Merge pull request #1790 from BlGene/egl-plugin

OpenGL render plugin

examples/SharedMemory/plugins/eglPlugin/bullet.py

@@ -0,0 +1,85 @@
+import os 
+import sys
+import time
+import subprocess
+import pybullet as p
+from pdb import set_trace
+import matplotlib.pyplot as plt
+import numpy as np
+#subprocess.call(["hardening-check", p.__file__])
+
+
+
+p.connect(p.DIRECT)
+logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "debugTimings")
+
+plugin = True
+if plugin:
+    plugin_fn = '/home/argusm/lang/bullet3/build/lib.linux-x86_64-3.5/eglRenderer.cpython-35m-x86_64-linux-gnu.so'
+    plugin = p.loadPlugin(plugin_fn,"_tinyRendererPlugin")
+    if plugin < 0:
+        print("\nPlugin Failed to load!\n")
+        sys.exit()
+    print("plugin =",plugin)
+
+path = '/home/argusm/lang/bullet3/examples/pybullet/gym/pybullet_data/duck_vhacd.urdf'
+p.loadURDF(path,globalScaling=12)
+#path = '/home/argusm/lang/gym-grasping/gym_grasping/robots/models/kuka_iiwa/kuka_weiss_bolt.sdf'
+#p.loadSDF(path)
+
+start = time.time()
+
+camTargetPos = [0,0,0]
+upAxisIndex = 2
+nearPlane = 0.01
+farPlane = 100
+camDistance = 2
+pixelWidth = 128
+pixelHeight = 128
+fov = 60
+
+plot = False
+anim = True
+if plot:
+    plt.ion()
+if anim:
+    import matplotlib.animation as manimation
+    FFMpegWriter = manimation.writers['ffmpeg']
+    metadata = dict(title='Movie Test', artist='Matplotlib',
+                    comment='Movie support!')
+    writer = FFMpegWriter(fps=15, metadata=metadata)
+if plot or anim:
+    fig = plt.figure()
+    img = np.random.rand(pixelWidth,pixelHeight)
+    image = plt.imshow(img,interpolation='none',animated=True,label="blah")
+    ax = plt.gca()
+    ax.set_axis_off()
+    ax.set_aspect('equal')
+    plt.subplots_adjust(wspace=0, hspace=0, left=0, bottom=0, right=1, top=1)
+
+
+try:
+    iter = range(0,360,10)
+    with writer.saving(fig, "debug.mp4", len(iter)):
+        for i,yaw in enumerate(iter):
+            viewMatrix = p.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, 0, yaw-90, 0, upAxisIndex)
+            aspect = pixelWidth / pixelHeight;
+            projectionMatrix = p.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane);
+
+            hight, width, img_arr, deept_arr, obj_arr = p.getCameraImage(pixelWidth,pixelHeight,viewMatrix,projectionMatrix)
+            if plot:
+                image.set_data(img_arr)#np_img_arr)
+                ax.plot([0])
+                #plt.draw()
+                #plt.show()
+                plt.pause(0.01)
+            if anim:
+                image.set_data(img_arr)#np_img_arr)
+                ax.plot([0])
+                writer.grab_frame()
+
+            if i % 100 == 0 and i > 0:
+                print("FPS",100/(time.time()-start))
+            start = time.time()
+finally:
+    p.stopStateLogging(logId)

examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.cpp

@@ -0,0 +1,62 @@
+
+//tinyRenderer plugin
+
+/*
+import pybullet as p
+p.connect(p.GUI)
+plugin = p.loadPlugin("e:/develop/bullet3/bin/pybullet_tinyRendererPlugin_vs2010_x64_debug.dll","_tinyRendererPlugin")
+print("plugin=",plugin)
+p.loadURDF("r2d2.urdf")
+while (1):
+	p.getCameraImage(320,200)
+*/
+
+#include "eglRendererPlugin.h"
+#include "eglRendererVisualShapeConverter.h"
+
+#include "../../SharedMemoryPublic.h"
+#include "../b3PluginContext.h"
+#include <stdio.h>
+
+
+
+struct MyRendererPluginClass
+{
+	
+	TinyRendererVisualShapeConverter m_renderer;
+	MyRendererPluginClass()
+	{
+	}
+	virtual ~MyRendererPluginClass()
+	{
+	}
+};
+
+B3_SHARED_API int initPlugin_tinyRendererPlugin(struct b3PluginContext* context)
+{
+	MyRendererPluginClass* obj = new MyRendererPluginClass();
+	context->m_userPointer = obj;
+	return SHARED_MEMORY_MAGIC_NUMBER;
+}
+
+
+B3_SHARED_API int executePluginCommand_tinyRendererPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
+{
+		return -1;
+}
+
+
+B3_SHARED_API void exitPlugin_tinyRendererPlugin(struct b3PluginContext* context)
+{
+	MyRendererPluginClass* obj = (MyRendererPluginClass*) context->m_userPointer;
+	delete obj;
+	context->m_userPointer = 0;
+}
+
+//all the APIs below are optional
+B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_tinyRendererPlugin(struct b3PluginContext* context)
+{
+	MyRendererPluginClass* obj = (MyRendererPluginClass*) context->m_userPointer;
+	return &obj->m_renderer;
+}
+

examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.h

@@ -0,0 +1,25 @@
+#ifndef TINY_RENDERER_PLUGIN_H
+#define TINY_RENDERER_PLUGIN_H
+
+#include "../b3PluginAPI.h"
+
+#ifdef __cplusplus
+extern "C" 
+{
+#endif
+
+//initPlugin, exitPlugin and executePluginCommand are required, otherwise plugin won't load
+B3_SHARED_API int initPlugin_tinyRendererPlugin(struct b3PluginContext* context);
+B3_SHARED_API void exitPlugin_tinyRendererPlugin(struct b3PluginContext* context);
+B3_SHARED_API int executePluginCommand_tinyRendererPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
+
+//all the APIs below are optional
+B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_tinyRendererPlugin(struct b3PluginContext* context);
+
+
+
+#ifdef __cplusplus
+};
+#endif
+
+#endif//#define TEST_PLUGIN_H

examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.h

@@ -0,0 +1,65 @@
+#ifndef EGL_RENDERER_VISUAL_SHAPE_CONVERTER_H
+#define EGL_RENDERER_VISUAL_SHAPE_CONVERTER_H
+
+#include "../../../Importers/ImportURDFDemo/UrdfRenderingInterface.h"
+
+struct TinyRendererVisualShapeConverter : public UrdfRenderingInterface
+{
+        int frame = 0;
+
+        struct TinyRendererVisualShapeConverterInternalData* m_data;
+	
+        TinyRendererVisualShapeConverter();
+	
+        virtual ~TinyRendererVisualShapeConverter();
+	
+	virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int shapeUid, int objectIndex);
+	
+	virtual int getNumVisualShapes(int bodyUniqueId);
+
+	virtual int getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData);
+	
+	virtual void changeRGBAColor(int bodyUniqueId, int linkIndex, int shapeIndex, const double rgbaColor[4]);
+
+	virtual void changeShapeTexture(int objectUniqueId, int linkIndex, int shapeIndex, int textureUniqueId);
+
+	virtual void removeVisualShape(int shapeUid);
+
+	virtual void setUpAxis(int axis);
+	
+	virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ);
+	
+	virtual void clearBuffers(struct TGAColor& clearColor);
+
+	virtual void resetAll();
+
+	virtual void getWidthAndHeight(int& width, int& height);
+	virtual void setWidthAndHeight(int width, int height);
+	virtual void setLightDirection(float x, float y, float z);
+	virtual void setLightColor(float x, float y, float z);
+	virtual void setLightDistance(float dist);
+	virtual void setLightAmbientCoeff(float ambientCoeff);
+	virtual void setLightDiffuseCoeff(float diffuseCoeff);
+	virtual void setLightSpecularCoeff(float specularCoeff);
+	virtual void setShadow(bool hasShadow);
+	virtual void setFlags(int flags);
+
+	virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,int* segmentationMaskBuffer, int segmentationMaskSizeInPixels,  int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied);
+        void copyCameraImageDataGL(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,int* segmentationMaskBuffer, int segmentationMaskSizeInPixels,  int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied);
+
+	virtual void render();
+	virtual void render(const float viewMat[16], const float projMat[16]);
+    
+	virtual int loadTextureFile(const char* filename);
+	virtual int registerTexture(unsigned char* texels, int width, int height);
+   
+	
+
+	virtual void syncTransform(int shapeUid, const class btTransform& worldTransform, const class btVector3& localScaling);
+
+};
+
+
+
+
+#endif //EGL_RENDERER_VISUAL_SHAPE_CONVERTER_H

examples/SharedMemory/plugins/eglPlugin/premake4.lua

@@ -0,0 +1,53 @@
+		
+
+project ("pybullet_eglRendererPlugin")
+		language "C++"
+		kind "SharedLib"
+		
+		includedirs {".","../../../../src", "../../../../examples",
+		"../../../ThirdPartyLibs"}
+		defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
+	hasCL = findOpenCL("clew")
+
+	links{"BulletCollision", "Bullet3Common", "LinearMath"}
+
+	if os.is("MacOSX") then
+--		targetextension {"so"}
+		links{"Cocoa.framework","Python"}
+	end
+
+
+		files {
+			"eglRendererPlugin.cpp",
+			"eglRendererPlugin.h",
+			"TinyRendererVisualShapeConverter.cpp",
+			"TinyRendererVisualShapeConverter.h",
+			"../../../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
+			"../../../Importers/ImportColladaDemo/LoadMeshFromCollada.h",
+			"../../../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
+			"../../../Importers/ImportMeshUtility/b3ImportMeshUtility.h",
+			"../../../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
+			"../../../Importers/ImportObjDemo/LoadMeshFromObj.h",
+			"../../../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
+			"../../../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h",
+			"../../../TinyRenderer/geometry.cpp",
+			"../../../TinyRenderer/model.cpp",
+			"../../../TinyRenderer/our_gl.cpp",
+			"../../../TinyRenderer/tgaimage.cpp",
+			"../../../TinyRenderer/TinyRenderer.cpp",
+			"../../../ThirdPartyLibs/Wavefront/egl_obj_loader.cpp",
+			"../../../ThirdPartyLibs/Wavefront/egl_obj_loader.h",
+			"../../../ThirdPartyLibs/stb_image/stb_image.cpp",
+			"../../../ThirdPartyLibs/stb_image/stb_image.h",
+			"../../../ThirdPartyLibs/eglxml2/eglxml2.cpp",
+			"../../../ThirdPartyLibs/eglxml2/eglxml2.h",
+			"../../../OpenGLWindow/SimpleCamera.cpp",
+			"../../../OpenGLWindow/SimpleCamera.h",
+			"../../../Utils/b3Clock.cpp",
+			"../../../Utils/b3Clock.h",
+			"../../../Utils/b3ResourcePath.cpp",
+			"../../../Utils/b3ResourcePath.h",
+			}
+	
+	
+