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Merge pull request #866 from erwincoumans/master

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separate 'getClosestPointsAlgorithm', various pybullet improvements
This commit is contained in:
erwincoumans
2016-11-21 07:41:45 -08:00
committed by GitHub
parent 323609b087 1bc427df6b
commit 1f35697152
19 changed files with 378 additions and 133 deletions
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2
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
View File

@@ -1167,7 +1167,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
}
BT_PROFILE("Render Scene");
sCurrentDemo->renderScene();
}
} else
{
B3_PROFILE("physicsDebugDraw");
glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );

33
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1515,6 +1515,8 @@ b3SharedMemoryCommandHandle b3InitRequestContactPointInformation(b3PhysicsClient
command->m_requestContactPointArguments.m_startingContactPointIndex = 0;
command->m_requestContactPointArguments.m_objectAIndexFilter = -1;
command->m_requestContactPointArguments.m_objectBIndexFilter = -1;
command->m_requestContactPointArguments.m_linkIndexAIndexFilter = -2;
command->m_requestContactPointArguments.m_linkIndexBIndexFilter = -2;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle) command;
}
@@ -1527,6 +1529,37 @@ void b3SetContactFilterBodyA(b3SharedMemoryCommandHandle commandHandle, int body
command->m_requestContactPointArguments.m_objectAIndexFilter = bodyUniqueIdA;
}
void b3SetContactFilterLinkA(b3SharedMemoryCommandHandle commandHandle, int linkIndexA)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CONTACT_POINT_INFORMATION);
command->m_updateFlags |= CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER;
command->m_requestContactPointArguments.m_linkIndexAIndexFilter= linkIndexA;
}
void b3SetContactFilterLinkB(b3SharedMemoryCommandHandle commandHandle, int linkIndexB)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CONTACT_POINT_INFORMATION);
command->m_updateFlags |= CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER;
command->m_requestContactPointArguments.m_linkIndexBIndexFilter = linkIndexB;
}
void b3SetClosestDistanceFilterLinkA(b3SharedMemoryCommandHandle commandHandle, int linkIndexA)
{
b3SetContactFilterLinkA(commandHandle, linkIndexA);
}
void b3SetClosestDistanceFilterLinkB(b3SharedMemoryCommandHandle commandHandle, int linkIndexB)
{
b3SetContactFilterLinkB(commandHandle, linkIndexB);
}
void b3SetContactFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;

4
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -124,12 +124,16 @@ void b3RequestCameraImageSetFOVProjectionMatrix(b3SharedMemoryCommandHandle comm
b3SharedMemoryCommandHandle b3InitRequestContactPointInformation(b3PhysicsClientHandle physClient);
void b3SetContactFilterBodyA(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdA);
void b3SetContactFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB);
void b3SetContactFilterLinkA(b3SharedMemoryCommandHandle commandHandle, int linkIndexA);
void b3SetContactFilterLinkB(b3SharedMemoryCommandHandle commandHandle, int linkIndexB);
void b3GetContactPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointInfo);
///compute the closest points between two bodies
b3SharedMemoryCommandHandle b3InitClosestDistanceQuery(b3PhysicsClientHandle physClient);
void b3SetClosestDistanceFilterBodyA(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdA);
void b3SetClosestDistanceFilterLinkA(b3SharedMemoryCommandHandle commandHandle, int linkIndexA);
void b3SetClosestDistanceFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB);
void b3SetClosestDistanceFilterLinkB(b3SharedMemoryCommandHandle commandHandle, int linkIndexB);
void b3SetClosestDistanceThreshold(b3SharedMemoryCommandHandle commandHandle, double distance);
void b3GetClosestPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointInfo);

36
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -542,7 +542,7 @@ struct PhysicsServerCommandProcessorInternalData
m_kukaGripperMultiBody(0),
m_kukaGripperRevolute1(0),
m_kukaGripperRevolute2(0),
m_allowRealTimeSimulation(true),
m_allowRealTimeSimulation(false),
m_huskyId(-1),
m_KukaId(-1),
m_sphereId(-1),
@@ -2774,6 +2774,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
int bodyUniqueIdA = clientCmd.m_requestContactPointArguments.m_objectAIndexFilter;
int bodyUniqueIdB = clientCmd.m_requestContactPointArguments.m_objectBIndexFilter;
bool hasLinkIndexAFilter = (0!=(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER));
bool hasLinkIndexBFilter = (0!=(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER));
int linkIndexA = clientCmd.m_requestContactPointArguments.m_linkIndexAIndexFilter;
int linkIndexB = clientCmd.m_requestContactPointArguments.m_linkIndexBIndexFilter;
btAlignedObjectArray<btCollisionObject*> setA;
btAlignedObjectArray<btCollisionObject*> setB;
btAlignedObjectArray<int> setALinkIndex;
@@ -2788,15 +2794,21 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
if (bodyA->m_multiBody->getBaseCollider())
{
setA.push_back(bodyA->m_multiBody->getBaseCollider());
setALinkIndex.push_back(-1);
if (!hasLinkIndexAFilter || (linkIndexA == -1))
{
setA.push_back(bodyA->m_multiBody->getBaseCollider());
setALinkIndex.push_back(-1);
}
}
for (int i = 0; i < bodyA->m_multiBody->getNumLinks(); i++)
{
if (bodyA->m_multiBody->getLink(i).m_collider)
{
setA.push_back(bodyA->m_multiBody->getLink(i).m_collider);
setALinkIndex.push_back(i);
if (!hasLinkIndexAFilter || (linkIndexA == i))
{
setA.push_back(bodyA->m_multiBody->getLink(i).m_collider);
setALinkIndex.push_back(i);
}
}
}
}
@@ -2816,15 +2828,21 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
if (bodyB->m_multiBody->getBaseCollider())
{
setB.push_back(bodyB->m_multiBody->getBaseCollider());
setBLinkIndex.push_back(-1);
if (!hasLinkIndexBFilter || (linkIndexB == -1))
{
setB.push_back(bodyB->m_multiBody->getBaseCollider());
setBLinkIndex.push_back(-1);
}
}
for (int i = 0; i < bodyB->m_multiBody->getNumLinks(); i++)
{
if (bodyB->m_multiBody->getLink(i).m_collider)
{
setB.push_back(bodyB->m_multiBody->getLink(i).m_collider);
setBLinkIndex.push_back(i);
if (!hasLinkIndexBFilter || (linkIndexB ==i))
{
setB.push_back(bodyB->m_multiBody->getLink(i).m_collider);
setBLinkIndex.push_back(i);
}
}
}
}

95
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -825,6 +825,7 @@ public:
virtual bool wantsTermination();
virtual bool isConnected();
virtual void renderScene();
void drawUserDebugLines();
virtual void exitPhysics();
virtual void physicsDebugDraw(int debugFlags);
@@ -1353,7 +1354,51 @@ extern int gHuskyId;
extern btTransform huskyTr;
void PhysicsServerExample::drawUserDebugLines()
{
static char line0[1024];
static char line1[1024];
//draw all user-debug-lines
//add array of lines
//draw all user- 'text3d' messages
if (m_multiThreadedHelper)
{
for (int i = 0; i<m_multiThreadedHelper->m_userDebugLines.size(); i++)
{
btVector3 from;
from.setValue(m_multiThreadedHelper->m_userDebugLines[i].m_debugLineFromXYZ[0],
m_multiThreadedHelper->m_userDebugLines[i].m_debugLineFromXYZ[1],
m_multiThreadedHelper->m_userDebugLines[i].m_debugLineFromXYZ[2]);
btVector3 toX;
toX.setValue(m_multiThreadedHelper->m_userDebugLines[i].m_debugLineToXYZ[0],
m_multiThreadedHelper->m_userDebugLines[i].m_debugLineToXYZ[1],
m_multiThreadedHelper->m_userDebugLines[i].m_debugLineToXYZ[2]);
btVector3 color;
color.setValue(m_multiThreadedHelper->m_userDebugLines[i].m_debugLineColorRGB[0],
m_multiThreadedHelper->m_userDebugLines[i].m_debugLineColorRGB[1],
m_multiThreadedHelper->m_userDebugLines[i].m_debugLineColorRGB[2]);
m_guiHelper->getAppInterface()->m_renderer->drawLine(from, toX, color, m_multiThreadedHelper->m_userDebugLines[i].m_lineWidth);
}
for (int i = 0; i<m_multiThreadedHelper->m_userDebugText.size(); i++)
{
m_guiHelper->getAppInterface()->drawText3D(m_multiThreadedHelper->m_userDebugText[i].m_text,
m_multiThreadedHelper->m_userDebugText[i].m_textPositionXYZ[0],
m_multiThreadedHelper->m_userDebugText[i].m_textPositionXYZ[1],
m_multiThreadedHelper->m_userDebugText[i].m_textPositionXYZ[2],
m_multiThreadedHelper->m_userDebugText[i].textSize);
}
}
}
void PhysicsServerExample::renderScene()
{
@@ -1369,48 +1414,8 @@ void PhysicsServerExample::renderScene()
B3_PROFILE("PhysicsServerExample::RenderScene");
static char line0[1024];
static char line1[1024];
//draw all user-debug-lines
//add array of lines
//draw all user- 'text3d' messages
if (m_multiThreadedHelper)
{
for (int i=0;i<m_multiThreadedHelper->m_userDebugLines.size();i++)
{
btVector3 from;
from.setValue( m_multiThreadedHelper->m_userDebugLines[i].m_debugLineFromXYZ[0],
m_multiThreadedHelper->m_userDebugLines[i].m_debugLineFromXYZ[1],
m_multiThreadedHelper->m_userDebugLines[i].m_debugLineFromXYZ[2]);
btVector3 toX;
toX.setValue( m_multiThreadedHelper->m_userDebugLines[i].m_debugLineToXYZ[0],
m_multiThreadedHelper->m_userDebugLines[i].m_debugLineToXYZ[1],
m_multiThreadedHelper->m_userDebugLines[i].m_debugLineToXYZ[2]);
btVector3 color;
color.setValue( m_multiThreadedHelper->m_userDebugLines[i].m_debugLineColorRGB[0],
m_multiThreadedHelper->m_userDebugLines[i].m_debugLineColorRGB[1],
m_multiThreadedHelper->m_userDebugLines[i].m_debugLineColorRGB[2]);
m_guiHelper->getAppInterface()->m_renderer->drawLine(from, toX, color, m_multiThreadedHelper->m_userDebugLines[i].m_lineWidth);
}
for (int i=0;i<m_multiThreadedHelper->m_userDebugText.size();i++)
{
m_guiHelper->getAppInterface()->drawText3D(m_multiThreadedHelper->m_userDebugText[i].m_text,
m_multiThreadedHelper->m_userDebugText[i].m_textPositionXYZ[0],
m_multiThreadedHelper->m_userDebugText[i].m_textPositionXYZ[1],
m_multiThreadedHelper->m_userDebugText[i].m_textPositionXYZ[2],
m_multiThreadedHelper->m_userDebugText[i].textSize);
}
}
drawUserDebugLines();
if (gEnableRealTimeSimVR)
{
@@ -1424,6 +1429,7 @@ void PhysicsServerExample::renderScene()
static int count = 0;
count++;
#if 0
if (0 == (count & 1))
{
btScalar curTime = m_clock.getTimeSeconds();
@@ -1444,6 +1450,7 @@ void PhysicsServerExample::renderScene()
worseFps = 1000000;
}
}
#endif
#ifdef BT_ENABLE_VR
if ((gInternalSimFlags&2 ) && m_tinyVrGui==0)
@@ -1468,7 +1475,9 @@ void PhysicsServerExample::renderScene()
tr = tr*b3Transform(b3Quaternion(0,0,-SIMD_HALF_PI),b3MakeVector3(0,0,0));
b3Scalar dt = 0.01;
m_tinyVrGui->clearTextArea();
static char line0[1024];
static char line1[1024];
m_tinyVrGui->grapicalPrintf(line0,0,0,0,0,0,255);
m_tinyVrGui->grapicalPrintf(line1,0,16,255,255,255,255);
@@ -1544,6 +1553,8 @@ void PhysicsServerExample::renderScene()
void PhysicsServerExample::physicsDebugDraw(int debugDrawFlags)
{
drawUserDebugLines();
///debug rendering
m_physicsServer.physicsDebugDraw(debugDrawFlags);

4
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -156,6 +156,8 @@ enum EnumRequestContactDataUpdateFlags
{
CMD_REQUEST_CONTACT_POINT_HAS_QUERY_MODE=1,
CMD_REQUEST_CONTACT_POINT_HAS_CLOSEST_DISTANCE_THRESHOLD=2,
CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER = 4,
CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER = 8,
};
struct RequestContactDataArgs
@@ -163,6 +165,8 @@ struct RequestContactDataArgs
int m_startingContactPointIndex;
int m_objectAIndexFilter;
int m_objectBIndexFilter;
int m_linkIndexAIndexFilter;
int m_linkIndexBIndexFilter;
double m_closestDistanceThreshold;
int m_mode;
};

112
examples/pybullet/pybullet.c
View File

@@ -1501,7 +1501,7 @@ static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObj
res = pybullet_internalSetVectord(textPositionObj,posXYZ);
if (!res)
{
PyErr_SetString(SpamError, "Error converting lineFrom[3]");
PyErr_SetString(SpamError, "Error converting textPositionObj[3]");
return NULL;
}
@@ -1510,7 +1510,7 @@ static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObj
res = pybullet_internalSetVectord(textColorRGBObj,colorRGB);
if (!res)
{
PyErr_SetString(SpamError, "Error converting lineTo[3]");
PyErr_SetString(SpamError, "Error converting textColorRGBObj[3]");
return NULL;
}
}
@@ -1848,23 +1848,22 @@ static PyObject* MyConvertContactPoint( struct b3ContactInformation* contactPoin
2 int m_bodyUniqueIdB;
3 int m_linkIndexA;
4 int m_linkIndexB;
5-6-7 double m_positionOnAInWS[3];//contact point location on object A,
5 double m_positionOnAInWS[3];//contact point location on object A,
in world space coordinates
8-9-10 double m_positionOnBInWS[3];//contact point location on object
6 double m_positionOnBInWS[3];//contact point location on object
A, in world space coordinates
11-12-13 double m_contactNormalOnBInWS[3];//the separating contact
7 double m_contactNormalOnBInWS[3];//the separating contact
normal, pointing from object B towards object A
14 double m_contactDistance;//negative number is penetration, positive
8 double m_contactDistance;//negative number is penetration, positive
is distance.
15 double m_normalForce;
9 double m_normalForce;
*/
int i;
PyObject* pyResultList = PyTuple_New(contactPointPtr->m_numContactPoints);
for (i = 0; i < contactPointPtr->m_numContactPoints; i++) {
PyObject* contactObList = PyTuple_New(16); // see above 16 fields
PyObject* contactObList = PyTuple_New(10); // see above 10 fields
PyObject* item;
item =
PyInt_FromLong(contactPointPtr->m_contactPointData[i].m_contactFlags);
@@ -1881,42 +1880,61 @@ static PyObject* MyConvertContactPoint( struct b3ContactInformation* contactPoin
item =
PyInt_FromLong(contactPointPtr->m_contactPointData[i].m_linkIndexB);
PyTuple_SetItem(contactObList, 4, item);
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_positionOnAInWS[0]);
PyTuple_SetItem(contactObList, 5, item);
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_positionOnAInWS[1]);
PyTuple_SetItem(contactObList, 6, item);
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_positionOnAInWS[2]);
PyTuple_SetItem(contactObList, 7, item);
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_positionOnBInWS[0]);
PyTuple_SetItem(contactObList, 8, item);
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_positionOnBInWS[1]);
PyTuple_SetItem(contactObList, 9, item);
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_positionOnBInWS[2]);
PyTuple_SetItem(contactObList, 10, item);
{
PyObject* posAObj = PyTuple_New(3);
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_contactNormalOnBInWS[0]);
PyTuple_SetItem(contactObList, 11, item);
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_contactNormalOnBInWS[1]);
PyTuple_SetItem(contactObList, 12, item);
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_contactNormalOnBInWS[2]);
PyTuple_SetItem(contactObList, 13, item);
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_positionOnAInWS[0]);
PyTuple_SetItem(posAObj, 0, item);
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_positionOnAInWS[1]);
PyTuple_SetItem(posAObj, 1, item);
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_positionOnAInWS[2]);
PyTuple_SetItem(posAObj, 2, item);
PyTuple_SetItem(contactObList, 5, posAObj);
}
{
PyObject* posBObj = PyTuple_New(3);
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_positionOnBInWS[0]);
PyTuple_SetItem(posBObj, 0, item);
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_positionOnBInWS[1]);
PyTuple_SetItem(posBObj, 1, item);
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_positionOnBInWS[2]);
PyTuple_SetItem(posBObj, 2, item);
PyTuple_SetItem(contactObList, 6, posBObj);
}
{
PyObject* normalOnB = PyTuple_New(3);
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_contactNormalOnBInWS[0]);
PyTuple_SetItem(normalOnB, 0, item);
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_contactNormalOnBInWS[1]);
PyTuple_SetItem(normalOnB, 1, item);
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_contactNormalOnBInWS[2]);
PyTuple_SetItem(normalOnB, 2, item);
PyTuple_SetItem(contactObList, 7, normalOnB);
}
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_contactDistance);
PyTuple_SetItem(contactObList, 14, item);
PyTuple_SetItem(contactObList, 8, item);
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_normalForce);
PyTuple_SetItem(contactObList, 15, item);
PyTuple_SetItem(contactObList, 9, item);
PyTuple_SetItem(pyResultList, i, contactObList);
}
@@ -1982,6 +2000,9 @@ static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, Py
int size = PySequence_Size(args);
int bodyUniqueIdA = -1;
int bodyUniqueIdB = -1;
int linkIndexA = -2;
int linkIndexB = -2;
double distanceThreshold = 0.f;
b3SharedMemoryCommandHandle commandHandle;
@@ -1991,15 +2012,15 @@ static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, Py
PyObject* pyResultList = 0;
static char *kwlist[] = { "bodyA", "bodyB", "distance", NULL };
static char *kwlist[] = { "bodyA", "bodyB", "distance", "linkIndexA","linkIndexB",NULL };
if (0 == sm) {
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iid", kwlist,
&bodyUniqueIdA, &bodyUniqueIdB, &distanceThreshold))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iid|ii", kwlist,
&bodyUniqueIdA, &bodyUniqueIdB, &distanceThreshold, &linkIndexA, &linkIndexB))
return NULL;
@@ -2007,7 +2028,14 @@ static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, Py
b3SetClosestDistanceFilterBodyA(commandHandle, bodyUniqueIdA);
b3SetClosestDistanceFilterBodyB(commandHandle, bodyUniqueIdB);
b3SetClosestDistanceThreshold(commandHandle, distanceThreshold);
if (linkIndexA >= -1)
{
b3SetClosestDistanceFilterLinkA(commandHandle, linkIndexA);
}
if (linkIndexB >= -1)
{
b3SetClosestDistanceFilterLinkB(commandHandle, linkIndexB);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);