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allow changeVisualShape (rgbaColor, specularColor and texture) for maximal coordinates rigid body (btRigidBody)

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Make the examples\pybullet\examples\createVisualShape.py a bit more interesting
This commit is contained in:
erwincoumans
2017-10-08 11:34:42 -07:00
parent b2edd81ef6
commit 2f2f070ab5
4 changed files with 68 additions and 11 deletions
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47
examples/pybullet/examples/createVisualShape.py
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@@ -1,5 +1,25 @@
import pybullet as p
import time
import math
def getRayFromTo(mouseX,mouseY):
width, height, viewMat, projMat, cameraUp, camForward, horizon,vertical, _,_,dist, camTarget = p.getDebugVisualizerCamera()
camPos = [camTarget[0] - dist*camForward[0],camTarget[1] - dist*camForward[1],camTarget[2] - dist*camForward[2]]
farPlane = 10000
rayForward = [(camTarget[0]-camPos[0]),(camTarget[1]-camPos[1]),(camTarget[2]-camPos[2])]
invLen = farPlane*1./(math.sqrt(rayForward[0]*rayForward[0]+rayForward[1]*rayForward[1]+rayForward[2]*rayForward[2]))
rayForward = [invLen*rayForward[0],invLen*rayForward[1],invLen*rayForward[2]]
rayFrom = camPos
oneOverWidth = float(1)/float(width)
oneOverHeight = float(1)/float(height)
dHor = [horizon[0] * oneOverWidth,horizon[1] * oneOverWidth,horizon[2] * oneOverWidth]
dVer = [vertical[0] * oneOverHeight,vertical[1] * oneOverHeight,vertical[2] * oneOverHeight]
rayToCenter=[rayFrom[0]+rayForward[0],rayFrom[1]+rayForward[1],rayFrom[2]+rayForward[2]]
rayTo = [rayFrom[0]+rayForward[0] - 0.5 * horizon[0] + 0.5 * vertical[0]+float(mouseX)*dHor[0]-float(mouseY)*dVer[0],
rayFrom[1]+rayForward[1] - 0.5 * horizon[1] + 0.5 * vertical[1]+float(mouseX)*dHor[1]-float(mouseY)*dVer[1],
rayFrom[2]+rayForward[2] - 0.5 * horizon[2] + 0.5 * vertical[2]+float(mouseX)*dHor[2]-float(mouseY)*dVer[2]]
return rayFrom,rayTo
p.connect(p.GUI)
p.setPhysicsEngineParameter(numSolverIterations=10)
p.setTimeStep(1./120.)
@@ -18,8 +38,8 @@ meshScale=[0.1,0.1,0.1]
visualShapeId = p.createVisualShape(shapeType=p.GEOM_MESH,fileName="duck.obj", rgbaColor=[1,1,1,1], specularColor=[0.4,.4,0], visualFramePosition=shift, meshScale=meshScale)
collisionShapeId = p.createCollisionShape(shapeType=p.GEOM_MESH, fileName="duck_vhacd.obj", collisionFramePosition=shift,meshScale=meshScale)
rangex = 40
rangey = 40
rangex = 32
rangey = 32
for i in range (rangex):
for j in range (rangey ):
p.createMultiBody(baseMass=1,baseInertialFramePosition=[0,0,0],baseCollisionShapeIndex=collisionShapeId, baseVisualShapeIndex = visualShapeId, basePosition = [((-rangex/2)+i)*meshScale[0]*2,(-rangey/2+j)*meshScale[1]*2,1], useMaximalCoordinates=True)
@@ -27,6 +47,25 @@ p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
p.stopStateLogging(logId)
p.setGravity(0,0,-10)
p.setRealTimeSimulation(1)
colors = [[1,0,0,1],[0,1,0,1],[0,0,1,1],[1,1,1,1]]
currentColor = 0
while (1):
p.setGravity(0,0,-10)
time.sleep(1)
mouseEvents = p.getMouseEvents()
for e in mouseEvents:
if ((e[0] == 2) and (e[3]==0) and (e[4]& p.KEY_WAS_TRIGGERED)):
mouseX = e[1]
mouseY = e[2]
rayFrom,rayTo=getRayFromTo(mouseX,mouseY)
rayInfo = p.rayTest(rayFrom,rayTo)
#p.addUserDebugLine(rayFrom,rayTo,[1,0,0],3)
for l in range(len(rayInfo)):
hit = rayInfo[l]
objectUid = hit[0]
if (objectUid>=0):
#p.removeBody(objectUid)
p.changeVisualShape(objectUid,-1,rgbaColor=colors[currentColor])
currentColor+=1
if (currentColor>=len(colors)):
currentColor=0