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nearly working

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Max Argus
2018-07-13 13:48:11 +02:00
parent 5f71aa859f
commit 35b30359e3
2 changed files with 101 additions and 45 deletions
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89
examples/SharedMemory/plugins/eglPlugin/bullet.py
View File

@@ -5,38 +5,81 @@ import subprocess
import pybullet as p import pybullet as p
from pdb import set_trace from pdb import set_trace
import matplotlib.pyplot as plt import matplotlib.pyplot as plt
import numpy as np
#subprocess.call(["hardening-check", p.__file__]) #subprocess.call(["hardening-check", p.__file__])
p.connect(p.DIRECT) p.connect(p.DIRECT)
logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "debugTimings") logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "debugTimings")
plugin_fn = '/home/argusm/lang/bullet3/build/lib.linux-x86_64-3.5/eglRenderer.cpython-35m-x86_64-linux-gnu.so' plugin = True
plugin = p.loadPlugin(plugin_fn,"_tinyRendererPlugin") if plugin:
if plugin < 0: plugin_fn = '/home/argusm/lang/bullet3/build/lib.linux-x86_64-3.5/eglRenderer.cpython-35m-x86_64-linux-gnu.so'
print("\nPlugin Failed to load!\n") plugin = p.loadPlugin(plugin_fn,"_tinyRendererPlugin")
sys.exit() if plugin < 0:
print("\nPlugin Failed to load!\n")
sys.exit()
print("plugin =",plugin)
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/bullet3/examples/pybullet/gym/pybullet_data/r2d2.urdf' #path = '/home/argusm/lang/gym-grasping/gym_grasping/robots/models/kuka_iiwa/kuka_weiss_bolt.sdf'
path = '/home/argusm/lang/gym-grasping/gym_grasping/robots/models/kuka_iiwa/kuka_weiss_bolt.sdf' #p.loadSDF(path)
#p.loadURDF(path)
p.loadSDF(path)
start = time.time() start = time.time()
plot = True 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: try:
for i in range(10): iter = range(0,360,10)
hight, width, img_arr, deept_arr, obj_arr = p.getCameraImage(128,128) with writer.saving(fig, "debug.mp4", len(iter)):
if plot: for i,yaw in enumerate(iter):
plt.imshow(img_arr[:,:,:3]) viewMatrix = p.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, 0, yaw-90, 0, upAxisIndex)
plt.show() aspect = pixelWidth / pixelHeight;
if i % 100 == 0 and i > 0: projectionMatrix = p.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane);
print("FPS",100/(time.time()-start))
start = time.time() 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: finally:
p.stopStateLogging(logId) p.stopStateLogging(logId)

57
examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp
View File

@@ -47,6 +47,7 @@ static void printGLString(const char *name, GLenum s) {
printf("%s = %s\n",name, v); printf("%s = %s\n",name, v);
} }
using namespace std;
struct MyTexture2 struct MyTexture2
{ {
@@ -887,7 +888,6 @@ void TinyRendererVisualShapeConverter::resetCamera(float camDist, float yaw, flo
m_data->m_camera.setCameraTargetPosition(camPosX,camPosY,camPosZ); m_data->m_camera.setCameraTargetPosition(camPosX,camPosY,camPosZ);
m_data->m_camera.setAspectRatio((float)m_data->m_swWidth/(float)m_data->m_swHeight); m_data->m_camera.setAspectRatio((float)m_data->m_swWidth/(float)m_data->m_swHeight);
m_data->m_camera.update(); m_data->m_camera.update();
m_data->m_instancingRenderer->updateCamera();
} }
void TinyRendererVisualShapeConverter::clearBuffers(TGAColor& clearColor) void TinyRendererVisualShapeConverter::clearBuffers(TGAColor& clearColor)
@@ -908,37 +908,39 @@ void TinyRendererVisualShapeConverter::clearBuffers(TGAColor& clearColor)
void TinyRendererVisualShapeConverter::render() void TinyRendererVisualShapeConverter::render()
{ {
/*
//ATTRIBUTE_ALIGNED16(float viewMat[16]); ATTRIBUTE_ALIGNED16(float viewMat[16]);
//ATTRIBUTE_ALIGNED16(float projMat[16]); ATTRIBUTE_ALIGNED16(float projMat[16]);
//m_data->m_camera.getCameraProjectionMatrix(projMat); m_data->m_camera.getCameraProjectionMatrix(projMat);
//m_data->m_camera.getCameraViewMatrix(viewMat); m_data->m_camera.getCameraViewMatrix(viewMat);
cout<<viewMat[4*0 + 0]<<" "<<viewMat[4*0+1]<<" "<<viewMat[4*0+2]<<" "<<viewMat[4*0+3] << endl;
cout<<viewMat[4*1 + 0]<<" "<<viewMat[4*1+1]<<" "<<viewMat[4*1+2]<<" "<<viewMat[4*1+3] << endl;
cout<<viewMat[4*2 + 0]<<" "<<viewMat[4*2+1]<<" "<<viewMat[4*2+2]<<" "<<viewMat[4*2+3] << endl;
cout<<viewMat[4*3 + 0]<<" "<<viewMat[4*3+1]<<" "<<viewMat[4*3+2]<<" "<<viewMat[4*3+3] << endl;
*/
B3_PROFILE("m_instancingRenderer render"); B3_PROFILE("m_instancingRenderer render");
m_data->m_instancingRenderer->setActiveCamera(&m_data->m_camera);
m_data->m_instancingRenderer->updateCamera(); m_data->m_instancingRenderer->updateCamera();
m_data->m_instancingRenderer->renderScene(); m_data->m_instancingRenderer->renderScene();
}
void TinyRendererVisualShapeConverter::syncTransform(int collisionObjectUniqueId, const btTransform& worldTransform, const btVector3& localScaling)
{
TinyRendererObjectArray** renderObjPtr = m_data->m_swRenderInstances[collisionObjectUniqueId];
if (renderObjPtr)
{
TinyRendererObjectArray* renderObj = *renderObjPtr;
renderObj->m_worldTransform = worldTransform;
renderObj->m_localScaling = localScaling;
}
} }
void TinyRendererVisualShapeConverter::render(const float viewMat[16], const float projMat[16]) void TinyRendererVisualShapeConverter::render(const float viewMat[16], const float projMat[16])
{ {
// This code is very similar to that of // This code is very similar to that of
// PhysicsServerCommandProcessor::processRequestCameraImageCommand // PhysicsServerCommandProcessor::processRequestCameraImageCommand
// maybe code from there should be moved. // maybe code from there should be moved.
b3Error("not implemeted, use render()");
// Tiny allows rendering with viewMat, projMat explicitly, but
// GLInstancingRender calls m_activeCamera, so set this.
m_data->m_camera.setVRCamera(viewMat,projMat);
m_data->m_instancingRenderer->setActiveCamera(&m_data->m_camera);
m_data->m_instancingRenderer->updateCamera();
m_data->m_instancingRenderer->renderScene();
cout<<viewMat[4*0 + 0]<<" "<<viewMat[4*0+1]<<" "<<viewMat[4*0+2]<<" "<<viewMat[4*0+3] << endl;
cout<<viewMat[4*1 + 0]<<" "<<viewMat[4*1+1]<<" "<<viewMat[4*1+2]<<" "<<viewMat[4*1+3] << endl;
cout<<viewMat[4*2 + 0]<<" "<<viewMat[4*2+1]<<" "<<viewMat[4*2+2]<<" "<<viewMat[4*2+3] << endl;
cout<<viewMat[4*3 + 0]<<" "<<viewMat[4*3+1]<<" "<<viewMat[4*3+2]<<" "<<viewMat[4*3+3] << endl;
} }
void TinyRendererVisualShapeConverter::getWidthAndHeight(int& width, int& height) void TinyRendererVisualShapeConverter::getWidthAndHeight(int& width, int& height)
@@ -1189,3 +1191,14 @@ int TinyRendererVisualShapeConverter::loadTextureFile(const char* filename)
} }
return -1; return -1;
} }
void TinyRendererVisualShapeConverter::syncTransform(int collisionObjectUniqueId, const btTransform& worldTransform, const btVector3& localScaling)
{
TinyRendererObjectArray** renderObjPtr = m_data->m_swRenderInstances[collisionObjectUniqueId];
if (renderObjPtr)
{
TinyRendererObjectArray* renderObj = *renderObjPtr;
renderObj->m_worldTransform = worldTransform;
renderObj->m_localScaling = localScaling;
}
}