output]
const char* filename,
const char* mtl_basepath);
GLInstanceGraphicsShape* LoadMeshFromObj(const char* relativeFileName, const char* materialPrefixPath);

9
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -633,9 +633,16 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
{
case UrdfGeometry::FILE_OBJ:
if (collision->m_flags & URDF_FORCE_CONCAVE_TRIMESH)
{
char relativeFileName[1024];
char pathPrefix[1024];
pathPrefix[0] = 0;
if (b3ResourcePath::findResourcePath(collision->m_geometry.m_meshFileName.c_str(), relativeFileName, 1024))
{
glmesh = LoadMeshFromObj(collision->m_geometry.m_meshFileName.c_str(), 0);
b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
}
glmesh = LoadMeshFromObj(collision->m_geometry.m_meshFileName.c_str(), pathPrefix);
}
else
{

23
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -381,6 +381,17 @@ int b3PhysicsParamSetMaxNumCommandsPer1ms(b3SharedMemoryCommandHandle commandHan
}
int b3PhysicsParamSetEnableFileCaching(b3SharedMemoryCommandHandle commandHandle, int enableFileCaching)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_enableFileCaching= enableFileCaching;
command->m_updateFlags |= SIM_PARAM_ENABLE_FILE_CACHING ;
return 0;
}
int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
@@ -1785,8 +1796,11 @@ void b3RequestCameraImageSelectRenderer(b3SharedMemoryCommandHandle commandHandl
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CAMERA_IMAGE_DATA);
b3Assert(renderer>(1<<15));
if (renderer>(1<<15))
{
command->m_updateFlags |= renderer;
}
}
void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle commandHandle, float viewMatrix[16], float projectionMatrix[16])
{
@@ -2727,6 +2741,15 @@ int b3SetVRCameraTrackingObject(b3SharedMemoryCommandHandle commandHandle, int o
return 0;
}
int b3SetVRCameraTrackingObjectFlag(b3SharedMemoryCommandHandle commandHandle, int flag)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_SET_VR_CAMERA_STATE);
command->m_updateFlags |= VR_CAMERA_FLAG;
command->m_vrCameraStateArguments.m_trackingObjectFlag = flag;
return 0;
}
b3SharedMemoryCommandHandle b3RequestKeyboardEventsCommandInit(b3PhysicsClientHandle physClient)

2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -215,6 +215,7 @@ int b3PhysicsParamSetUseSplitImpulse(b3SharedMemoryCommandHandle commandHandle,
int b3PhysicsParamSetSplitImpulsePenetrationThreshold(b3SharedMemoryCommandHandle commandHandle, double splitImpulsePenetrationThreshold);
int b3PhysicsParamSetContactBreakingThreshold(b3SharedMemoryCommandHandle commandHandle, double contactBreakingThreshold);
int b3PhysicsParamSetMaxNumCommandsPer1ms(b3SharedMemoryCommandHandle commandHandle, int maxNumCmdPer1ms);
int b3PhysicsParamSetEnableFileCaching(b3SharedMemoryCommandHandle commandHandle, int enableFileCaching);
//b3PhysicsParamSetInternalSimFlags is for internal/temporary/easter-egg/experimental demo purposes
//Use at own risk: magic things may or my not happen when calling this API
@@ -376,6 +377,7 @@ b3SharedMemoryCommandHandle b3SetVRCameraStateCommandInit(b3PhysicsClientHandle
int b3SetVRCameraRootPosition(b3SharedMemoryCommandHandle commandHandle, double rootPos[3]);
int b3SetVRCameraRootOrientation(b3SharedMemoryCommandHandle commandHandle, double rootOrn[4]);
int b3SetVRCameraTrackingObject(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId);
int b3SetVRCameraTrackingObjectFlag(b3SharedMemoryCommandHandle commandHandle, int flag);
b3SharedMemoryCommandHandle b3RequestKeyboardEventsCommandInit(b3PhysicsClientHandle physClient);
void b3GetKeyboardEventsData(b3PhysicsClientHandle physClient, struct b3KeyboardEventsData* keyboardEventsData);

26
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -22,6 +22,7 @@
#include "../Utils/RobotLoggingUtil.h"
#include "LinearMath/btTransform.h"
#include "../Importers/ImportMJCFDemo/BulletMJCFImporter.h"
#include "../Importers/ImportObjDemo/LoadMeshFromObj.h"
#include "../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h"
#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
#include "LinearMath/btSerializer.h"
@@ -54,6 +55,8 @@ bool gCreateDefaultRobotAssets = false;
int gInternalSimFlags = 0;
bool gResetSimulation = 0;
int gVRTrackingObjectUniqueId = -1;
int gVRTrackingObjectFlag = VR_CAMERA_TRACK_OBJECT_ORIENTATION;
btTransform gVRTrackingObjectTr = btTransform::getIdentity();
int gMaxNumCmdPer1ms = -1;//experiment: add some delay to avoid threads starving other threads
@@ -2440,6 +2443,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
if (clientCmd.m_stateLoggingArguments.m_loggingUniqueId == m_data->m_profileTimingLoggingUid)
{
serverStatusOut.m_type = CMD_STATE_LOGGING_COMPLETED;
b3ChromeUtilsStopTimingsAndWriteJsonFile(m_data->m_profileTimingFileName.c_str());
m_data->m_profileTimingLoggingUid = -1;
}
@@ -2482,6 +2486,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
gVRTrackingObjectUniqueId = clientCmd.m_vrCameraStateArguments.m_trackingObjectUniqueId;
}
if (clientCmd.m_updateFlags & VR_CAMERA_FLAG)
{
gVRTrackingObjectFlag = clientCmd.m_vrCameraStateArguments.m_trackingObjectFlag;
}
serverStatusOut.m_type = CMD_CLIENT_COMMAND_COMPLETED;
hasStatus = true;
break;
@@ -4059,6 +4068,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = clientCmd.m_physSimParamArgs.m_defaultContactERP;
}
if (clientCmd.m_updateFlags&SIM_PARAM_ENABLE_FILE_CACHING)
{
b3EnableFileCaching(clientCmd.m_physSimParamArgs.m_enableFileCaching);
}
SharedMemoryStatus& serverCmd =serverStatusOut;
serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;
hasStatus = true;
@@ -6194,7 +6209,16 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec, const
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(gVRTrackingObjectUniqueId);
if (bodyHandle && bodyHandle->m_multiBody)
{
gVRTrackingObjectTr = bodyHandle->m_multiBody->getBaseWorldTransform();
// gVRTrackingObjectTr = bodyHandle->m_multiBody->getBaseWorldTransform();
if (gVRTrackingObjectUniqueId>=0)
{
gVRTrackingObjectTr.setOrigin(bodyHandle->m_multiBody->getBaseWorldTransform().getOrigin());
}
if (gVRTrackingObjectFlag&VR_CAMERA_TRACK_OBJECT_ORIENTATION)
{
gVRTrackingObjectTr.setBasis(bodyHandle->m_multiBody->getBaseWorldTransform().getBasis());
}
}
}

7
examples/SharedMemory/SharedMemoryCommands.h
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@@ -353,6 +353,8 @@ enum EnumSimParamUpdateFlags
SIM_PARAM_UPDATE_COLLISION_FILTER_MODE=512,
SIM_PARAM_UPDATE_CONTACT_BREAKING_THRESHOLD = 1024,
SIM_PARAM_MAX_CMD_PER_1MS = 2048,
SIM_PARAM_ENABLE_FILE_CACHING = 4096,
};
enum EnumLoadBunnyUpdateFlags
@@ -384,6 +386,7 @@ struct SendPhysicsSimulationParameters
int m_internalSimFlags;
double m_defaultContactERP;
int m_collisionFilterMode;
int m_enableFileCaching;
};
struct LoadBunnyArgs
@@ -675,7 +678,8 @@ enum eVRCameraEnums
{
VR_CAMERA_ROOT_POSITION=1,
VR_CAMERA_ROOT_ORIENTATION=2,
VR_CAMERA_ROOT_TRACKING_OBJECT=4
VR_CAMERA_ROOT_TRACKING_OBJECT=4,
VR_CAMERA_FLAG = 8,
};
enum eStateLoggingEnums
@@ -696,6 +700,7 @@ struct VRCameraState
double m_rootPosition[3];
double m_rootOrientation[4];
int m_trackingObjectUniqueId;
int m_trackingObjectFlag;
};

5
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -320,6 +320,11 @@ enum eVRDeviceTypeEnums
VR_DEVICE_GENERIC_TRACKER=4,
};
enum EVRCameraFlags
{
VR_CAMERA_TRACK_OBJECT_ORIENTATION=1,
};
struct b3VRControllerEvent
{
int m_controllerId;//valid for VR_CONTROLLER_MOVE_EVENT and VR_CONTROLLER_BUTTON_EVENT

5
examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
View File

@@ -560,9 +560,12 @@ LoadObj(
int maxchars = 8192; // Alloc enough size.
std::vector<char> buf(maxchars); // Alloc enough size.
std::string linebuf;
linebuf.reserve(maxchars);
while (ifs.peek() != -1) {
std::string linebuf;
linebuf.resize(0);
safeGetline(ifs,linebuf);
// Trim newline '\r\n' or '\r'

25
examples/pybullet/pybullet.c
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@@ -724,13 +724,15 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
int collisionFilterMode = -1;
double contactBreakingThreshold = -1;
int maxNumCmdPer1ms = -2;
int enableFileCaching = -1;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "physicsClientId", NULL};
static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching","physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidii", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiii", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &physicsClientId))
{
return NULL;
}
@@ -781,6 +783,11 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
b3PhysicsParamSetMaxNumCommandsPer1ms(command, maxNumCmdPer1ms);
}
if (enableFileCaching>=0)
{
b3PhysicsParamSetEnableFileCaching(command, enableFileCaching);
}
//ret = b3PhysicsParamSetRealTimeSimulation(command, enableRealTimeSimulation);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
@@ -3703,11 +3710,12 @@ static PyObject* pybullet_setVRCameraState(PyObject* self, PyObject* args, PyObj
PyObject* rootPosObj = 0;
PyObject* rootOrnObj = 0;
int trackObjectUid = -2;
int trackObjectFlag = -1;
double rootPos[3];
double rootOrn[4];
static char* kwlist[] = {"rootPosition", "rootOrientation", "trackObject", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|OOii", kwlist, &rootPosObj, &rootOrnObj, &trackObjectUid, &physicsClientId))
static char* kwlist[] = {"rootPosition", "rootOrientation", "trackObject", "trackObjectFlag","physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|OOiii", kwlist, &rootPosObj, &rootOrnObj, &trackObjectUid,&trackObjectFlag, &physicsClientId))
{
return NULL;
}
@@ -3734,6 +3742,11 @@ static PyObject* pybullet_setVRCameraState(PyObject* self, PyObject* args, PyObj
b3SetVRCameraTrackingObject(commandHandle, trackObjectUid);
}
if (trackObjectFlag>=-1)
{
b3SetVRCameraTrackingObjectFlag(commandHandle, trackObjectFlag);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
@@ -6355,6 +6368,8 @@ initpybullet(void)
PyModule_AddIntConstant(m, "VR_DEVICE_HMD", VR_DEVICE_HMD);
PyModule_AddIntConstant(m, "VR_DEVICE_GENERIC_TRACKER", VR_DEVICE_GENERIC_TRACKER);
PyModule_AddIntConstant(m, "VR_CAMERA_TRACK_OBJECT_ORIENTATION", VR_CAMERA_TRACK_OBJECT_ORIENTATION);
PyModule_AddIntConstant(m, "KEY_IS_DOWN", eButtonIsDown);
PyModule_AddIntConstant(m, "KEY_WAS_TRIGGERED", eButtonTriggered);
PyModule_AddIntConstant(m, "KEY_WAS_RELEASED", eButtonReleased);