Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Merge pull request #1609 from YunfeiBai/master

Browse Source 
Add PyBullet API to set projective texture.
This commit is contained in:
erwincoumans
2018-03-26 16:27:14 -07:00
committed by GitHub
parent f690687416 6b97e1e604
commit 31ab72a0ed
14 changed files with 123 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
examples/CommonInterfaces/CommonGUIHelperInterface.h
View File

@@ -94,6 +94,8 @@ struct GUIHelperInterface
int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
int startPixelIndex, int destinationWidth, int destinationHeight, int* numPixelsCopied){}
virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16])=0;
virtual void setProjectiveTexture(bool useProjectiveTexture)=0;
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) =0;
@@ -178,6 +180,14 @@ struct DummyGUIHelper : public GUIHelperInterface
if (numPixelsCopied)
*numPixelsCopied = 0;
}
virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16])
{
}
virtual void setProjectiveTexture(bool useProjectiveTexture)
{
}
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
{

2
examples/CommonInterfaces/CommonRenderInterface.h
View File

@@ -49,6 +49,8 @@ struct CommonRenderInterface
virtual void setLightPosition(const float lightPos[3]) = 0;
virtual void setLightPosition(const double lightPos[3]) = 0;
virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16]){};
virtual void setProjectiveTexture(bool useProjectiveTexture){};
virtual void renderScene()=0;
virtual void renderSceneInternal(int renderMode=B3_DEFAULT_RENDERMODE){};

9
examples/ExampleBrowser/OpenGLGuiHelper.cpp
View File

@@ -1098,6 +1098,15 @@ bool OpenGLGuiHelper::getCameraInfo(int* width, int* height, float viewMatrix[16
return false;
}
void OpenGLGuiHelper::setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16])
{
m_data->m_glApp->m_renderer->setProjectiveTextureMatrices(viewMatrix, projectionMatrix);
}
void OpenGLGuiHelper::setProjectiveTexture(bool useProjectiveTexture)
{
m_data->m_glApp->m_renderer->setProjectiveTexture(useProjectiveTexture);
}
void OpenGLGuiHelper::copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,

3
examples/ExampleBrowser/OpenGLGuiHelper.h
View File

@@ -61,6 +61,9 @@ struct OpenGLGuiHelper : public GUIHelperInterface
int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
int startPixelIndex, int destinationWidth,
int destinationHeight, int* numPixelsCopied);
virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16]);
virtual void setProjectiveTexture(bool useProjectiveTexture);
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) ;

26
examples/OpenGLWindow/GLInstancingRenderer.cpp
View File

@@ -17,7 +17,6 @@ subject to the following restrictions:
///todo: make this configurable in the gui
bool useShadowMap = true;// true;//false;//true;
bool useProjectiveTexture = false;
int shadowMapWidth= 4096;
int shadowMapHeight= 4096;
float shadowMapWorldSize=10;
@@ -225,7 +224,10 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
GLfloat m_projectionMatrix[16];
GLfloat m_viewMatrix[16];
GLfloat m_projectiveTextureProjectionMatrix[16];
GLfloat m_projectiveTextureViewMatrix[16];
GLfloat m_viewMatrixInverse[16];
bool m_useProjectiveTexture;
b3Vector3 m_lightPos;
b3Vector3 m_lightSpecularIntensity;
@@ -257,8 +259,11 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
m_projectionMatrix[i]=0;
m_viewMatrix[i]=0;
m_viewMatrixInverse[i]=0;
m_projectiveTextureProjectionMatrix[i]=0;
m_projectiveTextureViewMatrix[i]=0;
}
m_useProjectiveTexture = false;
}
@@ -1466,6 +1471,20 @@ void GLInstancingRenderer::setLightPosition(const double lightPos[3])
m_data->m_lightPos[2] = lightPos[2];
}
void GLInstancingRenderer::setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16])
{
for (int i = 0; i < 16; i++)
{
m_data->m_projectiveTextureViewMatrix[i] = viewMatrix[i];
m_data->m_projectiveTextureProjectionMatrix[i] = projectionMatrix[i];
}
}
void GLInstancingRenderer::setProjectiveTexture(bool useProjectiveTexture)
{
m_data->m_useProjectiveTexture = useProjectiveTexture;
useShadowMap = !useProjectiveTexture;
}
void GLInstancingRenderer::updateCamera(int upAxis)
{
@@ -1583,9 +1602,8 @@ void GLInstancingRenderer::renderScene()
renderSceneInternal(B3_USE_SHADOWMAP_RENDERMODE);
}
else if (useProjectiveTexture)
else if (m_data->m_useProjectiveTexture)
{
//renderSceneInternal(B3_CREATE_SHADOWMAP_RENDERMODE);
renderSceneInternal(B3_USE_PROJECTIVE_TEXTURE_RENDERMODE);
}
else
@@ -2181,7 +2199,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
// TODO: Expose the projective texture matrix setup. Temporarily set it to be the same as camera view projection matrix.
GLfloat textureMVP[16];
b3Matrix4x4Mul16(m_data->m_projectionMatrix,m_data->m_viewMatrix,textureMVP);
b3Matrix4x4Mul16(m_data->m_projectiveTextureProjectionMatrix,m_data->m_projectiveTextureViewMatrix,textureMVP);
//float m_frustumZNear=0.1;
//float m_frustumZFar=100.f;

2
examples/OpenGLWindow/GLInstancingRenderer.h
View File

@@ -131,6 +131,8 @@ public:
virtual void setLightPosition(const float lightPos[3]);
virtual void setLightPosition(const double lightPos[3]);
void setLightSpecularIntensity(const float lightSpecularIntensity[3]);
virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16]);
virtual void setProjectiveTexture(bool useProjectiveTexture);
virtual void resize(int width, int height);
virtual int getScreenWidth()

13
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -3081,6 +3081,19 @@ B3_SHARED_API void b3RequestCameraImageSetShadow(b3SharedMemoryCommandHandle com
command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_SHADOW;
}
B3_SHARED_API void b3RequestCameraImageSetProjectiveTextureMatrices(b3SharedMemoryCommandHandle commandHandle, float viewMatrix[16], float projectionMatrix[16])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CAMERA_IMAGE_DATA);
for (int i=0;i<16;i++)
{
command->m_requestPixelDataArguments.m_projectiveTextureProjectionMatrix[i] = projectionMatrix[i];
command->m_requestPixelDataArguments.m_projectiveTextureViewMatrix[i] = viewMatrix[i];
}
command->m_updateFlags |= REQUEST_PIXEL_ARGS_HAS_PROJECTIVE_TEXTURE_MATRICES;
}
B3_SHARED_API void b3ComputePositionFromViewMatrix(const float viewMatrix[16], float cameraPosition[3], float cameraTargetPosition[3], float cameraUp[3])
{
b3Matrix3x3 r(viewMatrix[0], viewMatrix[4], viewMatrix[8], viewMatrix[1], viewMatrix[5], viewMatrix[9], viewMatrix[2], viewMatrix[6], viewMatrix[10]);

3
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -213,6 +213,9 @@ B3_SHARED_API void b3RequestCameraImageSetFlags(b3SharedMemoryCommandHandle comm
B3_SHARED_API void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData);
///set projective texture camera matrices.
B3_SHARED_API void b3RequestCameraImageSetProjectiveTextureMatrices(b3SharedMemoryCommandHandle commandHandle, float viewMatrix[/*16*/], float projectionMatrix[/*16*/]);
///compute a view matrix, helper function for b3RequestCameraImageSetCameraMatrices
B3_SHARED_API void b3ComputeViewMatrixFromPositions(const float cameraPosition[/*3*/], const float cameraTargetPosition[/*3*/], const float cameraUp[/*3*/], float viewMatrix[/*16*/]);

31
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -70,8 +70,6 @@
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#endif
int gInternalSimFlags = 0;
bool gResetSimulation = 0;
int gVRTrackingObjectUniqueId = -1;
@@ -3156,6 +3154,8 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
serverStatusOut.m_numDataStreamBytes = numRequestedPixels * totalBytesPerPixel;
float viewMat[16];
float projMat[16];
float projTextureViewMat[16];
float projTextureProjMat[16];
for (int i=0;i<16;i++)
{
viewMat[i] = clientCmd.m_requestPixelDataArguments.m_viewMatrix[i];
@@ -3185,11 +3185,36 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
projMat[i] = tmpCamResult.m_projectionMatrix[i];
}
}
}
}
bool handled = false;
if ((clientCmd.m_updateFlags & ER_BULLET_HARDWARE_OPENGL)!=0)
{
if ((flags & ER_USE_PROJECTIVE_TEXTURE) != 0)
{
this->m_data->m_guiHelper->setProjectiveTexture(true);
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_HAS_PROJECTIVE_TEXTURE_MATRICES)!=0)
{
for (int i=0;i<16;i++)
{
projTextureViewMat[i] = clientCmd.m_requestPixelDataArguments.m_projectiveTextureViewMatrix[i];
projTextureProjMat[i] = clientCmd.m_requestPixelDataArguments.m_projectiveTextureProjectionMatrix[i];
}
}
else // If no specified matrices for projective texture, then use the camera matrices.
{
for (int i=0;i<16;i++)
{
projTextureViewMat[i] = viewMat[i];
projTextureProjMat[i] = projMat[i];
}
}
this->m_data->m_guiHelper->setProjectiveTextureMatrices(projTextureViewMat, projTextureProjMat);
}
else
{
this->m_data->m_guiHelper->setProjectiveTexture(false);
}
m_data->m_guiHelper->copyCameraImageData(viewMat,
projMat,pixelRGBA,numRequestedPixels,

10
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -1119,6 +1119,16 @@ public:
m_cs->setSharedParam(1,eGUIHelperDisplayCameraImageData);
workerThreadWait();
}
virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16])
{
m_childGuiHelper->getAppInterface()->m_renderer->setProjectiveTextureMatrices(viewMatrix, projectionMatrix);
}
virtual void setProjectiveTexture(bool useProjectiveTexture)
{
m_childGuiHelper->getAppInterface()->m_renderer->setProjectiveTexture(useProjectiveTexture);
}
btDiscreteDynamicsWorld* m_dynamicsWorld;

3
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -240,6 +240,8 @@ struct RequestPixelDataArgs
float m_lightSpecularCoeff;
int m_hasShadow;
int m_flags;
float m_projectiveTextureViewMatrix[16];
float m_projectiveTextureProjectionMatrix[16];
};
enum EnumRequestPixelDataUpdateFlags
@@ -254,6 +256,7 @@ enum EnumRequestPixelDataUpdateFlags
REQUEST_PIXEL_ARGS_SET_DIFFUSE_COEFF=128,
REQUEST_PIXEL_ARGS_SET_SPECULAR_COEFF=256,
REQUEST_PIXEL_ARGS_HAS_FLAGS = 512,
REQUEST_PIXEL_ARGS_HAS_PROJECTIVE_TEXTURE_MATRICES=1024,
//don't exceed (1<<15), because this enum is shared with EnumRenderer in SharedMemoryPublic.h

2
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -616,7 +616,9 @@ enum EnumRenderer
enum EnumRendererAuxFlags
{
ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX=1,
ER_USE_PROJECTIVE_TEXTURE=2,
};
///flags to pick the IK solver and other options
enum EnumCalculateInverseKinematicsFlags
{

7
examples/pybullet/examples/projective_texture.py
View File

@@ -25,7 +25,12 @@ if (useRealTimeSimulation):
while 1:
if (useRealTimeSimulation):
camera = p.getDebugVisualizerCamera()
viewMat = camera[2]
projMat = camera[3]
#An example of setting the view matrix for the projective texture.
#viewMat = p.computeViewMatrix(cameraEyePosition=[7,0,0], cameraTargetPosition=[0,0,0], cameraUpVector=[0,0,1])
p.getCameraImage(300, 300, renderer=p.ER_BULLET_HARDWARE_OPENGL, flags=p.ER_USE_PROJECTIVE_TEXTURE, projectiveTextureView=viewMat, projectiveTextureProj=projMat)
p.setGravity(0,0,0)
sleep(0.01) # Time in seconds.
else:
p.stepSimulation()

13
examples/pybullet/pybullet.c
View File

@@ -6761,10 +6761,12 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
{
/// request an image from a simulated camera, using software or hardware renderer.
struct b3CameraImageData imageData;
PyObject *objViewMat = 0, *objProjMat = 0, *lightDirObj = 0, *lightColorObj = 0;
PyObject *objViewMat = 0, *objProjMat = 0, *lightDirObj = 0, *lightColorObj = 0, *objProjectiveTextureView = 0, *objProjectiveTextureProj = 0;
int width, height;
float viewMatrix[16];
float projectionMatrix[16];
float projectiveTextureView[16];
float projectiveTextureProj[16];
float lightDir[3];
float lightColor[3];
float lightDist = -1;
@@ -6779,9 +6781,9 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
// set camera resolution, optionally view, projection matrix, light direction, light color, light distance, shadow
static char* kwlist[] = {"width", "height", "viewMatrix", "projectionMatrix", "lightDirection", "lightColor", "lightDistance", "shadow", "lightAmbientCoeff", "lightDiffuseCoeff", "lightSpecularCoeff", "renderer", "flags", "physicsClientId", NULL};
static char* kwlist[] = {"width", "height", "viewMatrix", "projectionMatrix", "lightDirection", "lightColor", "lightDistance", "shadow", "lightAmbientCoeff", "lightDiffuseCoeff", "lightSpecularCoeff", "renderer", "flags", "projectiveTextureView", "projectiveTextureProj", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|OOOOfifffiii", kwlist, &width, &height, &objViewMat, &objProjMat, &lightDirObj, &lightColorObj, &lightDist, &hasShadow, &lightAmbientCoeff, &lightDiffuseCoeff, &lightSpecularCoeff, &renderer, &flags, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|OOOOfifffiiOOi", kwlist, &width, &height, &objViewMat, &objProjMat, &lightDirObj, &lightColorObj, &lightDist, &hasShadow, &lightAmbientCoeff, &lightDiffuseCoeff, &lightSpecularCoeff, &renderer, &flags, &objProjectiveTextureView, &objProjectiveTextureProj, &physicsClientId))
{
return NULL;
}
@@ -6837,6 +6839,10 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
{
b3RequestCameraImageSetFlags(command, flags);
}
if (objProjectiveTextureView && objProjectiveTextureProj && pybullet_internalSetMatrix(objProjectiveTextureView, projectiveTextureView) && (pybullet_internalSetMatrix(objProjectiveTextureProj, projectiveTextureProj)))
{
b3RequestCameraImageSetProjectiveTextureMatrices(command, projectiveTextureView, projectiveTextureProj);
}
if (renderer>=0)
{
b3RequestCameraImageSelectRenderer(command, renderer);//renderer could be ER_BULLET_HARDWARE_OPENGL
@@ -9150,6 +9156,7 @@ initpybullet(void)
PyModule_AddIntConstant(m, "ER_TINY_RENDERER", ER_TINY_RENDERER);
PyModule_AddIntConstant(m, "ER_BULLET_HARDWARE_OPENGL", ER_BULLET_HARDWARE_OPENGL);
PyModule_AddIntConstant(m, "ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX", ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX);
PyModule_AddIntConstant(m, "ER_USE_PROJECTIVE_TEXTURE", ER_USE_PROJECTIVE_TEXTURE);
PyModule_AddIntConstant(m, "IK_DLS", IK_DLS);
PyModule_AddIntConstant(m, "IK_SDLS", IK_SDLS);