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Merge pull request #1609 from YunfeiBai/master

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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
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10
examples/CommonInterfaces/CommonGUIHelperInterface.h
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@@ -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;
@@ -179,6 +181,14 @@ struct DummyGUIHelper : public GUIHelperInterface
*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
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@@ -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
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@@ -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
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@@ -62,6 +62,9 @@ struct OpenGLGuiHelper : public GUIHelperInterface
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) ;
virtual void drawText3D( const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlag);

26
examples/OpenGLWindow/GLInstancingRenderer.cpp
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@@ -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
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@@ -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
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@@ -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
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@@ -214,6 +214,9 @@ 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*/]);
B3_SHARED_API void b3ComputeViewMatrixFromYawPitchRoll(const float cameraTargetPosition[/*3*/], float distance, float yaw, float pitch, float roll, int upAxis, float viewMatrix[/*16*/]);

29
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -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];
@@ -3190,6 +3190,31 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
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
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@@ -1120,6 +1120,16 @@ public:
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;
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)

3
examples/SharedMemory/SharedMemoryCommands.h
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@@ -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
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@@ -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
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@@ -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
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@@ -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);